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doc: Add doc for GRBL module.
Signed-off-by: icyqwq <[email protected]>
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‎docs/en/module/grbl.rst‎

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GRBLModule
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==========
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.. include:: ../refs/module.grblmodule.ref
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GRBL 13.2 is a three-axis stepper motor driver module in the M5Stack stacking module series. It uses an ATmega328P-AU controller with three sets of DRV8825PWPR stepper motor driver chip control ways, which can drive three bipolar steppers at the same time.
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Support the following products:
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|GRBLModule|
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Micropython Example:
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.. literalinclude:: ../../../examples/module/grbl_example.py
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:language: python
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:linenos:
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UIFLOW2 Example:
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|example.png|
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.. only:: builder_html
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|grbl_example.m5f2|
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class GRBLModule
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----------------
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Constructors
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------------
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.. class:: GRBLModule(address)
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Initialize the GRBLModule.
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:param hex address: The I2C address of the device.
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UIFLOW2:
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|init.png|
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Methods
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-------
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.. method:: GRBLModule.g_code(command)
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Send the G-code command.
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:param command: The G-code command.
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UIFLOW2:
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|g_code.png|
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.. method:: GRBLModule.get_code_time(code)
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Get the time of the code.
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:return (int): The estimated time of the command.
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:param code: The G-code command
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UIFLOW2:
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|get_code_time.png|
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.. method:: GRBLModule.turn(x, y, z, speed)
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Turn the motor to a specific position.
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:param x: The position of the X motor, 1.6&#x3D;360°.
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:param y: The position of the Y motor, 1.6&#x3D;360°.
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:param z: The position of the Z motor, 1.6&#x3D;360°.
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:param speed: The speed of the motor.
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UIFLOW2:
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|turn.png|
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.. method:: GRBLModule.set_mode(mode)
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Set the mode of the motor.
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:param mode: The mode of the motor.
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Options:
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- ``Absolute``: GRBLModule.MODE_ABSOLUTE
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- ``Relative``: GRBLModule.MODE_RELATIVE
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UIFLOW2:
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|set_mode.png|
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.. method:: GRBLModule.init(x_step, y_step, z_step, acc)
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Initialize the motor.
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:param x_step: The step of the X motor.
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:param y_step: The step of the Y motor.
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:param z_step: The step of the Z motor.
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:param acc: The acceleration of the motor.
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UIFLOW2:
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|init.png|
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.. method:: GRBLModule.flush()
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Flush the buffer.
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UIFLOW2:
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|flush.png|
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.. method:: GRBLModule.get_message()
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Get the message.
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:return (str): The message string.
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UIFLOW2:
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|get_message.png|
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.. method:: GRBLModule.get_status()
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Get the status.
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:return (str): The status string.
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UIFLOW2:
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|get_status.png|
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.. method:: GRBLModule.get_idle_state()
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Get the idle state.
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:return (bool): The idle state.
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UIFLOW2:
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|get_idle_state.png|
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.. method:: GRBLModule.get_lock_state()
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Get the lock state.
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:return (bool): The lock state.
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UIFLOW2:
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|get_lock_state.png|
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.. method:: GRBLModule.wait_idle()
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Wait until the motor is idle.
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UIFLOW2:
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|wait_idle.png|
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.. method:: GRBLModule.unlock_alarm_state()
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Unlock the alarm state.
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UIFLOW2:
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|unlock_alarm_state.png|
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.. method:: GRBLModule.lock()
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Lock the motor.
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UIFLOW2:
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|lock.png|
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.. method:: GRBLModule.unlock()
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Unlock the motor.
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UIFLOW2:
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|unlock.png|
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Constants
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---------
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.. data:: GRBLModule.MODE_ABSOLUTE
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.. data:: GRBLModule.MODE_RELATIVE
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Motor mode
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‎docs/en/module/index.rst‎

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ain4.rst
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display.rst
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dualkmeter.rst
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grbl.rst
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hmi.rst
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lora.rst
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plus.rst

‎docs/en/refs/module.grbl.ref‎

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.. |GRBLModule| image:: https://static-cdn.m5stack.com/resource/docs/products/module/grbl13.2/grbl13.2_01.webp
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:target: https://docs.m5stack.com/en/module/grbl13.2
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:height: 200px
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:width: 200px
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.. |init.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/init.png
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.. |g_code.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/g_code.png
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.. |get_code_time.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/get_code_time.png
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.. |turn.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/turn.png
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.. |set_mode.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/set_mode.png
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.. |init.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/init.png
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.. |flush.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/flush.png
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.. |get_message.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/get_message.png
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.. |get_status.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/get_status.png
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.. |get_idle_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/get_idle_state.png
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.. |get_lock_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/get_lock_state.png
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.. |wait_idle.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/wait_idle.png
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.. |unlock_alarm_state.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/unlock_alarm_state.png
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.. |lock.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/lock.png
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.. |unlock.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/unlock.png
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.. |example.png| image:: https://static-cdn.m5stack.com/mpy_docs/module/grblmodule/example.png
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.. |grbl_example.m5f2| raw:: html
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<a
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href="https://uiflow2.m5stack.com/?example=https://raw.githubusercontent.com/m5stack/uiflow-micropython/develop/examples/module/grbl_example.m5f2"
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target="_blank"
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>
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grbl_example.m5f2
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</a>
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‎examples/module/grbl/grbl_example.m5f2‎

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{"version":"V2.0","versionNumber":"V2.1.6","type":"basic","components":[{"name":"screen","type":"screen","layer":0,"screenId":"builtin","screenName":"","id":"__basic_screen","createTime":1730340918058,"x":0,"y":0,"width":320,"height":240,"backgroundColor":"#222222","size":0,"isSelected":true}],"resources":[{"hardware":["hardware_button","hardware_pin_button","imu","rgb","speaker"]},{"module":["module_grbl"]}],"units":[],"hats":[],"bases":[],"i2cs":[],"blockly":"<block type=\"basic_on_setup\" id=\"setup_block\" deletable=\"false\" x=\"50\" y=\"51\"><mutation isBegin=\"true\"></mutation><field name=\"UPDATEOP\">true</field><statement name=\"FUNC\"><block type=\"system_m5_begin\" id=\"system_m5_begin\"><next><block type=\"module_grbl_init\" id=\"RC-vbx-n(Cv_B!chD8f,\"><field name=\"NAME\">grbl_0</field><value name=\"ADDR\"><shadow type=\"module_grbl_addr_option\" id=\"5n)d,8aA$iIg@,#0ujOG\"><field name=\"VALUE\">0x70</field></shadow></value><next><block type=\"text_print\" id=\"d;AT9P.x{E5F=S$?{;E9\"><value name=\"TEXT\"><shadow type=\"text\" id=\"-}`=,Z#ox68s,O@3/onO\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"module_grbl_get_message\" id=\"/_w~#^SP3Z7[h/PDbL#+\"><field name=\"NAME\">grbl_0</field></block></value><next><block type=\"text_print\" id=\"rAZTRKWhf0E-Ma=]{6e1\"><value name=\"TEXT\"><shadow type=\"text\" id=\"uifkr9|kz3RUl*X(@d-)\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"module_grbl_get_status\" id=\"{iwh*qbulI?8;g-Y~^Gx\"><field name=\"NAME\">grbl_0</field></block></value><next><block type=\"text_print\" id=\"3cfrH`5lu*l.xYG)or/k\"><value name=\"TEXT\"><shadow type=\"text\" id=\"bgF_OeSd0s+{Kz{.gc}O\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"module_grbl_get_idle_state\" id=\"II0Gu_~2_#:!6|f!l3OY\"><field name=\"NAME\">grbl_0</field></block></value><next><block type=\"text_print\" id=\"9T7AOTCFaQ;We8m?;%vt\"><value name=\"TEXT\"><shadow type=\"text\" id=\"ck=KdstUI]*/Eub*N]O0\"><field name=\"TEXT\">hello M5</field></shadow><block type=\"module_grbl_get_lock_state\" id=\"?TfyE=Q^#:$TrW5Red):\"><field name=\"NAME\">grbl_0</field></block></value><next><block type=\"module_grbl_set_mode\" id=\"=cQ:1^tpiu{OO(4oJA=)\"><field name=\"NAME\">grbl_0</field><value name=\"VALUE\"><shadow type=\"module_grbl_mode_option\" id=\"Xbxccp+!8#Q#3T^i};Wx\"><field name=\"VALUE\">MODE_ABSOLUTE</field></shadow></value><next><block type=\"module_grbl_unlock\" id=\"?:tWQ.93q?e6tCK~@28s\"><field name=\"NAME\">grbl_0</field><next><block type=\"module_grbl_turn\" id=\";$uH`^/JPd~`viN].@(E\"><field name=\"NAME\">grbl_0</field><value name=\"X\"><shadow type=\"math_number\" id=\"9bqk,Y!IvrWsi/MEkNZo\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">5</field></shadow></value><value name=\"Y\"><shadow type=\"math_number\" id=\"Oyx0aZ-%9tDn0?nM{J+8\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">5</field></shadow></value><value name=\"Z\"><shadow type=\"math_number\" id=\"[I,}$8YetURhKt5UiXEU\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">10</field></shadow></value><value name=\"SPEED\"><shadow type=\"math_number\" id=\"joYdc.,5tj8|CsN#|=nD\"><mutation max=\"Infinity\" min=\"-Infinity\" precision=\"0\"></mutation><field name=\"NUM\">5</field></shadow></value><next><block type=\"module_grbl_wait_idle\" id=\"ME#BAawyx,PY@hk]B#5=\"><field name=\"NAME\">grbl_0</field><next><block type=\"module_grbl_lock\" id=\"j!D}N^/]fu1it?,@w_qU\"><field name=\"NAME\">grbl_0</field></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></next></block></statement></block><block type=\"basic_on_loop\" id=\"loop_block\" deletable=\"false\" x=\"690\" y=\"110\"><mutation isUpdate=\"true\"></mutation><field name=\"UPDATEOP\">true</field><statement name=\"FUNC\"><block type=\"system_m5_update\" id=\"system_m5_update\"></block></statement></block>","screen":[{"simulationName":"Built-in","type":"builtin","width":320,"height":240,"scale":0.78,"screenName":"","blockId":"","screenColorType":0,"id":"builtin","createTime":1730340918058}],"logicWhenNum":0,"customList":[]}

‎examples/module/grbl/grbl_example.py‎

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import os, sys, io
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import M5
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from M5 import *
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from module import GRBLModule
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grbl_0 = None
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def setup():
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global grbl_0
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M5.begin()
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Widgets.fillScreen(0x222222)
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grbl_0 = GRBLModule(address=0x70)
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print(grbl_0.get_message())
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print(grbl_0.get_status())
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print(grbl_0.get_idle_state())
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print(grbl_0.get_lock_state())
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grbl_0.set_mode(GRBLModule.MODE_ABSOLUTE)
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grbl_0.unlock()
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grbl_0.turn(5, 5, 10, 5)
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grbl_0.wait_idle()
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grbl_0.lock()
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def loop():
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global grbl_0
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M5.update()
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if __name__ == "__main__":
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try:
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setup()
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while True:
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loop()
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except (Exception, KeyboardInterrupt) as e:
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try:
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from utility import print_error_msg
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print_error_msg(e)
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except ImportError:
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print("please update to latest firmware")

‎m5stack/libs/module/grbl.py‎

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image: https://static-cdn.m5stack.com/resource/docs/products/module/grbl13.2/grbl13.2_01.webp
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category: Module
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example: |
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from module import GRBLModule
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motor = GRBLModule()
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example:
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- ../../../examples/module/grbl_example.py
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m5f2:
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- module/grbl_example.m5f2
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"""

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