Gcode

This module provides utilities for G-code based devices.

ATTRIBUTE	DESCRIPTION
`MOVEMENT_BUFFER`	buffer time after movement TYPE: `int`
`MOVEMENT_TIMEOUT`	timeout for movement TYPE: `int`

CLASS	DESCRIPTION
`GCodeDevice`	Protocol for G-code devices
`GCode`	Interface to control a G-code based device.

Documentation last updated: 2025-02-22

GCode

GCode(
    port: str,
    *,
    device_type_name: str = "GRBL",
    baudrate: int = 115200,
    movement_buffer: int | None = None,
    movement_timeout: int | None = None,
    verbose: bool = False,
    **kwargs,
)

Bases: Mover

GCode provides an interface to control a G-code based device. Refer to https://reprap.org/wiki/G-code for more information on G-code commands.

ATTRIBUTE	DESCRIPTION
`movement_buffer`	buffer time after movement TYPE: `int`
`movement_timeout`	timeout for movement TYPE: `int`
`connection_details`	connection details for the device TYPE: `dict`
`device`	device object that communicates with physical tool TYPE: `Device`
`flags`	flags for the class TYPE: `SimpleNamespace[str, bool]`
`is_busy`	whether the device is busy TYPE: `bool`
`is_connected`	whether the device is connected TYPE: `bool`
`verbose`	verbosity of class TYPE: `bool`
`deck`	Deck object for workspace TYPE: `Deck`
`workspace`	workspace bounding box TYPE: `BoundingBox`
`safe_height`	safe height in terms of robot coordinate system TYPE: `float`
`saved_positions`	dictionary of saved positions TYPE: `dict`
`speed`	travel speed of robot TYPE: `float`
`speed_factor`	fraction of maximum travel speed of robot TYPE: `float`
`speed_max`	maximum speed of robot in mm/min TYPE: `float`
`robot_position`	current position of the robot TYPE: `Position`
`home_position`	home position of the robot in terms of robot coordinate system TYPE: `Position`
`tool_offset`	tool offset from robot to end effector TYPE: `Position`
`calibrated_offset`	calibrated offset from robot to work position TYPE: `Position`
`scale`	factor to scale the basis vectors by TYPE: `float`
`tool_position`	robot position of the tool end effector TYPE: `Position`
`work_position`	work position of the robot TYPE: `Position`
`worktool_position`	work position of the tool end effector TYPE: `Position`
`position`	work position of the tool end effector; alias for worktool_position TYPE: `Position`
`max_accels`	maximum accelerations of the robot TYPE: `ndarray`
`max_speeds`	maximum speeds of the robot TYPE: `ndarray`

METHOD	DESCRIPTION
`query`	query the device
`toggleCoolantValve`	toggle the coolant valve
`connect`	connect to the device
`disconnect`	disconnect from the device
`resetFlags`	reset all flags to class attribute _default_flags
`shutdown`	shutdown procedure for tool
`enterZone`	enter a zone on the deck
`exitZone`	exit the current zone on the deck
`halt`	halt robot movement
`home`	make the robot go home
`isFeasible`	checks and returns whether the target coordinates is feasible
`loadDeck`	load Deck layout object to mover
`loadDeckFromDict`	load Deck layout object from dictionary
`loadDeckFromFile`	load Deck layout object from file
`move`	move the robot in a specific axis by a specific value
`moveBy`	move the robot by target direction
`moveTo`	move the robot to target position
`moveToSafeHeight`	move the robot to safe height
`moveRobotTo`	move the robot to target position
`moveToolTo`	move the tool end effector to target position
`reset`	reset the robot
`rotate`	rotate the robot in a specific axis by a specific value
`rotateBy`	rotate the robot by target direction
`rotateTo`	rotate the robot to target orientation
`rotateRobotTo`	rotate the robot to target orientation
`rotateToolTo`	rotate the tool end effector to target orientation
`safeMoveTo`	safe version of moveTo by moving to safe height first
`setSafeHeight`	set safe height for robot
`setSpeedFactor`	set the speed factor of the robot
`setToolOffset`	set the tool offset of the robot
`showWorkspace`	show the workspace of the robot
`updateRobotPosition`	update the robot position
`transformRobotToTool`	transform robot coordinates to tool coordinates
`transformRobotToWork`	transform robot coordinates to work coordinates
`transformToolToRobot`	transform tool coordinates to robot coordinates
`transformWorkToRobot`	transform work coordinates to robot coordinates
`calibrate`	calibrate the internal and external coordinate systems

Initialize GCode class

PARAMETER	DESCRIPTION
`port`	serial port address TYPE: `str`
`device_type_name`	name of the device type. Defaults to 'GRBL'. TYPE: `str` DEFAULT: `'GRBL'`
`baudrate`	baudrate of the device. Defaults to 115200. TYPE: `int` DEFAULT: `115200`
`movement_buffer`	buffer time after movement. Defaults to None. TYPE: `int` DEFAULT: `None`
`movement_timeout`	timeout for movement. Defaults to None. TYPE: `int` DEFAULT: `None`
`verbose`	verbosity of class. Defaults to False. TYPE: `bool` DEFAULT: `False`

max_accels `property`

max_accels: ndarray

Maximum accelerations of the robot

max_speeds `property`

max_speeds: ndarray

Maximum speeds of the robot

connect

connect()

Connect to the device

halt

halt() -> Position

Halt robot movement

home

home(
    axis: str | None = None, *, timeout: int | None = None
) -> bool

Make the robot go home

PARAMETER	DESCRIPTION
`axis`	axis to home. Defaults to None. TYPE: `str` DEFAULT: `None`
`timeout`	timeout for movement. Defaults to None. TYPE: `int` DEFAULT: `None`

RETURNS	DESCRIPTION
`bool`	whether the robot successfully homed TYPE: `bool`

moveBy

moveBy(
    by: Sequence[float] | Position | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    rapid: bool = False,
    robot: bool = False,
) -> Position

Move the robot by target direction

PARAMETER	DESCRIPTION
`by`	target direction TYPE: `Sequence[float] \| Position \| ndarray`
`speed_factor`	speed factor. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	jog movement. Defaults to False. TYPE: `bool` DEFAULT: `False`
`rapid`	rapid movement. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	robot coordinates. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`Position`	new tool/robot position TYPE: `Position`

moveTo

moveTo(
    to: Sequence[float] | Position | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    rapid: bool = False,
    robot: bool = False,
) -> Position

Move the robot to target position

PARAMETER	DESCRIPTION
`to`	target position TYPE: `Sequence[float] \| Position \| ndarray`
`speed_factor`	speed factor. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	jog movement. Defaults to False. TYPE: `bool` DEFAULT: `False`
`rapid`	rapid movement. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	robot coordinates. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`Position`	new tool/robot position TYPE: `Position`

query

query(
    data: Any,
    multi_out: bool = True,
    *,
    timeout: int | float = 1,
    jog: bool = False,
    wait: bool = False,
) -> Any

Query the device

PARAMETER	DESCRIPTION
`data`	data to query TYPE: `Any`
`multi_out`	lines of data. Defaults to True. TYPE: `bool` DEFAULT: `True`
`timeout`	timeout for movement. Defaults to None. TYPE: `int` DEFAULT: `1`
`jog`	jog movement. Defaults to False. TYPE: `bool` DEFAULT: `False`
`wait`	wait for movement. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`Any`	response from device TYPE: `Any`

reset

reset()

Reset the robot

setSpeedFactor

setSpeedFactor(
    speed_factor: float | None = None,
    *,
    persist: bool = True,
)

Set the speed factor of the robot

PARAMETER	DESCRIPTION
`speed_factor`	speed factor. Defaults to None. TYPE: `float` DEFAULT: `None`
`persist`	persist speed factor. Defaults to True. TYPE: `bool` DEFAULT: `True`

toggleCoolantValve

toggleCoolantValve(on: bool)

Toggle the coolant valve

PARAMETER	DESCRIPTION
`on`	whether to turn the coolant valve on TYPE: `bool`

GCodeDevice

Bases: Protocol

Protocol for G-code devices

clear

clear()

Clear the input and output buffers

connect

connect()

Connect to the device

disconnect

disconnect()

Disconnect from the device

getSettings

getSettings() -> dict[str, int | float | str]

Check the settings of the device

halt

halt() -> Position

Halt the device

home

home(axis: str | None = None, **kwargs) -> bool

Home the device

query

query(
    data: Any, multi_out: bool = True, **kwargs
) -> list[str] | None

Query the device

read

read() -> str

Read data from the device

readAll

readAll() -> list[str]

Read all data from the device

setSpeedFactor

setSpeedFactor(speed_factor: float | int, **kwargs)

Set the speed factor of the device

write

write(data: str) -> bool

Write data to the device

Gcode

GCode

max_accels property

max_speeds property

connect

halt

home

moveBy

moveTo

query

reset

setSpeedFactor

toggleCoolantValve

GCodeDevice

clear

connect

disconnect

getSettings

halt

home

query

read

readAll

setSpeedFactor

write

max_accels `property`

max_speeds `property`