Advanced Search

 
import hal
import time
import subprocess


class CNCController:
    def _init_(self):
        self.comp = hal.component("cnc_control") # Create HAL component
        self.comp.newpin("x-step", hal.HAL_BIT, hal.HAL_OUT)
        self.comp.newpin("x-dir", hal.HAL_BIT, hal.HAL_OUT)
        self.comp.ready()
         # Load HAL real-time thread # Start the HAL thread
        subprocess.run(["halcmd", "loadrt", "threads", "name=cnc_thread", "period=1000000"])
        subprocess.run(["halcmd", "addf", "cnc_control.step_x", "cnc_thread"])
        subprocess.run(["halcmd", "start"]) # Connect step pin to parallel port
        subprocess.run(["halcmd", "setp", "stepgen.0.stepspace", "0"])
        subprocess.run(["halcmd", "setp", "stepgen.0.steplen", "0"])
        subprocess.run(["halcmd", "setp", "stepgen.0.maxvel", "37.5"])
        subprocess.run(["halcmd", "net", "x-step", "cnc_control.x-step", "=>", "parport.0.pin-01-out"])
        subprocess.run(["halcmd", "net", "x-dir", "cnc_control.x-dir", "=>", "parport.0.pin-14-out"])
        print("HAL Component Ready!")
    def load_hal_file(self,file_path):
        with open(file_path, 'r') as file:
            for line_num, line in enumerate(file, 1):
                line = line.strip()
                if not line or line.startswith("#"): # Ignore empty lines or comments
                    continue
                print(f"Loading line {line_num}: {line}")
                try: # Run the halcmd command
                     result = subprocess.run(["halcmd", "source", file_path], capture_output=True, text=True) # Check if there's an error output
                     if result.returncode != 0:
                         print(f"Error in line {line_num}: {result.stderr}")
                except Exception as e:
                    print(f"Exception while processing line {line_num}: {e}")
    def step_x(self):
        """Toggle step pin using real-time HAL. """ the problem is here even if there is no time the motor move slow 
        self.comp["x-step"] = True
        time.sleep(0.000001)
        self.comp["x-step"] = False
        time.sleep(0.000001)

if _name_ == "_main_":
    cnc = CNCController()
    cnc.comp["x-dir"] = False
    while True:
        cnc.step_x()