(Q3.can't we use joint values to make the g-code?)
That is the whole point of a teach program
You could have the teach-in.py script write out as GCode, but you would need to process the fields in position first, to insert modal codes and axis letters into the string.
As a starter for 10, this will write out to file in a format that can be used as gcode, with a suitable header and footer
It is 6 axis specific, edit and adapt as required.
Code:
#!/usr/bin/python
"""Usage:
python train.py
You must ". scripts/emc-environment" before running this script, if you use
run-in-place.
"""
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
import hal
import sys
import linuxcnc
s = linuxcnc.stat()
def get_cart():
s.poll()
position = "G01 X%-8.4f Y%-8.4f Z%-8.4f A%-8.4f B%-8.4f C%-8.4f\n" % ( s.position[0], s.position[1], s.position[2], s.position[3], s.position[4], s.position[5] )
return position
h = hal.component("train")
h.newpin ("record", hal.HAL_BIT, hal.HAL_IN)
outfile = "train.ngc"
h.ready()
try:
while 1:
if h["record"] == 1:
f = open(outfile, 'a')
pos = get_cart()
f.write(pos)
f.close()
except KeyboardInterrupt:
raise SystemExit
