Grbl Api

GRBL API for controlling CNC machines using the GRBL firmware. Refer to https://github.com/gnea/grbl/tree/master/doc/markdown for more information on the GRBL firmware.

ATTRIBUTE	DESCRIPTION
`LOOP_INTERVAL`	loop interval for device TYPE: `float`
`MOVEMENT_TIMEOUT`	timeout for movement TYPE: `int`
`READ_FORMAT`	read format for device TYPE: `str`
`WRITE_FORMAT`	write format for device TYPE: `str`
`Data`	data for device TYPE: `NamedTuple`

CLASS	DESCRIPTION
`GRBL`	GRBL class for controlling CNC machines using the GRBL firmware.

Documentation last updated: 2025-02-22

GRBL

GRBL(
    port: str | None = None,
    baudrate: int = 115200,
    timeout: int = 1,
    init_timeout: int = 2,
    message_end: str = "\n",
    *args,
    simulation: bool = False,
    **kwargs,
)

Bases: SerialDevice

GRBL class for controlling CNC machines using the GRBL firmware.
Refer to https://github.com/gnea/grbl/tree/master/doc/markdown for more information on the GRBL firmware.

Attributes:
    port (str): device serial port
    baudrate (int): device baudrate
    timeout (int): device timeout
    connection_details (dict): connection details for the device
    serial (serial.Serial): serial object for the device
    init_timeout (int): timeout for initialization
    message_end (str): message end character
    flags (SimpleNamespace[str, bool]): flags for the device
    is_connected (bool): whether the device is connected
    verbose (bool): verbosity of class

Methods:
    getAlarms: check for alarms in the response
    getErrors: check for errors in the response
    getInfo: query device information
    getParameters: query device parameters
    getSettings: query device settings
    getState: query device state
    getStatus: query device status
    clearAlarms: clear alarms in the response
    halt: halt the device
    home: home the device
    resume: resume activity on the device
    setSpeedFactor: set the speed factor in the device
    clear: clear the input and output buffers
    connect: connect to the device
    disconnect: disconnect from the device
    query: query the device (i.e. write and read data)
    read: read data from the device
    write: write data to the device

    Initialize GRBL class

    Args:
        port (str|None): Serial port to connect to. Defaults to None.
        baudrate (int): baudrate for serial communication. Defaults to 115200.
        timeout (int): timeout for serial communication. Defaults to 1.
        init_timeout (int): timeout for initialization of serial communication. Defaults to 2.
        message_end (str): message end character for serial communication. Defaults to '

'. simulation (bool): simulation mode for testing. Defaults to False.

clearAlarms

clearAlarms()

Clear alarms in the device

connect

connect()

Connect to the device

getAlarms

getAlarms(response: str) -> bool

Checks for alarms in the response

PARAMETER	DESCRIPTION
`response`	response TYPE: `str`

RETURNS	DESCRIPTION
`bool`	whether an alarm was found TYPE: `bool`

getErrors

getErrors(response: str) -> bool

Checks for errors in the response

PARAMETER	DESCRIPTION
`response`	response TYPE: `str`

RETURNS	DESCRIPTION
`bool`	whether an error was found TYPE: `bool`

getInfo

getInfo() -> list[str]

Query device information

RETURNS	DESCRIPTION
`list[str]`	list[str]: information in the response

getParameters

getParameters() -> dict[str, list[float]]

Query device parameters

RETURNS	DESCRIPTION
`dict[str, list[float]]`	dict[str, list[float]]: parameters in the response

getSettings

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

Query device settings

RETURNS	DESCRIPTION
`dict[str, int \| float \| str]`	dict[str, int\|float\|str]: settings in the response

getState

getState() -> dict[str, str]

Query device state

RETURNS	DESCRIPTION
`dict[str, str]`	dict[str, str]: state in the response

getStatus

getStatus() -> tuple[str, ndarray[float], ndarray[float]]

Query device status

RETURNS	DESCRIPTION
`tuple[str, ndarray[float], ndarray[float]]`	tuple[str, np.ndarray[float], np.ndarray[float]]: status, current position, home offset

halt

halt() -> Position

Halt the device

home

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

Home the device

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

RETURNS	DESCRIPTION
`bool`	whether the device was homed TYPE: `bool`

query

query(
    data: Any,
    multi_out: bool = True,
    *,
    timeout: int | float = 1,
    jog: bool = False,
    wait: bool = False,
    **kwargs,
) -> list[str] | None

Query the device (i.e. write and read data)

PARAMETER	DESCRIPTION
`data`	data to query TYPE: `Any`
`multi_out`	whether to read lines TYPE: `bool` DEFAULT: `True`
`timeout`	timeout for query TYPE: `int \| None` DEFAULT: `1`
`jog`	whether to perform jog movements TYPE: `bool` DEFAULT: `False`
`wait`	whether to wait for the device to reach the status TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`list[str] \| None`	list[str]\|None: response from the device

resume

resume()

Resume activity on the device

setSpeedFactor

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

Set the speed factor in the device

PARAMETER	DESCRIPTION
`speed_factor`	speed factor TYPE: `float`
`speed_max`	maximum speed TYPE: `int`