77 lines
1.2 KiB
Python
Executable File
77 lines
1.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import linuxcnc
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import linuxcnc_util
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import hal
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import time
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import sys
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import os
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import math
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# this is how long we wait for linuxcnc to do our bidding
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timeout = 5.0
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# unbuffer stdout
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sys.stdout = os.fdopen(sys.stdout.fileno(), 'w')
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#
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# connect to LinuxCNC
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#
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c = linuxcnc.command()
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e = linuxcnc.error_channel()
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s = linuxcnc.stat()
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l = linuxcnc_util.LinuxCNC(command=c, status=s, error=e)
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c.state(linuxcnc.STATE_ESTOP_RESET)
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c.state(linuxcnc.STATE_ON)
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c.mode(linuxcnc.MODE_MANUAL)
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c.home(-1)
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l.wait_for_home(joints=[1,0,1,0,0,0,0,0,0])
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#
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# do some jogs in manual mode
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#
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l.jog_axis('x', -0.5)
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l.jog_axis('x', 0.0)
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l.jog_axis('z', -0.5)
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l.jog_axis('z', 0.0)
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#
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# do some MDI commands
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#
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c.mode(linuxcnc.MODE_MDI)
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gcode = 'g0 x2 z2'
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print("running gcode: {}".format(gcode))
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c.mdi(gcode)
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c.wait_complete()
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l.wait_for_axis_to_stop_at('x', 2);
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l.wait_for_axis_to_stop_at('z', 2);
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gcode = 'g0 x-2'
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print("running gcode: {}".format(gcode))
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c.mdi(gcode)
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c.wait_complete()
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l.wait_for_axis_to_stop_at('x', -2);
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l.wait_for_axis_to_stop_at('z', 2);
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gcode = 'g0 z-2'
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print("running gcode: {}".format(gcode))
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c.mdi(gcode)
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c.wait_complete()
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l.wait_for_axis_to_stop_at('x', -2);
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l.wait_for_axis_to_stop_at('z', -2);
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sys.exit(0)
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