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Axidraw config.yaml support

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This commit is contained in:
Nicolas Hiillos
2023-04-28 15:43:19 +03:00
parent edcdcb9131
commit 9e191df7e4
4 changed files with 56 additions and 8 deletions
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13
config.yaml
View File

@@ -6,8 +6,19 @@
lite6_y_limit_upper: 0.1475
lite6_z_lift_amount: 0.01
lite6_z_offset: 0.1475
lite6_z_offset: 0.201942
lite6_blend_radius: 0.0
lite6_max_velocity_scaling_factor: 1.0
lite6_max_acceleration_scaling_factor: 0.9
axidraw_accel: 100
axidraw_const_speed: false
axidraw_pen_delay_down: 0
axidraw_pen_delay_up: 0
axidraw_pen_pos_down: 40
axidraw_pen_pos_up: 60
axidraw_pen_rate_lower: 50
axidraw_pen_rate_raise: 75
axidraw_speed_pendown: 100
axidraw_speed_penup: 100

12
src/axidraw_controller/config/config.yaml
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@@ -0,0 +1,12 @@
/axidraw_serial:
ros__parameters:
axidraw_accel: 100
axidraw_const_speed: false
axidraw_pen_delay_down: 0
axidraw_pen_delay_up: 0
axidraw_pen_pos_down: 40
axidraw_pen_pos_up: 60
axidraw_pen_rate_lower: 50
axidraw_pen_rate_raise: 75
axidraw_speed_pendown: 100
axidraw_speed_penup: 100

9
src/axidraw_controller/launch/axidraw_controller.launch.py
View File

@@ -1,4 +1,5 @@
import os
import yaml
from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -18,6 +19,13 @@ def launch_setup(context, *args, **kwargs):
serial_port = LaunchConfiguration('serial_port', default='/dev/ttyACM0')
log_level = LaunchConfiguration("log_level", default='info')
config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('axidraw_controller'), 'config', 'config.yaml']))
robotcontroller_config = config.perform(context)
with open(robotcontroller_config, 'r') as f:
axidraw_config = yaml.safe_load(f)['/axidraw_serial']['ros__parameters']
print(f'Loaded configuration: {axidraw_config}')
nodes = [
Node(
package="axidraw_controller",
@@ -34,6 +42,7 @@ def launch_setup(context, *args, **kwargs):
arguments=["--ros-args", "--log-level", log_level],
parameters=[
{"serial_port": serial_port},
axidraw_config,
],
),
]

30
src/axidraw_controller/src/py/axidraw_serial.py
View File

@@ -61,13 +61,18 @@ class AxidrawSerial(Node):
return False
self.ad.options.units = 2 # set working units to mm.
self.ad.options.model = 2 # set model to AxiDraw V3/A3
self.ad.options.speed_pendown = 100 # 100% speed
self.ad.options.speed_penup = 100 # 100% speed
self.ad.options.accel = 100 # 100% speed
self.ad.options.pen_rate_lower = 100 # 100% speed
self.ad.options.pen_rate_raise = 100 # 100% speed
#self.ad.options.pen_delay_down = 50
#self.ad.options.pen_delay_up = 50
self.ad.options.speed_pendown = self.get_parameter('axidraw_speed_pendown').get_parameter_value().integer_value # Maximum XY speed when the pen is down (plotting).
self.ad.options.speed_penup = self.get_parameter('axidraw_speed_penup').get_parameter_value().integer_value # Maximum XY speed when the pen is up.
self.ad.options.accel = self.get_parameter('axidraw_accel').get_parameter_value().integer_value # Relative acceleration/deceleration speed.
self.get_logger().error('accel:{}'.format(self.get_parameter('axidraw_accel').get_parameter_value().integer_value))
self.ad.options.pen_pos_down = self.get_parameter('axidraw_pen_pos_down').get_parameter_value().integer_value #Pen height when the pen is down (plotting).
self.ad.options.pen_pos_up = self.get_parameter('axidraw_pen_pos_up').get_parameter_value().integer_value #Pen height when the pen is up.
self.ad.options.pen_rate_lower = self.get_parameter('axidraw_pen_rate_lower').get_parameter_value().integer_value # Speed of lowering the pen-lift motor.
self.ad.options.pen_rate_raise = self.get_parameter('axidraw_pen_rate_raise').get_parameter_value().integer_value #Speed of raising the pen-lift motor.
self.ad.options.const_speed = self.get_parameter('axidraw_const_speed').get_parameter_value().bool_value #Option: Use constant speed when pen is down.
self.ad.options.pen_delay_down = self.get_parameter('axidraw_pen_delay_down').get_parameter_value().integer_value #Added delay after lowering pen.
self.ad.options.pen_delay_up = self.get_parameter('axidraw_pen_delay_up').get_parameter_value().integer_value #Added delay after raising pen.
self.ad.update() # Process changes to options
self.status["serial"] = "ready"
self.status["motion"] = "ready"
@@ -89,6 +94,17 @@ class AxidrawSerial(Node):
self.declare_parameter('serial_port', '/dev/ttyACM0')
port = self.get_parameter('serial_port').get_parameter_value().string_value
self.declare_parameter('axidraw_speed_pendown', 100)
self.declare_parameter('axidraw_speed_penup', 100)
self.declare_parameter('axidraw_accel', 100)
self.declare_parameter('axidraw_pen_pos_down', 40)
self.declare_parameter('axidraw_pen_pos_up', 60)
self.declare_parameter('axidraw_pen_rate_lower', 50)
self.declare_parameter('axidraw_pen_rate_raise', 75)
self.declare_parameter('axidraw_const_speed', False)
self.declare_parameter('axidraw_pen_delay_down', 0)
self.declare_parameter('axidraw_pen_delay_up', 0)
self.status_srv = self.create_service(Status, 'axidraw_status', self.get_status)
while not self.init_serial(port):