Created
April 3, 2018 20:33
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MP Scara 3D Printed Robotic Arm Cartesian To Scara GCode Translator Python Script
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| """ | |
| @author: Tyler Williams | |
| For use with the MPSCARA | |
| Tested in, developed for, and funded by the Solheim Additive | |
| Manufacturing Laboratory at the University of Washington, Seattle. | |
| REQUIRES | |
| settings.txt | |
| Contains: | |
| Machine Name:XXXX | |
| L1 (mm, measured on printed part):XXX.XX | |
| L2 (mm, measured on printed part):XXX.XX | |
| Inner Radius limit (mm, usually 90 for left handed):XX | |
| Handed (R/L):L | |
| Quality (Interpolation length, mm):2 | |
| For quality, lower number = straighter output lines = larger file size | |
| targets.txt | |
| Contains: | |
| g_code_file_1.g | |
| g_code_file_2.gcode | |
| ... | |
| [etc, can process any number of files, list all names here] | |
| """ | |
| import math | |
| import sys | |
| try: | |
| s = open("settings.txt","r") | |
| except: | |
| sys.exit("File 'settings.txt' is missing, please read included "+ | |
| "instructions and try again") | |
| try: | |
| t = open("targets.txt","r") | |
| except: | |
| sys.exit("File 'targets.txt' is missing, please read included "+ | |
| "instructions and try again") | |
| settings = s.readlines() | |
| i=0 | |
| for line in settings: | |
| settings[i] = line[line.index(":")+1:-1] | |
| i+=1 | |
| targets = t.readlines() | |
| m_name = str(settings[0]).strip() | |
| quality = float(settings[5]) | |
| # Converts the linear feedrate from mm/min to deg/min, and scales | |
| # based on location. x1, y1 are the initial coordinates, x2, y2 are the end | |
| # coordinates, F is the linear feedrate, settings contains the settings for | |
| # the machine. | |
| def find_feedrate(x1,x2,y1,y2,F,settings): | |
| a = float(settings[1]) # Length of the upper arm/vector a | |
| b = float(settings[2]) # Length of the forearm/vector b | |
| handed = str(settings[4]).upper().strip() | |
| if handed == "R": | |
| h = -1 | |
| else: | |
| h = 1 | |
| dist = math.sqrt((x2-x1)**2+(y2-y1)**2) # Distance between the two coords. | |
| x_dot = (x2-x1)/dist*F # Linear velocity in the x direction | |
| y_dot = (y2-y1)/dist*F # Linear velocity in the y direction | |
| c = math.sqrt(x1**2+y1**2) # Length of vector C (From shoulder to coord 1) | |
| c_dot = (x1*x_dot+y1*y_dot)/math.sqrt(x1**2+y1**2) # Rate of change of the | |
| # length of vector c | |
| omega_c = (x1*y_dot-y1*x_dot)/c**2 # Angular rate of change of vector c | |
| omega_a = (omega_c - h*c_dot*(2*c**2*a-c**2-a**2+b**2)/(2*c**2*a**2)* | |
| math.sqrt(1-(c**2+a**2-b**2)/(2*c*a))) # Angular rate of change | |
| # of the upper arm | |
| omega_b = (omega_c + h*c_dot*(2*c**2*b-c**2-b**2+a**2)/(2*c**2*b**2)* | |
| math.sqrt(1-(c**2+b**2-a**2)/(2*c*b))) # Angular rate of change | |
| # of the forearm | |
| omega = math.sqrt(omega_a**2+omega_b**2) # Sum the squares of the angular | |
| # feedrates. | |
| return abs(round(math.degrees(omega),5)) | |
| # Determines the required angles of each motor in order to set the end | |
| # at the proper position. x,y are the coordinates in the cartesian system, | |
| # settings contains the settings of the machine, and name is the name of the | |
| # gcode file being analyzed. | |
| def find_angles(x,y,settings,file_name): | |
| a = float(settings[1]) | |
| b = float(settings[2]) | |
| handed = str(settings[4]).upper().strip() | |
| c = math.sqrt(x**2+y**2) | |
| thetaC = math.atan2(y,x) | |
| if handed == "R": | |
| h = -1 | |
| else: | |
| h = 1 | |
| try: | |
| thetaA = thetaC + h * math.acos((c**2 + a**2 - b**2)/(2*c*a)) | |
| thetaB = thetaC - h * math.acos((c**2 + b**2 - a**2)/(2*c*b)) | |
| except: | |
| sys.exit("File '%s.g' attempts to go outside of build area,"%file_name | |
| + " please resize or rearrange and try again.") | |
| return[round(math.degrees(thetaA),4),round(math.degrees(thetaB),4)] | |
| """ | |
| This goes through every name posted in the targets file and creates a | |
| new file with the _MPSCARA suffix. It then populates the file with the | |
| angular g-code, cutting the line segments into pieces [QUALITY] long | |
| and producing additional points as needed in order to approximate lines | |
| from large numbers of small arcs. It also calls the find_feedrate | |
| function to properly set the angular feedrates from the given linear | |
| feedrates, and does this at the beginning of each segment. As expected | |
| a lower [QUALITY] value will cut the line segments into more pieces, | |
| producing larger numbers of smaller arcs that will better approximate | |
| straight lines, but this can lead to joltier movements, and greatly | |
| increases .g file sizes. | |
| """ | |
| for file_name in targets: | |
| inner_rad = float(settings[3]) | |
| gn = str(file_name) | |
| if gn.endswith("\n"): | |
| # Trims new-line characters | |
| gn = gn[:-1] | |
| if gn.endswith(".gcode"): | |
| # Trims the .gcode suffix to get the file name | |
| gn = gn[:-6] | |
| elif gn.endswith(".g"): | |
| # Trims the .g suffix to get the file name | |
| gn = gn[:-2] | |
| old_g = open(gn+".g","r") | |
| new_g = open(gn + "_MPSCARA.g","w+") | |
| new_g.write("; Translated for use with the MPSCARA Machine %s\n"%m_name) | |
| new_g.write("; File Quality: %d mm\n"%quality) | |
| x_old = None # Initializing x position variable | |
| y_old = None # Initializing y position variable | |
| e_old = None # Initializing extruder position variable | |
| f = None # Initializing feedrate variable | |
| for line in old_g: | |
| arguments = line.upper().split() | |
| if line.upper().startswith("G92 "): | |
| # Catches variable resets, usually only useful for E value. | |
| for coord in arguments: | |
| if coord.upper().startswith("X"): | |
| x_old = 0 | |
| elif coord.upper().startswith("Y"): | |
| y_old = 0 | |
| elif coord.upper().startswith("Z"): | |
| z_old = 0 | |
| elif coord.upper().startswith("E"): | |
| e_old = 0 | |
| if line.upper().startswith("G0 ") or line.upper().startswith("G1 "): | |
| x_new = None | |
| y_new = None | |
| z_new = None | |
| e_new = None | |
| for coord in arguments: | |
| # Goes through the gcode line and stores important values | |
| if coord.upper().startswith("X"): | |
| x_new = float(coord[1:].strip()) | |
| elif coord.upper().startswith("Y"): | |
| y_new = float(coord[1:].strip())+inner_rad | |
| # The y offset is added in here for clarity in future | |
| # calculations. | |
| elif coord.upper().startswith("Z"): | |
| z_new = float(coord[1:].strip()) | |
| elif coord.upper().startswith("E"): | |
| e_new = float(coord[1:].strip()) | |
| elif coord.upper().startswith("F"): | |
| f = float(coord[1:].strip()) | |
| if x_new == None and y_new == None: | |
| code_line = arguments[0] + " " | |
| if z_new != None: | |
| code_line += "Z%f "%z_new | |
| if e_new != None: | |
| code_line += "E%f "%e_new | |
| if f != None: | |
| code_line += "F%f "%f | |
| elif x_old == None and y_old == None: | |
| [thetaA,thetaB] = find_angles(x_new,y_new,settings,gn) | |
| code_line = "G1 X%f Y%f "%(thetaA, thetaB) | |
| if z_new != None: | |
| code_line += "Z%f "%z_new | |
| if e_new != None: | |
| code_line += "E%f "%e_new | |
| if f != None: | |
| code_line += "F%f "%f | |
| else: | |
| if x_new == None: | |
| x_new = x_old | |
| if y_new == None: | |
| y_new = y_old | |
| x_mid = x_old | |
| y_mid = y_old | |
| e_mid = e_old | |
| movement = math.sqrt((x_new-x_mid)**2+(y_new-y_mid)**2) | |
| while movement > quality: | |
| x_mid = x_mid + (x_new - x_mid)*quality/movement | |
| y_mid = y_mid + (y_new - y_mid)*quality/movement | |
| if e_new != None and e_mid != None: | |
| e_mid = round(e_mid + (e_new - e_mid) | |
| *quality/movement,6) | |
| [thetaA,thetaB] = find_angles(x_mid,y_mid,settings,gn) | |
| code_line = "G1 X%f Y%f "%(thetaA, thetaB) | |
| if e_mid != None: | |
| code_line += "E%f "%e_mid | |
| if f != None: | |
| omega = find_feedrate(x_mid,x_new,y_mid, | |
| y_new,f,settings) | |
| code_line += "F%f "%omega | |
| new_g.write(code_line.strip() + "\n") | |
| movement = math.sqrt((x_new-x_mid)**2+(y_new-y_mid)**2) | |
| [thetaA,thetaB] = find_angles(x_new,y_new,settings,gn) | |
| code_line = "G1 X%f Y%f "%(thetaA, thetaB) | |
| if e_new != None: | |
| code_line += "E%f "%e_new | |
| if f != None: | |
| omega = find_feedrate(x_mid,x_new,y_mid,y_new,f,settings) | |
| code_line += "F%f "%omega | |
| if x_new != None: | |
| x_old = x_new | |
| if y_new != None: | |
| y_old = y_new | |
| if e_new != None: | |
| e_old = e_new | |
| new_g.write(code_line.strip() + "\n") | |
| else: | |
| new_g.write(line.strip() + "\n") | |
| new_g.close() |
Hi there! I am having some problems with the coordinates translation, I can't make the robot draw something "similar" to the original Gcode. Can I contact you? Thanks!
From line 37 to 40 the programs only pops out errors.
I changed it a bit and hence worked fine:
i = 0
for line in settings:
driver = line.split(':')
settings[i] = driver[1]
i += 1
Hi there! I am having some problems with the coordinates translation, I can't make the robot draw something "similar" to the original Gcode. Can I contact you? Thanks!
Hello! I am Vladimir and I experienced same problem. Do you have any suggestions how to solve it? Maybe we can make it together)
Hi there! I am having some problems with the coordinates translation, I can't make the robot draw something "similar" to the original Gcode. Can I contact you? Thanks!
Hello! I am Vladimir and I experienced same problem. Do you have any suggestions how to solve it? Maybe we can make it together)
Hi Vladimir! I ended up with another approach, I did't get this script works. It was quite a mess but I used this https://hackaday.io/project/164066/files In these files you will find a Linux executable, I ran it on the Ubuntu app for Windows without problems, the output is converted to SCARA and works fine, the origin of the coordinates is a mystery although was the only way I make the robot works. Hope it helps you.
Thank you very much and can I get your contacts please) (maybe email)
Because I think that I will have some more troubles with this software(
Hi there! I am having some problems with the coordinates translation, I can't make the robot draw something "similar" to the original Gcode. Can I contact you? Thanks!
Hello! I am Vladimir and I experienced same problem. Do you have any suggestions how to solve it? Maybe we can make it together)
Hi Vladimir! I ended up with another approach, I did't get this script works. It was quite a mess but I used this https://hackaday.io/project/164066/files In these files you will find a Linux executable, I ran it on the Ubuntu app for Windows without problems, the output is converted to SCARA and works fine, the origin of the coordinates is a mystery although was the only way I make the robot works. Hope it helps you.
Hello krucho, can you please help me with the settings for this gcode2Scara converter that you sent me?
If you can, please share your settings with me, please
Send me your email!
El mié., 8 abr. 2020 a las 16:59, broadcom9821 (<notifications@github.com>)
escribió:
… ***@***.**** commented on this gist.
------------------------------
Hi there! I am having some problems with the coordinates translation, I
can't make the robot draw something "similar" to the original Gcode. Can I
contact you? Thanks!
Hello! I am Vladimir and I experienced same problem. Do you have any
suggestions how to solve it? Maybe we can make it together)
Hi Vladimir! I ended up with another approach, I did't get this script
works. It was quite a mess but I used this
https://hackaday.io/project/164066/files In these files you will find a
Linux executable, I ran it on the Ubuntu app for Windows without problems,
the output is converted to SCARA and works fine, the origin of the
coordinates is a mystery although was the only way I make the robot works.
Hope it helps you.
Hello krucho, can you please help me with the settings for this
gcode2Scara converter that you sent me?
If you can, please share your settings with me, please
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Please help me when I run Gcode_Translator.py
Error
x_dot = (x2-x1)/dist*F # Linear velocity in the direction
ZeroDivisionError : float division by zero