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Papywizard Developper Guide
Introduction
Papywizard is entirely written in python. It uses PyGTK (Python bindings for GTK) toolkit for the GUI, and a few additional modules, mainly for hardware control (pybluez and pyserial). Optionnaly, vpython (OpenGL-based module) can also be used to simulate the position of the head (note that this will be soon a separate application).
API
The API documentation is available as web page in the html/ directory.
Architecture
Papywizard uses a MVC-like pattern, which keeps the model separated from the views. This allows to use any other toolkit if needed; I recently switched from Tkinter to PyGTK, to run Papywizard on Nokia plateform. I hope, one day, to be able to run Papywizard on QTopia-based devices, like Openmoko. But I first need to get such device ;o)
Low-levels routines which control the hardware are also in their own package; I plan to made them even more modular, to be used in an external project to control the head. For know, only Merlin/Orion head is supported, but it is very easy to implement other heads.
A word about the simulation (to come).
Hardware
Merlin/Orion protocole
The head uses a simple ascii serial protocol; the serial line uses standard settings: 9600 8N1 (9600 bauds, 8 bits data, no parity, 1 stop bit). The head waits for incoming commands, and send response to them. The 2 axis are identical, and uses the same commands. They both wait for incoming commands; depending of the first value (see below), the command will be sent to one or the other axis.
A commands always starts with ':', and ends with '\r'. The head response always starts with '=', and also ends with '\r'. As TX/RX lines are wired together, the controller has to first readback its own command, before reading the head response. In the following documentation, the command readback is omitted, as the ':', '=' and '\r' chars.
Parameters used in the documentation:
- <axe>: 1=vertical, 2=horizontal (1 ascii digit)
- <pos> position coded with 24 bits (6 ascii digits, hex). .
| Parameter | What | allowed value | Format | Note |
| <axis> | axis to control | 1 or 2 | 1 ascii digit | 1=yaw, 2=pitch axis |
| <pos> | position | 0 to 2²⁴-1 | 6 ascii digits, hex. | low byte is sent first (A35483 is read 8354A3). When switched on, read value is 800000. Right sens increments axis 1; left sens decrements it. Up sens increments axis 2; down decrements it. A complete turn (360°) increments/decrements by 0E6600 (so, the axis can make almost 9 turns before the counter overflow) |
| <dir> | axis direction | 0 or 1 | 1 ascii digit | 0=increments (up/right), 1=decrements (down/left) |
Merlin/Orion commands set
| Function | Command | Response | Note | |
| Read axis position | j<axis> | <pos> | | | |
| Read axis status | f<axis> | <s1><s2><s3> | ||
| Stop moving | L<axis> | |||
| Init (at switch on) | F<axis> F<axis> a<axis> D<axis> | D3620E F90600 | ||
| Start moving | L<axis> G<axis>3<dir> I<axis>220000 J<axis> | 220000 seems to be the divider for the speed... | ||
| Drive to position | ||||
Model
View
Distributing
Make Debian package
Papywizard includes an distutils extension script to build debian package in a easy way:
$ python debian/setup.py bdist_debian
The package is build in the dist/ directory.
Make Maemo package
Same for debian package:
$ python maemo/setup.py bdist_debian
Make Windows installer
This is a little bit tricky (as always on this plateform!).
You first need to build the executable, by launching the windows setup script. The easier is to use Ipython:
In [1]: run windows/setup.py py2exe
Then, run the script windows/papywizard.nsi (need to install NSIS software) to build the installer itself.
