Simple GRBL Jog test script

grbl_jog.py

import pygame
import os
import serial
import time


def create_screen():
    if os.name == "nt":
        return pygame.display.set_mode((320, 200))
    else:
        drivers = ['fbcon', 'directfb', 'svgalib']
        found = False
        for driver in drivers:
            # Make sure that SDL_VIDEODRIVER is set
            if not os.getenv('SDL_VIDEODRIVER'):
                os.putenv('SDL_VIDEODRIVER', driver)
            try:
                pygame.display.init()
            except pygame.error:
                print 'Driver: {0} failed.'.format(driver)
                continue
            found = True
            break
        #return pygame.display.set_mode((320, 200), pygame.FULLSCREEN)
        return pygame.display.set_mode((320, 200))


pygame.init()
#pygame.mouse.set_visible(0)
clock = pygame.time.Clock()
screen = create_screen()

gameExit = False

print "start"

jog_active = False
trigger_up = False
trigger_down = False
trigger_left = False
trigger_right = False
counter = 0
speed = 400

cmd_base = "$J=G91 G21 X%d Y%d F%d\n"
cmd = "$J=G91 G21 X-1 F1500\n"

ser = serial.Serial('/dev/ttyACM0', baudrate=115200)
print ser.portstr


up_last_ms_down = 0
up_last_state = 0 # not pressed

down_last_ms_down = 0
down_last_state = 0 



while not gameExit:
    last_ms = time.time()
    x_value = 0
    y_value = 0

    mods = pygame.key.get_mods();
    if mods & pygame.KMOD_CTRL:
        speed = 800
    if mods & pygame.KMOD_ALT:
        speed = 1500
    for event in pygame.event.get():
        # print(event)
        if event.type == pygame.QUIT:
            gameExit = True
        if event.type == pygame.KEYDOWN:
            if event.key == pygame.K_ESCAPE:
                gameExit = True

            if event.key == pygame.K_UP:
                trigger_up = True
                up_last_ms_down = last_ms

            if event.key == pygame.K_DOWN:
                trigger_down = True
                down_last_ms_down = last_ms

        if event.type == pygame.KEYUP:
            counter = 0
            speed = 400

            if event.key == pygame.K_UP:
                trigger_up = False
                up_last_state = 0

            if event.key == pygame.K_DOWN:
                trigger_down = False
                down_last_state = 0


    clock.tick(30)
    send = False
    if trigger_up and not trigger_down:        
        counter = counter + 1
        
        #print last_ms

        if up_last_state == 0:
            up_last_state = 1
            print "UP once"
            cmd = "$J=G91 G21 Y1 F500\n"
            send = True

        if last_ms - up_last_ms_down > 0.5:
            print "UP repeat"         
            if not jog_active:   
                jog_active = True
                print "send LONG UP command"      
                cmd = "$J=G91 G21 Y1000 F3000\n"
                send = True

    if trigger_down and not trigger_up:        
        counter = counter + 1
        
        #print last_ms

        if down_last_state == 0:
            down_last_state = 1
            print "DOWN once"
            cmd = "$J=G91 G21 Y-1 F500\n"
            send = True

        if last_ms - down_last_ms_down > 0.5:
            print "DOWN repeat"   
            if not jog_active:         
                jog_active = True
                print "send LONG DOWN command"      
                cmd = "$J=G91 G21 Y-1000 F3000\n"
                send = True


    if send:
        print cmd
        ser.write(cmd)

    if not trigger_up and not trigger_down:
        if jog_active:
            jog_active = False
            print "cancel jog"
            ser.write([0x85])

print "done"
pygame.quit()
quit()