It is in src/emc/usr_intf/axis/scripts in the sources, but I don't know where it is or if it is installed in a distro.
Code:
#!/usr/bin/python
"""Usage:
python teach.py nmlfile outputfile
If outputfile is not specified, writes to standard output.
You must ". scripts/rip-environment" before running this script, if you use
run-in-place.
"""
# Copyright 2007 Jeff Epler <jepler@unpythonic.net>
#
# 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
import linuxcnc
import Tkinter
import sys
linenumber = 1;
if len(sys.argv) > 1:
linuxcnc.nmlfile = sys.argv[1]
if len(sys.argv) > 2:
outfile = sys.argv[2]
sys.stdout = open(outfile, 'w')
s = linuxcnc.stat()
def get_cart():
s.poll()
position = " ".join(["%-8.4f"] * s.axes)
return position % s.position[:s.axes]
def get_joint():
s.poll()
position = " ".join(["%-8.4f"] * s.axes)
return position % s.joint_actual_position[:s.axes]
def log():
global linenumber;
if world.get():
p = get_cart()
else:
p = get_joint()
label1.configure(text='Learned: %s' % p)
print linenumber, p, s.flood, s.mist, s.lube, s.spindle_enabled;
linenumber += 1;
def show():
s.poll()
if world.get():
p = get_cart()
else:
p = get_joint()
label2.configure(text='Position: %s' % p)
app.after(100, show)
app = Tkinter.Tk(); app.wm_title('LinuxCNC Teach-In')
world = Tkinter.IntVar(app)
button = Tkinter.Button(app, command=log, text='Learn', font=("helvetica", 14))
button.pack(side='left')
label2 = Tkinter.Label(app, width=60, font='fixed', anchor="w")
label2.pack(side='top')
label1 = Tkinter.Label(app, width=60, font='fixed', text="Learned: (nothing yet)", anchor="w")
label1.pack(side='top')
r1 = Tkinter.Radiobutton(app, text="Joint", variable=world, value=0)
r1.pack(side='left')
r2 = Tkinter.Radiobutton(app, text="World", variable=world, value=1)
r2.pack(side='left')
show()
app.mainloop()
I am also not sure what positions you are after, but AFAIK the motion planner works in cartesian planes even if the end result is different from the output that would produce.
