【第8回】【Python × Raspberry Pi】XYテーブルをGUI操作する（Tkinter)（XYテーブル製作シリーズ）

# ============================================
# 第8回
# XYテーブルGUI操作
# ============================================

import RPi.GPIO as GPIO
import time
import threading
import tkinter as tk

GPIO.setmode(GPIO.BCM)

# ============================================
# GPIO設定
# ============================================

X_STEP = 21
X_DIR  = 20
X_EN   = 16

X_MS1 = 17
X_MS2 = 27
X_MS3 = 22

X_RESET = 5
X_SLEEP = 6

X_LIMIT = 4


Y_STEP = 2
Y_DIR  = 26
Y_EN   = 18

Y_MS1 = 23
Y_MS2 = 24
Y_MS3 = 25

Y_RESET = 12
Y_SLEEP = 13

Y_LIMIT = 14


# ============================================
# モーション設定
# ============================================

BELT_PITCH = 2.0
PULLEY_TEETH = 32

MM_PER_REV = BELT_PITCH * PULLEY_TEETH

FULL_STEPS = 200
MICROSTEP = 16

STEPS_PER_REV = FULL_STEPS * MICROSTEP
STEPS_PER_MM = STEPS_PER_REV / MM_PER_REV

ACC_DEC_STEPS = 100

stop_flag = False


# ============================================
# GPIO初期化
# ============================================

def gpio_init_axis(STEP,DIR,EN,MS1,MS2,MS3,RESET,SLEEP):

    pins=[STEP,DIR,EN,MS1,MS2,MS3,RESET,SLEEP]

    for p in pins:
        GPIO.setup(p,GPIO.OUT)

    GPIO.output(RESET,GPIO.HIGH)
    GPIO.output(SLEEP,GPIO.HIGH)

    GPIO.output(MS1,GPIO.HIGH)
    GPIO.output(MS2,GPIO.HIGH)
    GPIO.output(MS3,GPIO.HIGH)

    GPIO.output(EN,GPIO.LOW)


# ============================================
# 加減速
# ============================================

def get_intervals(total_steps,acc_steps,total_time):

    const_steps=max(total_steps-acc_steps*2,1)

    total_ratio=acc_steps*0.5+const_steps+acc_steps*0.5

    base_interval=total_time/total_ratio/2

    intervals=[]

    for i in range(acc_steps):
        intervals.append(base_interval*(acc_steps-i)/acc_steps)

    for i in range(const_steps):
        intervals.append(base_interval)

    for i in range(acc_steps):
        intervals.append(base_interval*(i+1)/acc_steps)

    return intervals


# ============================================
# モーター制御
# ============================================

def run_motor(axis_name,
              STEP,DIR,EN,
              MS1,MS2,MS3,
              RESET,SLEEP,
              distance_mm,
              cycles):

    global stop_flag

    gpio_init_axis(STEP,DIR,EN,MS1,MS2,MS3,RESET,SLEEP)

    steps=int(distance_mm*STEPS_PER_MM)

    intervals=get_intervals(steps,ACC_DEC_STEPS,1.5)

    for c in range(cycles):

        if stop_flag:
            return

        if axis_name=="X軸":
            GPIO.output(DIR,GPIO.LOW)
        else:
            GPIO.output(DIR,GPIO.HIGH)

        for t in intervals:

            if stop_flag:
                return

            GPIO.output(STEP,GPIO.HIGH)
            time.sleep(t)

            GPIO.output(STEP,GPIO.LOW)
            time.sleep(t)

    GPIO.output(EN,GPIO.HIGH)


# ============================================
# XY同時実行
# ============================================

def start_xy():

    x_dist=float(entry_x_dist.get())
    x_cycle=int(entry_x_cycle.get())

    y_dist=float(entry_y_dist.get())
    y_cycle=int(entry_y_cycle.get())

    tx=threading.Thread(
        target=run_motor,
        args=("X軸",
              X_STEP,X_DIR,X_EN,
              X_MS1,X_MS2,X_MS3,
              X_RESET,X_SLEEP,
              x_dist,x_cycle)
    )

    ty=threading.Thread(
        target=run_motor,
        args=("Y軸",
              Y_STEP,Y_DIR,Y_EN,
              Y_MS1,Y_MS2,Y_MS3,
              Y_RESET,Y_SLEEP,
              y_dist,y_cycle)
    )

    tx.start()
    ty.start()


# ============================================
# 緊急停止
# ============================================

def stop_motor():

    global stop_flag
    stop_flag=True

    GPIO.output(X_EN,GPIO.HIGH)
    GPIO.output(Y_EN,GPIO.HIGH)


# ============================================
# GUI
# ============================================

root=tk.Tk()
root.title("XY Table Controller")


tk.Label(root,text="X移動量(mm)").grid(row=0,column=0)
entry_x_dist=tk.Entry(root)
entry_x_dist.grid(row=0,column=1)

tk.Label(root,text="Xサイクル").grid(row=1,column=0)
entry_x_cycle=tk.Entry(root)
entry_x_cycle.grid(row=1,column=1)


tk.Label(root,text="Y移動量(mm)").grid(row=2,column=0)
entry_y_dist=tk.Entry(root)
entry_y_dist.grid(row=2,column=1)

tk.Label(root,text="Yサイクル").grid(row=3,column=0)
entry_y_cycle=tk.Entry(root)
entry_y_cycle.grid(row=3,column=1)


tk.Button(root,
          text="XY同時実行",
          command=start_xy,
          bg="lightblue").grid(row=4,column=0,columnspan=2,pady=10)


tk.Button(root,
          text="緊急停止",
          command=stop_motor,
          bg="red",
          fg="white").grid(row=5,column=0,columnspan=2,pady=10)


root.mainloop()