Metadata-Version: 1.0
Name: pycnc
Version: 1.1.0
Summary: CNC machine controller
Home-page: https://github.com/Nikolay-Kha/PyCNC
Author: Nikolay Khabarov
Author-email: 2xl@mail.ru
License: MIT
Description: |Build Status|
        
        .. figure:: https://cloud.githubusercontent.com/assets/8740775/26766365/14796b54-4999-11e7-8ca2-9428a45878ab.png
           :alt: 
        
        PyCNC is a free open-source high-performance G-code interpreter and
        CNC/3D-printer controller. It can run on a variety of Linux-powered
        ARM-based boards, such as Raspberry Pi, Odroid, Beaglebone and others.
        This gives you a flexibility to pick a board you are most familiar with,
        and use everything Linux has to offer, while keeping all your G-code
        runtime on the same board without a need to have a separate
        microcontroller for real-time operation. Our choice of Python as main
        programming language significantly reduces code base compared to C/C++
        projects, reduces boilerplate and microcontroller-specific code, and
        makes the project accessible to a broader audience to tinker with.
        
        Realtime Motor Control in Linux?
        ================================
        
        | Typically there is no way to control stepper motors from Linux runtime
          environment due to the lack of real time GPIO control. Even kernel
          based modules can not guarantee precise control of pulses for
          steppers. However, we can use a separate hardware module, DMA (Direct
          Memory Access) which provides high precision for GPIO outputs. This
          module can copy bytes which represent GPIO states from RAM buffer
          directly to GPIO with some clock based on main chip internal
          oscillator without using CPU's cores. Using such approach this project
          generates impulses for moving stepper motors and that is very precise
          way regardless CPU load and OS time jitter.
        | This approach also allows to use Python language for this project.
          Typically, Python is not good choice for real time application, but
          since project just needs to set up DMA buffers and hardware will do
          the rest, Python become the perfect choice for easy development of
          this project.
        
        | Video demo - `YouTube video <https://youtu.be/41wdmmztTNA>`__
        | And the original video when PyCNC was just a prototype `YouTube
          video <https://youtu.be/vcedo59raS4>`__
        
        Current gcode and features support
        ==================================
        
        -  Commands G0, G1, G2, G3, G4, G17, G18, G19, G20, G21, G28, G53, G90,
           G91, G92, M2, M3, M5, M30, M84, M104, M105, M106, M107, M109, M114,
           M140, M190 are supported. Commands can be easily added, see
           `gmachine.py <./cnc/gmachine.py>`__ file.
        -  Four axis are supported - X, Y, Z, E.
        -  Circular interpolation for XY, ZX, YZ planes is supported.
        -  Spindle with rpm control is supported.
        -  Extruder and bed heaters are supported.
        -  Hardware watchdog.
        
        Watchdog
        ========
        
        PyCNC uses one of DMA channels as hardware watchdog for safety purpose.
        If board, OS or PyCNC hangs this watchdog should disable all GPIO
        pins(by switching them into input state, for RPi this would be GPIO0-29)
        in 15 seconds. Since there is a high current and dangerous devices like
        heated bed, extruder heater, this feature should prevent uncontrollable
        overheating. But don't count on such software features too much, they
        can hang too or output MOSFET become shorted, use hardware protection
        like thermal cutoff switches in your machines.
        
        Hardware
        ========
        
        | Currently, this project supports Raspberry Pi 1-3. Developed and
          tested with RPI3. And there is a way to add new boards. See
          `hal.py <./cnc/hal.py>`__ file.
        | *Note: Current Raspberry Pi implementation uses the same resources as
          on board 3.5 mm jack(PWM module), so do not use it. HDMI audio works.*
        
        Config
        ======
        
        | All configs are stored in `config.py <./cnc/config.py>`__ and contain
          hardware properties, limitations and pin names for hardware control.
        | Raspberry Pi implementation should be connected to A4988, DRV8825 or
          any other stepper motor drivers with DIR and STEP pin inputs. Default
          config is created for Raspberry Pi 2-3 and this wiring config:
        
        +-------------------+----------------+----------------------------+-------------------+
        | Circuit name      | RPi pin name   | RAMPSv1.4 board pin name   | Note              |
        +===================+================+============================+===================+
        | X step            | GPIO21         | A0                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | X dir             | GPIO20         | A1                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | steppers enable   | GPIO26         | A2, A8, D24, D34, D38      | all steppers      |
        +-------------------+----------------+----------------------------+-------------------+
        | Y step            | GPIO16         | A6                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Y dir             | GPIO19         | A7                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Z dir             | GPIO13         | D48                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Z step            | GPIO12         | D46                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | E1 step           | GPIO6          | D36                        | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | E1 dir            | GPIO5          | D34                        | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | E0 dir            | GPIO7          | D28                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | E0 step           | GPIO8          | D26                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Z max             | GPIO11         | D19                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Z min             | GPIO25         | D18                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Y max             | GPIO9          | D15                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | Y min             | GPIO10         | D14                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | X max             | GPIO24         | D2                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | X min             | GPIO23         | D3                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | heater bed        | GPIO22         | D8                         |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | heater 2          | GPIO27         | D9                         | uses for fan      |
        +-------------------+----------------+----------------------------+-------------------+
        | heater 1          | GPIO18         | D10                        |                   |
        +-------------------+----------------+----------------------------+-------------------+
        | ser 1             | GPIO17         | D11                        | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | ser 2             | GPIO15         | D6                         | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | ser 3             | GPIO4          | D5                         | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | ser 4             | GPIO14         | D4                         | reserve           |
        +-------------------+----------------+----------------------------+-------------------+
        | I2C SCL           | GPIO3          | -                          | to ads111x        |
        +-------------------+----------------+----------------------------+-------------------+
        | I2C SDA           | GPIO2          | -                          | to ads111x        |
        +-------------------+----------------+----------------------------+-------------------+
        | ads1115 ch0       | -              | A15                        | heater 2 - nc     |
        +-------------------+----------------+----------------------------+-------------------+
        | ads1115 ch1       | -              | A14                        | bed sensor        |
        +-------------------+----------------+----------------------------+-------------------+
        | ads1115 ch2       | -              | A13                        | extruder sensor   |
        +-------------------+----------------+----------------------------+-------------------+
        | ads1115 ch3       | -              | -                          | not connected     |
        +-------------------+----------------+----------------------------+-------------------+
        
        | So having Raspberry Pi connected this way, there is no need to
          configure pin map for project. `RAMPS
          v1.4 <http://reprap.org/wiki/RAMPS_1.4>`__ board can be used for this
          purpose. Full reference circuit diagram and photos of assembled
          controller(click to enlarge):
        | |circuit small| |sample front small| |sample back small| |sample
          mounted small|
        
        Usage
        =====
        
        | Just clone this repo and run ``./pycnc`` from repo root. It will start
          in interactive terminal mode where gcode commands can be entered
          manually.
        | To run file with gcode commands, just run ``./pycnc filename``.
        | Optionally, ``pycnc`` can be installed. Run
        
        .. code:: bash
        
            sudo pip install .
        
        in repo root directory to install it. After than, ``pycnc`` command will
        be added to system path. To remove installation, just run:
        
        .. code:: bash
        
            sudo pip remove pycnc
        
        Performance notice
        ==================
        
        | Pure Python interpreter would not provide great performance for high
          speed machines. Overspeeding setting causes motors mispulses and
          probably lose of trajectory. According to my tests, Raspberry Pi 2 can
          handle axises with 400 pulses on mm with top velocity ~800 mm per min.
          There is always way out! :) Use JIT Python implementation like PyPy.
          RPi2 can handle up to 18000 mm per minute on the machine with 80 steps
          per millimeter motors with PyPy.
        | *Note: Raspbian has outdated PyPy version in repositories(v4.0).
          Moreover v4.0 has issue with ``mmap`` module implementation. Use PyPy
          v5.0+, download it for your OS from
          `here <https://pypy.org/download.html>`__.*
        | PyPy installation:
        
        .. code:: bash
        
            wget wget https://bitbucket.org/pypy/pypy/downloads/pypy2-v5.7.1-linux-armhf-raspbian.tar.bz2
            sudo mkdir /opt/pypy
            sudo tar xvf pypy2-v5.7.1-linux-armhf-raspbian.tar.bz2 --directory /opt/pypy/ --strip-components=1
            sudo ln -s /opt/pypy/bin/pypy /usr/local/bin/pypy
        
        Project architecture
        ====================
        
        .. figure:: https://user-images.githubusercontent.com/8740775/27770129-c8c3592c-5f41-11e7-8a9c-254d5a88ed77.png
           :alt: 
        
        Dependencies
        ============
        
        Nothing for runtime. Just pure Python code. For uploading to PyPi there
        is a need in ``pandoc``:
        
        .. code:: bash
        
            sudo dnf install pandoc
            sudo pip install pypandoc
        
        GCode simulation
        ================
        
        Just a link, mostly for myself :), to a nice web software for gcode
        files emulation (very helpful for manual creating of gcode files):
        https://nraynaud.github.io/webgcode/
        
        License
        =======
        
        see `LICENSE <./LICENSE>`__ file.
        
        Author
        ======
        
        Nikolay Khabarov
        
        .. |Build Status| image:: https://travis-ci.org/Nikolay-Kha/PyCNC.svg?branch=master
           :target: https://travis-ci.org/Nikolay-Kha/PyCNC
        .. |circuit small| image:: https://user-images.githubusercontent.com/8740775/28233810-40773186-6902-11e7-8496-5750babfcf44.jpg
           :target: https://user-images.githubusercontent.com/8740775/28233650-d64060e0-6900-11e7-8605-6475384fd2f7.png
        .. |sample front small| image:: https://user-images.githubusercontent.com/8740775/28233812-407820c8-6902-11e7-8de1-35c03509c0e5.jpg
           :target: https://user-images.githubusercontent.com/8740775/28233649-d6402800-6900-11e7-8dca-cd35c8292e0c.jpg
        .. |sample back small| image:: https://user-images.githubusercontent.com/8740775/28233879-db96ea1c-6902-11e7-9298-11150476084b.jpg
           :target: https://user-images.githubusercontent.com/8740775/28233648-d63fa0c4-6900-11e7-8fab-2055e035a6cb.jpg
        .. |sample mounted small| image:: https://user-images.githubusercontent.com/8740775/28233811-40777e8e-6902-11e7-8899-5991860d182c.jpg
           :target: https://user-images.githubusercontent.com/8740775/28233652-d65f82ea-6900-11e7-9e80-d8b0c9238f95.jpg
        
Keywords: CNC 3D printer robot raspberry pi
Platform: UNKNOWN
