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Add chain sag adjustment to simulator #609

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Feb 7, 2018
Merged

Add chain sag adjustment to simulator #609

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7 changes: 6 additions & 1 deletion Simulation/simulationCanvas.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@ def initialize(self):
self.leftChainOffset.bind(value=self.onSliderChange)
self.rightChainOffset.bind(value=self.onSliderChange)
self.rotationRadiusOffset.bind(value=self.onSliderChange)
self.chainSagCorrectionOffset.bind(value=self.onSliderChange)

self.vertCGDist.bind(value=self.onSliderChange)
self.gridSize.bind(value=self.onSliderChange)
Expand Down Expand Up @@ -81,6 +82,7 @@ def resetSliders(self):
self.leftChainOffset.value = 0
self.rightChainOffset.value = 0
self.rotationRadiusOffset.value = 0
self.chainSagCorrectionOffset.value = 0
self.gridSize.value=300

def recompute(self):
Expand Down Expand Up @@ -391,7 +393,10 @@ def onSliderChange(self, *args):

self.distortedKinematics.rotationDiskRadius = self.correctKinematics.rotationDiskRadius + self.rotationRadiusOffset.value
self.rotationRadiusLabel.text = "Rotation Radius\nSpacing Error: " + "%.2f" % self.rotationRadiusOffset.value + "mm"


self.distortedKinematics.chainSagCorrection = self.correctKinematics.chainSagCorrection + self.chainSagCorrectionOffset.value
self.chainSagCorrectionLabel.text = "Chain Sag\Correction Error: " + "%.2f" % self.chainSagCorrectionOffset.value

#self.machineLabel.text = "distance between sled attachments ideal: "+str(self.correctKinematics.l)+" actual: "+str(self.distortedKinematics.l)+"mm\nvertical distance between sled attachments and bit ideal: "+str(self.correctKinematics.s)+" actual: "+str(self.distortedKinematics.s)+"mm\nvertical distance between sled attachments and CG ideal: "+str(self.correctKinematics.h3+self.correctKinematics.s)+" actual: "+str(self.distortedKinematics.h3+self.distortedKinematics.s)+"mm\ndistance between motors ideal: "+str(self.correctKinematics.D)+" actual: "+str(self.distortedKinematics.D)+"mm"

self.gridSizeLabel.text = "Grid Size: "+str(int(self.gridSize.value))+"mm"
Expand Down
14 changes: 14 additions & 0 deletions groundcontrol.kv
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Original file line number Diff line number Diff line change
Expand Up @@ -1223,6 +1223,8 @@
gridSizeLabel:gridSizeLabel
rotationRadiusOffset:rotationRadiusOffset
rotationRadiusLabel:rotationRadiusLabel
chainSagCorrectionOffset:chainSagCorrectionOffset
chainSagCorrectionLabel:chainSagCorrectionLabel
kinematicsSelect:kinematicsSelect

rows: 3
Expand Down Expand Up @@ -1344,6 +1346,18 @@
value: 0
disabled: root.isQuadKinematics
id: rotationRadiusOffset
Label:
text: "Chain Sag Correction"
text_size: self.width, self.height
font_size: sp(self.height)/sp(3)
disabled: root.isQuadKinematics
id: chainSagCorrectionLabel
Slider:
min: -50
max:50
value: 0
disabled: root.isQuadKinematics
id: chainSagCorrectionOffset
Label:
text: "Grid Size: 150mm"
text_size: self.width, self.height
Expand Down