Chemblock läuft

gui/config.ini

@@ -16,7 +16,16 @@ tiphub = 16.5
 chemx = 200.0
 chemy = 50.0
 chemvol = 60.0
-chemz = 50.0
+chemz = 70.0
 deltaz = 0.5
 tauch = 0.0
 
+[reacblock]
+rxoffset = 225.0
+ryoffset = 150.0
+rrows = 4
+rcols = 6
+rxspace = 20.0
+ryspace = 19.0
+rzlevel = 70.0
+

gui/labrobot.py

@@ -112,6 +112,12 @@ class LabPipBlock():
     def say_ok(self):
         print('ok')
 
+class LabReactBlock(LabPipBlock):
+
+    def __init__(self, xoffset, yoffset, z, rows, cols, deltax, deltay):
+        super().__init__(xoffset, yoffset, z, rows, cols, deltax, deltay)
+    
+
 class ChemLoc():
     """ Chemikalien Lokation zloc location of surface
         vol of chemical

gui/otto/otto.ino

@@ -72,6 +72,7 @@
  #define P_STEP_PIN         26 // E0_STEP_PIN
  #define P_DIR_PIN          28 // E0_DIR_PIN
  #define P_CS_PIN           42 // E0_CS_PIN 
+ #define P_LIMIT            19 // Z_MAX_PIN
 #endif
 
 
@@ -151,7 +152,7 @@ int changeDirection = 1;
 
 // ***** Variables for Serial Communication with Computer *****
 
-const byte numChars = 32;
+const byte numChars = 32;         
 char receivedChars[numChars];
 char tempChars[numChars];        // temporary array for use when parsing
 
@@ -177,7 +178,7 @@ boolean homeP;
 int x_steps_mm = 80;
 int y_steps_mm = 80;
 int z_steps_mm = 80;
-int p_steps_mm = 157.5; 
+double p_steps_mm = 5040; 
 
 
 // variables to hold location data
@@ -189,12 +190,13 @@ double locP_in_mm;
 int locX_in_steps;
 int locY_in_steps;
 int locZ_in_steps;
-int locP_in_steps;
+double locP_in_steps;
 
 #ifdef jfs
 int locX_max = 27000;
 int locY_max = -31200;
-int locZ_max = 4400;
+int locZ_max = 6560;
+double locP_max = 201600;
 #endif
 
 // variables to hold LED data
@@ -207,7 +209,7 @@ void setup() {
 #ifdef otto
     SPI.begin();
 #endif
-    Serial.begin(9600);
+    Serial.begin(115000);
     while(!Serial);
 
 #ifdef otto   
@@ -259,6 +261,9 @@ void setup() {
 #endif
 
     //***** Setting up Switches, Sensors, and Buttons *****
+#ifdef jfs
+    pinMode(P_LIMIT, INPUT);
+#endif
     pinMode(X_LIMIT, INPUT); 
     pinMode(Y_LIMIT, INPUT); 
     pinMode(Z_LIMIT, INPUT); 
@@ -330,7 +335,6 @@ void loop() {
         strcpy(tempChars, receivedChars);
             // this temporary copy is necessary to protect the original data
             //   because strtok() used in parseData() replaces the commas with \0
-        Serial.println(tempChars);
         parseData();
         coordinateMove();
         newData = false;
@@ -371,6 +375,93 @@ void recvWithStartEndMarkers() {
 }
 
 //============
+void doHomeX(){
+    stepperX.setMaxSpeed(5000);
+    stepperX.setAcceleration(2000);
+    int initial_homing = stepperX.currentPosition();
+    homeX = false;
+    while (homeX == false){
+      initial_homing--;  
+      stepperX.moveTo(initial_homing);
+      stepperX.run(); 
+      if (digitalRead(X_LIMIT) != 1) {        
+        delay(1);
+        if (digitalRead(X_LIMIT) !=1){
+          homeX = true;
+        }   
+      }
+    }
+    stepperX.setMaxSpeed(10000);
+    stepperX.setAcceleration(5000);
+    stepperX.setCurrentPosition(0);
+    Serial.println("X Homed");
+  }
+
+void doHomeY(){
+    int initial_homing = stepperY.currentPosition();
+   //Homing Y at min
+   stepperY.setMaxSpeed(5000);
+   stepperY.setAcceleration(2000);
+   initial_homing = stepperY.currentPosition();
+   homeY = false;
+   while (homeY == false){
+      initial_homing++;  
+      stepperY.moveTo(initial_homing);
+      stepperY.run(); 
+      if (digitalRead(Y_LIMIT) != 1) {        
+        delay(1);
+        if (digitalRead(Y_LIMIT) !=1){
+          homeY = true;
+        }   
+      }
+   }  
+   stepperY.setMaxSpeed(10000);
+   stepperY.setAcceleration(5000);
+   stepperY.setCurrentPosition(0);
+   Serial.println("Y Homed");
+  }
+
+  void doHomeZ(){
+   stepperZ.setMaxSpeed(5000);
+   stepperZ.setAcceleration(2000);
+   int initial_homing = stepperZ.currentPosition();
+   homeZ = false;
+   while (homeZ == false){
+      initial_homing--;  
+      stepperZ.moveTo(initial_homing);
+      stepperZ.run(); 
+      if (digitalRead(Z_LIMIT) != 1) {        
+        delay(1);
+        if (digitalRead(Z_LIMIT) !=1){
+          homeZ = true;
+        }   
+      }
+    }
+    stepperZ.setMaxSpeed(10000);
+    stepperZ.setAcceleration(5000);
+    stepperZ.setCurrentPosition(0);
+    Serial.println("Z Homed");
+  }
+
+  void doHomeP(){
+  stepperP.setMaxSpeed(5000);
+   stepperP.setAcceleration(2000);
+   int initial_homing = stepperP.currentPosition();
+   homeP = false;
+   while (homeP == false){
+      initial_homing--;  
+      stepperP.moveTo(initial_homing);
+      stepperP.run(); 
+      if (digitalRead(P_LIMIT) != 1) {        
+        delay(1);
+        if (digitalRead(P_LIMIT) !=1){
+          homeP = true;
+        }   
+      }
+    }
+    stepperP.setCurrentPosition(0);  
+    Serial.println("P Homed");
+  }
 
 void parseData() {      // split the data into its parts
 
@@ -442,9 +533,14 @@ void parseData() {      // split the data into its parts
       Serial.println(" Z off limits ");
       locZ_in_steps = locZ_max;
      } 
-#endif       
+#endif  
     locP_in_steps = locP_in_mm * p_steps_mm;
-
+#ifdef jfs
+     if (locP_in_steps > locP_max) {
+      Serial.println(" P off limits ");
+      locP_in_steps = locP_max;
+     }
+#endif     
 }
 
 //============
@@ -457,7 +553,6 @@ void coordinateMove(){
   stepperZ.setMaxSpeed(2000);
   stepperZ.setAcceleration(1000);
   if (strcmp(mode, "G1") == 0){
-    
     stepperX.moveTo(locX_in_steps);
     stepperY.moveTo(locY_in_steps);
     stepperZ.moveTo(locZ_in_steps);
@@ -469,7 +564,7 @@ void coordinateMove(){
     stepperY.setAcceleration(4000);
     stepperZ.setMaxSpeed(10000);
     stepperZ.setAcceleration(6000);
-    stepperP.setMaxSpeed(12000);
+    stepperP.setMaxSpeed(10000);
     stepperP.setAcceleration(6000);
     
     while(stepperX.targetPosition() != stepperX.currentPosition() or stepperY.targetPosition() != stepperY.currentPosition() or stepperZ.targetPosition() != stepperZ.currentPosition() or stepperP.targetPosition() != stepperP.currentPosition()){
@@ -592,99 +687,30 @@ void coordinateMove(){
     Serial.println( stepperY.currentPosition());
     Serial.print("Z Position ");
     Serial.println( stepperZ.currentPosition());    
+    Serial.print("P Position ");
+    Serial.println( stepperP.currentPosition());    
   }
-  else if (strcmp(mode, "JZ") == 0){
+  else if (strcmp(mode, "JP") == 0){
-
+    doHomeP();
-  //Homing Z at min
+  }
-   stepperZ.setMaxSpeed(5000);
+   else if (strcmp(mode, "JX") == 0){
-   stepperZ.setAcceleration(2000);
+    doHomeX();
-   int initial_homing = stepperZ.currentPosition();
+   }
-   homeZ = false;
+   else if (strcmp(mode, "JY") == 0){
-   while (homeZ == false){
+    doHomeY();
-      initial_homing--;  
+   }
-      stepperZ.moveTo(initial_homing);
+   else if (strcmp(mode, "JZ") == 0){
-      stepperZ.run(); 
+    doHomeZ();
-      if (digitalRead(Z_LIMIT) != 1) {        
-        delay(1);
-        if (digitalRead(Z_LIMIT) !=1){
-          homeZ = true;
-        }   
-      }
-    }
-    stepperZ.setMaxSpeed(10000);
-    stepperZ.setAcceleration(5000);
-    stepperZ.setCurrentPosition(0);
-   
-    stepperP.setCurrentPosition(0);
-    Serial.println("<Z Homed>");
 }
     
   //***** G28 - Homing Cycle *****
-  // For this code to work as written the limit switches must be located at
+
-  // X - Mininum
-  // Y - Minimun
-  // Z - Minimun 
   else if (strcmp(mode, "G28") == 0){
-   //Homing X at min
+   doHomeZ();
-   stepperX.setMaxSpeed(5000);
+   doHomeY();
-   stepperX.setAcceleration(2000);
+   doHomeX();
-   int initial_homing = stepperX.currentPosition();
+   doHomeP();
-   homeX = false;
+   Serial.println("<OK Homed>");
-   while (homeX == false){
-      initial_homing--;  
-      stepperX.moveTo(initial_homing);
-      stepperX.run(); 
-      if (digitalRead(X_LIMIT) != 1) {        
-        delay(1);
-        if (digitalRead(X_LIMIT) !=1){
-          homeX = true;
-        }   
-      }
-    }
-   stepperX.setMaxSpeed(10000);
-   stepperX.setAcceleration(5000);
-   stepperX.setCurrentPosition(0);
-   //Homing Y at min
-   stepperY.setMaxSpeed(5000);
-   stepperY.setAcceleration(2000);
-   initial_homing = stepperY.currentPosition();
-   homeY = false;
-   while (homeY == false){
-      initial_homing++;  
-      stepperY.moveTo(initial_homing);
-      stepperY.run(); 
-      if (digitalRead(Y_LIMIT) != 1) {        
-        delay(1);
-        if (digitalRead(Y_LIMIT) !=1){
-          homeY = true;
-        }   
-      }
-   }  
-   stepperY.setMaxSpeed(10000);
-   stepperY.setAcceleration(5000);
-   stepperY.setCurrentPosition(0);
-   //Homing Z at min
-   stepperZ.setMaxSpeed(5000);
-   stepperZ.setAcceleration(2000);
-   initial_homing = stepperZ.currentPosition();
-   homeZ = false;
-   while (homeZ == false){
-      initial_homing--;  
-      stepperZ.moveTo(initial_homing);
-      stepperZ.run(); 
-      if (digitalRead(Z_LIMIT) != 1) {        
-        delay(1);
-        if (digitalRead(Z_LIMIT) !=1){
-          homeZ = true;
-        }   
-      }
-    }
-    stepperZ.setMaxSpeed(10000);
-    stepperZ.setAcceleration(5000);
-    stepperZ.setCurrentPosition(0);
-   
-    stepperP.setCurrentPosition(0);
-    Serial.println("<OK Homed>");
   }
 
     //########Grab Tip#########
@@ -721,4 +747,5 @@ void coordinateMove(){
       }
       Serial.println("<ok>");      
   }
+ 
 }

gui/ser_one.py

@@ -6,8 +6,10 @@ import tkinter.ttk as ttk
 from configparser  import ConfigParser
 import os
 import labrobot as lrb
+import threading
 
-
+# commands
+command = []
 # serial ports
 ports = serial.tools.list_ports.comports()
 serialObj = serial.Serial()
@@ -17,7 +19,7 @@ def serial_ports():
 
 def on_select(event=None):
     serialObj.port = cb.get().split(' ')[0]
-    serialObj.baudrate = 115200
+    serialObj.baudrate = 115000
     serialObj.open()
 
 
@@ -101,32 +103,48 @@ b12 = ttk.Button(downrightframe,text='Dispense')
 b12.grid(row=1,column=2,sticky='ne')
 b14 = ttk.Button(downrightframe,text='Take Chem')
 b14.grid(row=2,column=0,sticky='ne')
+b15 = ttk.Button(downrightframe,text='Next Vessel')
+b15.grid(row=2,column=1,sticky='ne')
+b16 = ttk.Button(downrightframe,text='Load Next')
+b16.grid(row=2,column=2,sticky='ne')
 
 
 
 ###################### Parts
 ## init Labrobot
 
-
+## Top Block
 xoffset = tk.DoubleVar()
 yoffset = tk.DoubleVar()
 rows = tk.IntVar()
 cols = tk.IntVar()
 xspace = tk.DoubleVar()
 yspace = tk.DoubleVar()
-tipvol = tk.IntVar()
 zlevel = tk.DoubleVar()
+akttip = tk.IntVar()
+## Tip
+tipvol = tk.IntVar()
 tipup = tk.DoubleVar()
 tiphub = tk.DoubleVar()
 tipspeed = tk.IntVar()
-akttip = tk.IntVar()
+## Chemicals
-
 chemX = tk.DoubleVar()
 chemY = tk.DoubleVar()
 chemVol = tk.DoubleVar()
 chemZ = tk.DoubleVar()
 deltaz = tk.DoubleVar()
 tauch = tk.DoubleVar()
+## ReactionSpace
+rxoffset = tk.DoubleVar()
+ryoffset = tk.DoubleVar()
+rrows = tk.IntVar()
+rcols = tk.IntVar()
+rxspace = tk.DoubleVar()
+ryspace = tk.DoubleVar()
+rtipvol = tk.IntVar()
+rzlevel = tk.DoubleVar()
+rakt = tk.IntVar()
+
 
 def conf_read():
     config = ConfigParser()
@@ -148,6 +166,13 @@ def conf_read():
     chemZ.set(float(config.get('chemblock','chemz',fallback=0)))
     deltaz.set(float(config.get('chemblock','deltaz',fallback=0)))
     tauch.set(float(config.get('chemblock','tauch',fallback=0)))
+    rxoffset.set(float(config.get('reacblock','rxoffset',fallback=0)))
+    ryoffset.set(float(config.get('reacblock','ryoffset',fallback=0)))
+    rrows.set(int(config.get('reacblock','rrows',fallback=0)))
+    rcols.set(int(config.get('reacblock','rcols',fallback=0)))
+    rxspace.set(float(config.get('reacblock','rxspace',fallback=0)))
+    ryspace.set(float(config.get('reacblock','ryspace',fallback=0)))
+    rzlevel.set(float(config.get('reacblock','rzlevel',fallback=0)))
 
 def conf_write():
      config = ConfigParser()
@@ -168,7 +193,14 @@ def conf_write():
      config.set('chemblock','chemvol',str(chemVol.get()))   
      config.set('chemblock','chemz',str(chemZ.get()))   
      config.set('chemblock','deltaz',str(deltaz.get()))   
-     config.set('chemblock','tauch',str(tauch.get()))       
+     config.set('chemblock','tauch',str(tauch.get()))      
+     config.set('reacblock','rxoffset',str(rxoffset.get()))
+     config.set('reacblock','ryoffset',str(ryoffset.get()))
+     config.set('reacblock','rrows',str(rrows.get()))
+     config.set('reacblock','rcols',str(rcols.get()))
+     config.set('reacblock','rxspace',str(rxspace.get()))
+     config.set('reacblock','ryspace',str(ryspace.get())) 
+     config.set('reacblock','rzlevel',str(rzlevel.get()))
      with open(os.path.join(os.path.dirname(__file__), "config.ini"),'w') as f:
          config.write(f)
 conf_read()
@@ -176,6 +208,7 @@ conf_read()
 lpb = lrb.LabPipBlock(xoffset.get(),yoffset.get(),zlevel.get(),rows.get(),cols.get(),xspace.get(),yspace.get())
 pip = lrb.LabPip(vol=tipvol.get(),top=tipup.get(),hub=tiphub.get(),fe=tipspeed.get())
 chem = lrb.ChemLoc(chemX.get(),chemY.get(),chemZ.get(),chemVol.get(),deltaz.get(),tauch.get())
+react = lrb.LabReactBlock(rxoffset.get(),ryoffset.get(),rzlevel.get(),rrows.get(),rcols.get(),rxspace.get(),ryspace.get())
 
 partframe = ttk.Frame(notebook)
 #partframe.rowconfigure(0,weight=1)
@@ -245,6 +278,34 @@ ce4.grid(column=1,row=3,sticky='e')
 cl5 = ttk.Label(chemframe,text='DeltaZ/ml').grid(column=0,row=4,padx=5)
 ce5 = ttk.Entry(chemframe,textvariable=deltaz)
 ce5.grid(column=1,row=4,sticky='e')
+
+reactframe =ttk.LabelFrame(partframe,text='Reaction Vessels')
+reactframe.grid(column=2,row=0,sticky='wns',padx=5,pady=5)
+rl1 = ttk.Label(reactframe,text='X offset').grid(column=0,row=0,padx=5)
+re1 = ttk.Entry(reactframe,textvariable=rxoffset)
+re1.grid(column=1,row=0,sticky='e')
+rl2 = ttk.Label(reactframe,text='rows').grid(column=0,row=2,padx=5)
+re2 = ttk.Entry(reactframe,textvariable=rrows)
+re2.grid(column=1,row=2,sticky='e')
+rl3 = ttk.Label(reactframe,text='columns').grid(column=0,row=3,padx=5)
+re3 = ttk.Entry(reactframe,textvariable=rcols)
+re3.grid(column=1,row=3,sticky='e')
+rl4 = ttk.Label(reactframe,text='x space').grid(column=0,row=4,padx=5)
+re4 = ttk.Entry(reactframe,textvariable=rxspace)
+re4.grid(column=1,row=4,sticky='e')
+rl5 = ttk.Label(reactframe,text='y space').grid(column=0,row=5,padx=5)
+re5 = ttk.Entry(reactframe,textvariable=ryspace)
+re5.grid(column=1,row=5,sticky='e')
+rl6 = ttk.Label(reactframe,text='Y offset').grid(column=0,row=1,padx=5)
+re6 = ttk.Entry(reactframe,textvariable=ryoffset)
+re6.grid(column=1,row=1,sticky='e')
+rl7 = ttk.Label(reactframe,text='Z level').grid(column=0,row=6,padx=5)
+re7 = ttk.Entry(reactframe,textvariable=rzlevel)
+re7.grid(column=1,row=6,sticky='e')
+ttk.Separator(reactframe, orient=tk.HORIZONTAL).grid(row=80,sticky='ew')
+rl8 = ttk.Label(reactframe,text='Akt Vessel').grid(column=0,row=81,padx=5)
+re8 = ttk.Entry(reactframe,textvariable=rakt)
+re8.grid(column=1,row=81,sticky='e')
 ### commands and bindings
 
 pb2.config(command=conf_write)
@@ -273,6 +334,16 @@ def set_tipblock():
     chem.zloc = float(chemZ.get())
     chem.deltaz = float(deltaz.get())
     chem.tauch = float(tauch.get())
+    global react
+    react.xoffset = float(rxoffset.get())
+    react.yoffset = float(ryoffset.get())
+    react.rows = int(rrows.get())
+    react.columns = int(rcols.get())
+    react.deltax = float(rxspace.get())
+    react.deltay = float(ryspace.get())
+    react.z = float(rzlevel.get())
+    react.akt = int(rakt.get())
+
 
 pb1.config(command=set_tipblock)
     
@@ -304,57 +375,77 @@ def do_gcode():
     s = e1.get()
     s = s + '\n'
     print(s)
-    serialObj.write(s.encode('utf-8'))   
+    serialObj.write(s.encode('utf-8')) 
 b5.configure(command=do_gcode)
 
 def upTip():
-    serialObj.write(pip.up().encode('utf-8')) 
+    command.append(pip.up().encode('utf-8'))    
 b9.configure(command=upTip)
 
 def downTip():
-    serialObj.write(pip.down().encode('utf-8'))
+    command.append(pip.down().encode('utf-8'))   
 b10.configure(command=downTip)
 
 def nextTip():
     upTip()
     serialObj.write(pip.get_tip(lpb.next()).encode('utf-8')) 
     akttip.set(lpb.akt)
-    downTip()
+    downTip()    
-    
 b8.configure(command=nextTip)
 
 def load():
-    serialObj.write(pip.go_top().encode('utf-8')) 
+    command.append(pip.go_top().encode('utf-8'))
-    serialObj.write(pip.go_down().encode('utf-8'))
+    command.append(pip.go_down().encode('utf-8'))
-    serialObj.write(pip.go_top().encode('utf-8'))
+    command.append(pip.go_top().encode('utf-8'))
 b13.config(command=load)
 
 def dispense():
-    serialObj.write(pip.go_down().encode('utf-8')) 
+    command.append(pip.go_down().encode('utf-8'))     
 b12.config(command=dispense)
 
 def top():
-    serialObj.write(pip.go_top().encode('utf-8')) 
+    command.append(pip.go_top().encode('utf-8'))     
 b11.config(command=top)
 
 def takeChem():
-    print(chem.getXY())
-    pip.setXY(chem.getXY())
-    serialObj.write(pip.sendXY().encode('utf-8'))
-    pip.setZ(chem.load(1))
-    serialObj.write(pip.down().encode('utf-8'))
-    serialObj.write(pip.go_top().encode('utf-8'))
     upTip()
-    
+    pip.setXY(chem.getXY())
-
+    command.append(pip.sendXY().encode('utf-8'))
-
+    pip.setZ(chem.load(1))
+    command.append(pip.down().encode('utf-8'))
+    load()
+    command.append(pip.up().encode('utf-8'))
 b14.config(command=takeChem)
+
+def nextVessel():
+    upTip()
+    command.append(pip.get_tip(react.next()).encode('utf-8')) 
+    rakt.set(react.akt)
+    downTip()   
+b15.config(command=nextVessel)
+
+def loadNext():
+    upTip()
+    takeChem()
+    nextVessel()
+    dispense()
+    upTip()
+
+b16.config(command=loadNext)
+
+weiter = True
 def checkSerialPort():
+    global weiter
     if serialObj.isOpen() and serialObj.in_waiting:
         recentPacket = serialObj.readline()
         recentPacketString  = recentPacket.decode('utf')
         txt.insert('0.1',recentPacketString,'small')
-       
+        weiter = True
+    if  (len(command) > 0) & (weiter==True) :
+            x = command.pop(0)
+            txt.insert('0.1',x,'small')
+            serialObj.write(x)
+            weiter=False
 
 
 while True: