XYテーブルGUIに単軸動作・片道移動・安全な終了処理を追加【XYテーブル自作 第10回】

def start_x_cycle():
    distance = float(entry_X_dist.get())
    cycles = int(entry_X_cycle.get())
    threading.Thread(
        target=run_motor,
        args=("X軸", X_STEP, X_DIR, X_EN, X_MS1, X_MS2, X_MS3,
              X_RESET, X_SLEEP, distance, cycles),
        daemon=True
    ).start()
# Y軸も同様（引数をY軸用に変更）

tk.Button(root, text="X軸サイクル実行", command=start_x_cycle, bg="lightblue")\
    .grid(row=10, column=0, pady=5)
tk.Button(root, text="Y軸サイクル実行", command=start_y_cycle, bg="lightblue")\
    .grid(row=10, column=1, pady=5)

# ============================================
# 片道運動の関数（第10回追加）
# ============================================
def run_motor_oneway(axis_name, STEP, DIR, EN, MS1, MS2, MS3, RESET, SLEEP,
              distance_mm):
    
    global stop_flag,current_pos
    stop_flag = False
    
    start_pos =current_pos[axis_name]
    target_pos = start_pos + distance_mm
    
    # -----------------------------------------------
    # ソフトリミットチェック
    if axis_name == "X軸":
        if not (X_MIN_MM <= target_pos <= X_MAX_MM):
            message_queue.put(("error", f"{axis_name}移動範囲外:{target_pos:.2f}mm"))
            return
    else:
        if not (Y_MIN_MM <= target_pos <= Y_MAX_MM):
            message_queue.put(("error", f"{axis_name}移動範囲外:{target_pos:.2f}mm"))
            return
    
    steps = int(distance_mm * STEPS_PER_MM)
    if steps < 1:
        return
    intervales = get_intervals(steps,ACC_DEC_STEPS,1.5)
    gpio_init_axis(STEP,DIR,EN,MS1,MS2,MS3,RESET,SLEEP)
    
    step_count = 0  # ★ 現在位置（ステップ数）
    
    try:
        #-----正転のみ-----
        if axis_name =="X軸":
            GPIO.output(DIR,GPIO.LOW)
        else:
            GPIO.output(DIR,GPIO.HIGH)
        
        for t in intervales:
            if stop_flag:
                break
        
            GPIO.output(STEP,GPIO.HIGH)
            time.sleep(t)
            GPIO.output(STEP,GPIO.LOW)
            time.sleep(t)
            
            step_count += 1
            
            if step_count % 50 ==0:
                current_mm = step_count / STEPS_PER_MM
                message_queue.put(("pos",axis_name,current_mm))
        
        GPIO.output(EN,GPIO.HIGH)
        
        #★片道なので位置を更新
        current_pos[axis_name]=target_pos
        message_queue.put(("pos",axis_name,current_pos[axis_name]))
        message_queue.put(("info",f"{axis_name}片道移動完了"))
    
    finally:
        print(f"[{axis_name}]片道終了")
#片道運動の関数＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝＝

tk.Button(root, text="X軸　片道", command=start_x_oneway, bg="lightblue")\
    .grid(row=11, column=0, pady=5)
tk.Button(root, text="Y軸　片道", command=start_y_oneway, bg="lightblue")\
    .grid(row=11, column=1, pady=5)

step_count += 1
if step_count % 50 == 0:                    # 50ステップごとに送る（間引き）
    current_mm = step_count / STEPS_PER_MM
    message_queue.put(("pos", axis_name, current_mm))

# GUI側（Queueから受信）
if msg[0] == "pos":
    _, axis, pos_mm = msg
    if axis == "X軸":
        x_pos_var.set(f"x:{pos_mm:.2f}mm")
    else:
        y_pos_var.set(f"y:{pos_mm:.2f}mm")

root.protocol("WM_DELETE_WINDOW", disable_close)   # ×ボタンを無効化

def quit_program():
    global stop_flag
    stop_flag = True
    GPIO.output(X_EN, GPIO.HIGH)
    GPIO.output(Y_EN, GPIO.HIGH)
    root.destroy()

btn_quit = tk.Button(root, text="プログラム終了", command=quit_program,
                     bg="gray", fg="white")
btn_quit.grid(row=7, column=0, columnspan=2, pady=15)