polargraph

package
v0.0.0-...-fe5fe24 Latest Latest
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 Go to latest Published: Dec 15, 2017 License: LGPL-3.0 Imports: 27 Imported by: 0

Documentation

Index

Constants

View Source 
const (
	MOVE_RAPID GcodeCommand = 0
	MOVE                    = 1

	SET_UNITS_INCHES = 20
	SET_UNITS_MM     = 21
)
View Source 
const (
	// Time step used to control motion, ie the amount of time that the stepper motors will be going a constant speed
	// decreasing this increases CPU usage and serial communication
	// increasing it decreases rendering quality
	// when running on a raspberry pi 2048 us (2 milliseconds) seems like a good number
	TimeSlice_US float64 = 2048

	// The factor the steps are multiplied by, needs to be the same as set in the arduino code
	StepsFixedPointFactor float64 = 32.0

	// Determined because 1 byte is sent per value, so have range -128 to 127, and -128, -127, 127 are reserved values with special meanings
	StepsMaxValue float64 = 126.0

	// Special Steps value that when received causes the arduino to flush its buffers and reset its internal state
	ResetCommand byte = 0x80 // -128

	// Special Steps value that raises the pen
	PenUpCommand int8 = -127

	// Special Steps value that lowers the pen
	PenDownCommand int8 = 127
)

These constants are also set in StepperDriver.ino, must be changed in both places

Variables

This section is empty.

Functions

func CountSteps 

func CountSteps(stepData <-chan int8)

Count steps

func DrawMeander 

func DrawMeander(startCircle Circle, endCircle Circle, scale float64, narrowness float64, radMulty float64, cutOff float64, plotCoords chan<- Coordinate)

* Draws a meander like path between the center coordinate of the two circles * where the where the amplitude of the meander morphes from radius 1 to * radius 2. The darkness of the path can be controlled with the narowness * argument. Parameter cutOff controlles the minimum radius to meander. Any * radius below cutOff will be drawn as straight line. * The parameter radMulty multiplies the radius of each circle. * * 12 Dezember 2014 Sergio Daniels E-Mail: daniels.sergio@gmail.com

func DrawToImage 

func DrawToImage(imageName string, plotCoords <-chan Coordinate)

Draw coordinates to image

func GaussianImage 

func GaussianImage(imageData image.Image) image.Image

Return a new image that is the result of applying a 3x3 gaussion blur to the image

func GenerateArc 

func GenerateArc(setup Arc, imageData image.Image, plotCoords chan<- Coordinate)

Draw image by generate a series of arcs, where darknes of a pixel is a movement along the arc white is drawn with PenUp=true

func GenerateBouncingLine 

func GenerateBouncingLine(setup BouncingLine, plotCoords chan<- Coordinate)

Generate a line that bounces off the edges of the grid

func GenerateCrossHatch 

func GenerateCrossHatch(setup CrossHatch, imageData image.Image, plotCoords chan<- Coordinate)

Draw image by generate a series of arcs, where darknes of a pixel is a movement along the arc

func GenerateGcodePath 

func GenerateGcodePath(data GcodeData, scale float64, plotCoords chan<- Coordinate)

Given GCodeData, returns all of the

func GenerateGrid 

func GenerateGrid(setup Grid, plotCoords chan<- Coordinate)

Generate parabolic curve out of a bunch of straight lines

func GenerateHilbertCurve 

func GenerateHilbertCurve(setup HilbertCurve, plotCoords chan<- Coordinate)

Generate a Hilbert curve, based on code from http://en.wikipedia.org/wiki/Hilbert_curve

func GenerateMeander 

func GenerateMeander(circles []Circle, size float64, narrowness float64, radMulty float64, cutOff float64, plotCoords chan<- Coordinate)

* Sends the array of circles to the DrawMeander function * * 12 Dezember 2014 Sergio Daniels E-Mail: daniels.sergio@gmail.com

func GenerateParabolic 

func GenerateParabolic(setup Parabolic, plotCoords chan<- Coordinate)

Generate parabolic curve out of a bunch of straight lines

func GenerateParametric 

func GenerateParametric(posFunc func(float64) Coordinate, plotCoords chan<- Coordinate)

Generate spirograph

func GenerateRaster 

func GenerateRaster(setup Raster, imageData image.Image, plotCoords chan<- Coordinate)

Draw image by generate a series of arcs, where darknes of a pixel is a movement along the arc

func GenerateSlidingCircle 

func GenerateSlidingCircle(setup SlidingCircle, plotCoords chan<- Coordinate)

Generate a circle that slides along a given axis

func GenerateSpiral 

func GenerateSpiral(setup Spiral, plotCoords chan<- Coordinate)

Generate a spiral

func GenerateSteps 

func GenerateSteps(plotCoords <-chan Coordinate, stepData chan<- int8)

Takes in coordinates and outputs stepData

func GenerateSvgBoxPath 

func GenerateSvgBoxPath(data Coordinates, size float64, plotCoords chan<- Coordinate)

Send svg path points to channel

func GenerateSvgCenterPath 

func GenerateSvgCenterPath(data Coordinates, size float64, plotCoords chan<- Coordinate)

Send svg path points to channel

func GenerateSvgTopPath 

func GenerateSvgTopPath(data Coordinates, size float64, plotCoords chan<- Coordinate)

Send svg path points to channel

func GenerateTextPath 

func GenerateTextPath(text string, height float64, plotCoords chan<- Coordinate)

Pring this text

func InteractiveMoveSpool 

func InteractiveMoveSpool()

Used to manually adjust length of each step

func LoadImage 

func LoadImage(imageFileName string) image.Image

Load image data

func MoveSpool 

func MoveSpool(leftSpool bool, distance float64)

Move a specific spool a given distance

func OutputCoords 

func OutputCoords(plotCoords <-chan Coordinate)

Output the coordinates to the screen

func PerformMouseTracking 

func PerformMouseTracking()

Do mouse tracking, must open up serial port directly in order to send steps in realtime as requested

func SobelImage 

func SobelImage(imageData image.Image) image.Image

Return a new image that is the result of applying the sobel filter on the image

func TestGenerateMeander 

func TestGenerateMeander(circles []Circle, size float64, narrowness float64, radMulty float64, cutOff float64, plotCoords chan<- Coordinate)

func WriteStepsToChart 

func WriteStepsToChart(stepData <-chan int8)

Writes step data and position to a graph

func WriteStepsToFile 

func WriteStepsToFile(stepData <-chan int8)

Sends the given stepData to a file

func WriteStepsToSerial 

func WriteStepsToSerial(stepData <-chan int8, pauseOnPenUp bool)

Sends the given stepData to the stepper driver

Types

type Arc 

type Arc struct {

	// Size of longest axis
	Size float64

	// Distance between arcs
	ArcDist float64
}

Parameters for arc

type BouncingLine 

type BouncingLine struct {

	// Initial angle of line
	Angle float64

	// Total distance that the line will travel
	TotalDistance float64
}

Parameters needed to generate a bouncing line

type Circle 

type Circle struct {
	// Center coordinates of circle
	Center Coordinate

	// Radius of circle
	Radius float64
	// flag to set start point
	Start bool
}

Defines a circle

func ParseSvgCircle 

func ParseSvgCircle(svgData io.Reader) (data []Circle)

read svg xml data

func ParseSvgFileCircle 

func ParseSvgFileCircle(fileName string) (data []Circle)

read a file

func (Circle) Intersection 

func (circle Circle) Intersection(line LineSegment) (firstPoint Coordinate, firstPointValid bool, secondPoint Coordinate, secondPointValid bool)

Calculates the intersection between a circle and line segment, based on http://stackoverflow.com/questions/1073336/circle-line-collision-detection If there is only one interesection it will always be in firstPoint

type Coordinate 

type Coordinate struct {
	X, Y  float64
	PenUp bool
}

A Cartession coordinate or vector

func ParseSvg 

func ParseSvg(svgData io.Reader) (data []Coordinate)

read svg xml data

func ParseSvgFile 

func ParseSvgFile(fileName string) (data []Coordinate)

read a file

func (Coordinate) Add 

func (source Coordinate) Add(dest Coordinate) Coordinate

Add two coordinates together

func (Coordinate) Ceil 

func (coord Coordinate) Ceil() Coordinate

Apply math.Ceil to each value

func (Coordinate) Clamp 

func (coord Coordinate) Clamp(max, min float64) Coordinate

Clamp the values of X,Y to the given max/min

func (Coordinate) DotProduct 

func (coord Coordinate) DotProduct(other Coordinate) float64

Dot product between two vectors

func (Coordinate) Equals 

func (coord Coordinate) Equals(other Coordinate) bool

Test if the two coordinates are equal within a constant epsilon

func (Coordinate) Floor 

func (coord Coordinate) Floor() Coordinate

Apply math.Floor to each value

func (Coordinate) IsNaN 

func (coord Coordinate) IsNaN() bool

Returns true if either value is NaN

func (Coordinate) Len 

func (coord Coordinate) Len() float64

Calculates length of vector

func (Coordinate) Minus 

func (source Coordinate) Minus(dest Coordinate) Coordinate

Return the vector from source to dest

func (Coordinate) Normalized 

func (coord Coordinate) Normalized() Coordinate

Normalize the vector

func (Coordinate) Scaled 

func (coord Coordinate) Scaled(factor float64) Coordinate

Scales the Coordinate by the specified factor

func (Coordinate) ScaledBoth 

func (coord Coordinate) ScaledBoth(xfactor, yfactor float64) Coordinate

Scale each axis seperately

func (Coordinate) String 

func (coord Coordinate) String() string

Coordinate ToString

func (Coordinate) ToPolar 

func (coord Coordinate) ToPolar(system PolarSystem) (polarCoord PolarCoordinate)

Convert the given coordinate from X,Y to polar in the given PolarSystem

type CoordinateRingBuffer 

type CoordinateRingBuffer struct {
	// contains filtered or unexported fields
}

A ring buffer used to store coordinates

func NewCoordinateRingBuffer 

func NewCoordinateRingBuffer(capacity int) *CoordinateRingBuffer

Create a new buffer with the given capacity

func (*CoordinateRingBuffer) Cap 

func (ring *CoordinateRingBuffer) Cap() int

Capacity of the buffer

func (*CoordinateRingBuffer) Dequeue 

func (ring *CoordinateRingBuffer) Dequeue() Coordinate

Remove a coordinate from the beginning of the buffer

func (*CoordinateRingBuffer) Enqueue 

func (ring *CoordinateRingBuffer) Enqueue(coord Coordinate)

Add a coordinate to the end of the buffer

func (*CoordinateRingBuffer) Len 

func (ring *CoordinateRingBuffer) Len() int

Amount of data in the buffer

type Coordinates 

type Coordinates []Coordinate

func (Coordinates) Extents 

func (coords Coordinates) Extents() (Coordinate, Coordinate)

Calculate the min and max coordinate in the given slice

type CrossHatch 

type CrossHatch struct {

	// Size of longest axis
	Size float64

	// Distance between lines
	Dist float64
}

Parameters for arc

type GcodeCommand 

type GcodeCommand int32

Any of the possible command types that are supported

type GcodeData 

type GcodeData struct {
	Lines []GcodeLine
}

All of the data from a file

func ParseGcode 

func ParseGcode(fileData []string) (data GcodeData)

read all of the fileData lines, generating a GcodeData object

func ParseGcodeFile 

func ParseGcodeFile(fileName string) GcodeData

read a file and parse its Gcode

type GcodeLine 

type GcodeLine struct {
	Command GcodeCommand
	//data map[string]float64
	Dest Coordinate
}

Data on a single line, the command followed by any values on the line

type Grid 

type Grid struct {

	// Size of each axis
	Width float64

	// Number of cells to divide grid into, will be Cells x Cells total cells
	Cells float64
}

Parameters for grid

type Group 

type Group struct {
	Transform string `xml:"transform,attr"`
	Paths     []Path `xml:"path"`
}

type GroupStipple 

type GroupStipple struct {
	Transform string    `xml:"transform,attr"`
	Stipples  []Stipple `xml:"circle"`
}

type HilbertCurve 

type HilbertCurve struct {

	// Integer of how complex it is, 2^Degree is the order
	Degree int

	// Total size in mm
	Size float64
}

Parameters needed for hilbert curve

type LineSegment 

type LineSegment struct {
	// Beginning point of line segment
	Begin Coordinate

	// End of line segment
	End Coordinate
}

Defines a line segment

func (LineSegment) Intersection 

func (lineOne LineSegment) Intersection(lineTwo LineSegment) (intersection Coordinate, intersectionValid bool)

Calculates the intersection between two line segments, based on http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect

func (LineSegment) Len 

func (line LineSegment) Len() float64

type LinearInterpolater 

type LinearInterpolater struct {
	// contains filtered or unexported fields
}

func (*LinearInterpolater) Position 

func (data *LinearInterpolater) Position(slice float64) Coordinate

position along line at this slice

func (*LinearInterpolater) Setup 

func (data *LinearInterpolater) Setup(origin, dest, nextDest Coordinate)

setup data for the linear interpolater

func (*LinearInterpolater) Slices 

func (data *LinearInterpolater) Slices() float64

number of slices needed

func (*LinearInterpolater) WriteData 

func (data *LinearInterpolater) WriteData()

output data

type MouseReader 

type MouseReader interface {
	Start(string)
	Close()
	GetPos() (int32, int32)
	GetLeftButton() bool
	GetRightButton() bool
}

Interface needed

func CreateAndStartMouseReader 

func CreateAndStartMouseReader() MouseReader

Return an implementation of MouseReader specific to the current platform

type Parabolic 

type Parabolic struct {

	// Height of each axis
	Radius float64

	// number of faces on polygon
	PolygonEdgeCount float64

	// Number of lines
	Lines float64
}

Parameters for parabolic curve

type Path 

type Path struct {
	Style string `xml:"style,attr"`
	Data  string `xml:"d,attr"`
}

Used to decode xml data into a readable struct

type PathCommand 

type PathCommand int

All supported Path Commands 

const (
	NotAValidCommand PathCommand = iota
	MoveToAbsolute
	MoveToRelative
	ClosePath
	LineToAbsolute
	LineToRelative
)

func ParseCommand 

func ParseCommand(commandString string) PathCommand

Convert string to command, returns NotAValidCommand if not valid

func (PathCommand) IsRelative 

func (command PathCommand) IsRelative() bool

True if the given PathCommand is relative

func (PathCommand) String 

func (command PathCommand) String() string

PathCommand ToString

type PathParser 

type PathParser struct {
	// contains filtered or unexported fields
}

Used to parse a path string

func NewParser 

func NewParser(originalPathData string, scaleX, scaleY float64) (parser *PathParser)

Create new parser

func (*PathParser) Parse 

func (this *PathParser) Parse() []Coordinate

Parse the data

func (*PathParser) PeekHasMoreArguments 

func (this *PathParser) PeekHasMoreArguments() bool

Return if the next token is a command or not

func (*PathParser) ReadCommand 

func (this *PathParser) ReadCommand() bool

Move to next token

func (*PathParser) ReadCoord 

func (this *PathParser) ReadCoord(penUp bool)

Read two strings as a pair of doubles

type PolarCoordinate 

type PolarCoordinate struct {
	LeftDist, RightDist float64
	PenUp               bool
}

A polar coordinate

func (PolarCoordinate) Add 

func (source PolarCoordinate) Add(dest PolarCoordinate) PolarCoordinate

Add two coordinates together

func (PolarCoordinate) Ceil 

func (coord PolarCoordinate) Ceil() PolarCoordinate

ApplRightDist math.Ceil to each value

func (PolarCoordinate) Clamp 

func (coord PolarCoordinate) Clamp(max, min float64) PolarCoordinate

Clamp the values of LeftDist,RightDist to the given maLeftDist/min

func (PolarCoordinate) Minus 

func (source PolarCoordinate) Minus(dest PolarCoordinate) PolarCoordinate

Return the vector from source to dest

func (PolarCoordinate) Scaled 

func (coord PolarCoordinate) Scaled(factor float64) PolarCoordinate

Scales the PolarCoordinate bRightDist the specified factor

func (PolarCoordinate) String 

func (polarCoord PolarCoordinate) String() string

Coordinate ToString

func (PolarCoordinate) ToCoord 

func (polarCoord PolarCoordinate) ToCoord(system PolarSystem) (coord Coordinate)

Convert the given polarCoordinate from polar to X,Y in the given PolarSystem

type PolarSystem 

type PolarSystem struct {
	XOffset, YOffset float64 // The location of X,Y origin relative to the motors

	XMin, XMax float64
	YMin, YMax float64

	RightMotorDist float64
}

PolarSystem information, 0,0 is always the upper left motor

func PolarSystemFromSettings 

func PolarSystemFromSettings() PolarSystem

Create a PolarSystem from the settings object

type PositionInterpolater 

type PositionInterpolater interface {
	Setup(origin, dest, nextDest Coordinate)
	Slices() float64
	Position(slice float64) Coordinate
	WriteData()
}

Given an origin, dest, nextDest, returns how many slices it will takes to traverse it and what the position at a given slice is

type Raster 

type Raster struct {

	// Size of longest axis
	Size float64

	// Width of the pen used when filling in a pixel
	PenWidth float64
	// contains filtered or unexported fields
}

Parameters for raster

type SettingsData 

type SettingsData struct {
	// Circumference of the motor spool
	SpoolCircumference_MM float64

	// Degrees in a single step, set based on the stepper motor & microstepping
	SpoolSingleStep_Degrees float64

	// Number of seconds to accelerate from 0 to MaxSpeed_MM_S
	Acceleration_Seconds float64

	// Distance between the two motor spools
	SpoolHorizontalDistance_MM float64

	// Minimum distance below motors that can be drawn
	DrawingSurfaceMinY_MM float64

	// Maximum distance below motors that can be drawn
	DrawingSurfaceMaxY_MM float64

	// Distance from the left edge that the pen can go
	DrawingSurfaceMinX_MM float64

	// Calculated from SpoolHorizontalDistance_MM and DrawingSufaceMinX_MM
	DrawingSurfaceMaxX_MM float64 `xml:"-"`

	// Initial distance from head to left motor
	StartingLeftDist_MM float64

	// Initial distance from head to right motor
	StartingRightDist_MM float64

	// path to mouse event file, use evtest to find
	MousePath string

	// MM traveled by a single step
	StepSize_MM float64 `xml:"-"`

	// Max speed of the plot head
	MaxSpeed_MM_S float64 `xml:"-"`

	// Acceleration in mm / s^2, derived from Acceleration_Seconds and MaxSpeed_MM_S
	Acceleration_MM_S2 float64 `xml:"-"`
}

User configurable settings 

var Settings SettingsData

Global settings variable

func (*SettingsData) CalculateDerivedFields 

func (settings *SettingsData) CalculateDerivedFields()

setup derived fields

func (*SettingsData) Read 

func (settings *SettingsData) Read()

Read settings from file, setting the global variable

func (*SettingsData) Write 

func (settings *SettingsData) Write()

Write settings to file

type SlidingCircle 

type SlidingCircle struct {

	// Radius of the circle
	Radius float64

	// Distance traveled while one circle is traced
	CircleDisplacement float64

	// Number of cirlces that will be drawn
	NumbCircles int
}

Parameters needed to generate a sliding circle

type Spiral 

type Spiral struct {
	// Initial radius of spiral
	RadiusBegin float64

	// Spiral ends when this radius is reached
	RadiusEnd float64

	// How much each revolution changes the radius
	RadiusDeltaPerRev float64
}

Parameters needed to generate a spiral

type Stipple 

type Stipple struct {
	Style string  `xml:"style,attr"`
	DataX float64 `xml:"cx,attr"`
	DataY float64 `xml:"cy,attr"`
	DataR float64 `xml:"r,attr"`
	Id    string  `xml:"id,attr"`
}

type TrapezoidInterpolater 

type TrapezoidInterpolater struct {
	// contains filtered or unexported fields
}

Data needed by the interpolater

func (*TrapezoidInterpolater) Position 

func (data *TrapezoidInterpolater) Position(slice float64) Coordinate

Calculate current position at the given time

func (*TrapezoidInterpolater) Setup 

func (data *TrapezoidInterpolater) Setup(origin, dest, nextDest Coordinate)

Calculate all fields needed

func (*TrapezoidInterpolater) Slices 

func (data *TrapezoidInterpolater) Slices() float64

Get total time it takes to move

func (*TrapezoidInterpolater) WriteData 

func (data *TrapezoidInterpolater) WriteData()

Source Files

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