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#!/usr/bin/python3.9
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import serial , time , hal
# LinuxCNC_ArduinoConnector
# This Software is used to use an Arduino as IO Expansion.
# Note, these IO's are not run in the servo-thread. Therefor the IO's shouldn't be used for timing critical applications.
# Currently the Software provides:
#
# - analog Inputs
# - latching Potentiometers
# - 1 absolute encoder input
# - digital Inputs
# - digital Outputs
# Right now i am also working on
# - virtual Pins (multiplexed LED's or WS2812)
#
# By Alexander Richter, info@theartoftinkering.com
# inspired by Jeff Epler, jepler@unpythonic.net
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#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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c = hal . component ( " arduino " ) #name that we will cal pins from in hal
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# Set how many Inputs you have programmed in Arduino and which pins are Inputs
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Inputs = 17
InPinmap = [ 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 ]
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# Set how many Outputs you have programmed in Arduino and which pins are Outputs
Outputs = 9
OutPinmap = [ 10 , 9 , 8 , 7 , 6 , 5 , 4 , 3 , 2 ]
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# Set how many PWM Outputs you have programmed in Arduino and which pins are PWM Outputs
PwmOutputs = 2
PwmOutPinmap = [ 12 , 11 ]
# Set how many Analog Inputs you have programmed in Arduino and which pins are Analog Inputs
AInputs = 1
AInPinmap = [ 79 ]
# Set how many Latching Analog Inputs you have programmed in Arduino and how many latches there are
LPotiKnobs = 2
LPotiKnobLatches = [ 8 , 4 ]
# Set if you have an Absolute Encoder Knob and how many positions it has (only one supported, as i don't think they are very common and propably nobody uses these anyway)
AbsKnob = 1
AbsKnobPos = 30
######## End of Config! ########
######## SetUp of HalPins ########
# setup Input halpins
for port in range ( Inputs ) :
c . newpin ( " dIn- %02d " % InPinmap [ port ] , hal . HAL_BIT , hal . HAL_IN )
c . newparam ( " dIn- %02d -invert " % InPinmap [ port ] , hal . HAL_BIT , hal . HAL_RW )
# setup Output halpins
for port in range ( Outputs ) :
c . newpin ( " dOut- %02d " % OutPinmap [ port ] , hal . HAL_BIT , hal . HAL_IN )
# setup Pwm Output halpins
for port in range ( PwmOutputs ) :
c . newpin ( " PwmOut- %02d " % PwmOutPinmap [ port ] , hal . HAL_FLOAT , hal . HAL_IN )
# setup Analog Input halpins
for port in range ( AInputs ) :
c . newpin ( " aIn- %02d " % AInPinmap [ port ] , hal . HAL_FLOAT , hal . HAL_IN )
# setup Latching Poti halpins
for latches in range ( LPotiKnobs ) :
for port in range ( LPotiKnobLatches [ latches ] ) :
c . newpin ( " LPotiKnob- %02d " % [ port ] , hal . HAL_BIT , hal . HAL_IN )
# setup Absolute Encoder Knob halpins
if AbsKnob :
for port in range ( AbsKnobPos ) :
c . newpin ( " LPotiKnob- %02d " % [ port ] , hal . HAL_BIT , hal . HAL_IN )
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#c.newpin("analog-in-%02d" % port, hal.HAL_FLOAT, hal.HAL_OUT)
#c.newparam("analog-in-%02d-offset" % port, hal.HAL_FLOAT, hal.HAL_RW)
#c.newparam("analog-in-%02d-gain" % port, hal.HAL_FLOAT, hal.HAL_RW)
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c . ready ( )
def readinput ( input_str ) :
for i in range ( 50 ) :
if input_str :
string = input_str . decode ( ) # convert the byte string to a unicode string
print ( string )
num = int ( string ) # convert the unicode string to an int
return num
def extract_nbr ( input_str ) :
if input_str is None or input_str == ' ' :
return 0
out_number = ' '
for ele in input_str :
if ele . isdigit ( ) :
out_number + = ele
return int ( out_number )
#try:
arduino = serial . Serial ( ' /dev/ttyACM0 ' , 9600 , timeout = 1 , xonxoff = False , rtscts = False , dsrdtr = True )
while True :
try :
data = arduino . readline ( ) . decode ( ' utf-8 ' )
data = data . split ( " : " , 1 )
if len ( data ) == 2 :
data [ 1 ] = extract_nbr ( data [ 1 ] )
if data [ 1 ] < 0 : data [ 1 ] = 0
if data [ 0 ] == " Pt57 " :
c . SpSp = data [ 1 ]
elif data [ 0 ] == " LP55 " :
c . SpOd = data [ 1 ]
elif data [ 0 ] == " LP56 " :
c . FdRes = data [ 1 ]
elif data [ 0 ] == " AK " :
c . AK = data [ 1 ]
else : pass
finally :
pass
""" except :
print ( " Lost Connection " )
finally :
# serial.close
print ( " Program closed " )
"""