GRBL Module

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.

Support the following products:

GRBLModule

Micropython Example:

 1# SPDX-FileCopyrightText: 2024 M5Stack Technology CO LTD
 2#
 3# SPDX-License-Identifier: MIT
 4
 5import os, sys, io
 6import M5
 7from M5 import *
 8from module import GRBLModule
 9
10
11grbl_0 = None
12
13
14def setup():
15    global grbl_0
16
17    M5.begin()
18    Widgets.fillScreen(0x222222)
19
20    grbl_0 = GRBLModule(address=0x70)
21    print(grbl_0.get_message())
22    print(grbl_0.get_status())
23    print(grbl_0.get_idle_state())
24    print(grbl_0.get_lock_state())
25    grbl_0.set_mode(GRBLModule.MODE_ABSOLUTE)
26    grbl_0.unlock()
27    grbl_0.turn(5, 5, 10, 5)
28    grbl_0.wait_idle()
29    grbl_0.lock()
30
31
32def loop():
33    global grbl_0
34    M5.update()
35
36
37if __name__ == "__main__":
38    try:
39        setup()
40        while True:
41            loop()
42    except (Exception, KeyboardInterrupt) as e:
43        try:
44            from utility import print_error_msg
45
46            print_error_msg(e)
47        except ImportError:
48            print("please update to latest firmware")

UIFLOW2 Example:

example.png

grbl_example.m5f2

class GRBLModule

Constructors

class GRBLModule(address)

Initialize the GRBLModule.

Parameters:

address (hex) – The I2C address of the device.

UIFLOW2:

init.png

Methods

GRBLModule.g_code(command)

Send the G-code command.

Parameters:

command – The G-code command.

UIFLOW2:

g_code.png

GRBLModule.get_code_time(code)

Get the time of the code.

Return (int):

The estimated time of the command.

Parameters:

code – The G-code command

UIFLOW2:

get_code_time.png

GRBLModule.turn(x, y, z, speed)

Turn the motor to a specific position.

Parameters:

  • x – The position of the X motor, 1.6=360°.

  • y – The position of the Y motor, 1.6=360°.

  • z – The position of the Z motor, 1.6=360°.

  • speed – The speed of the motor.

UIFLOW2:

turn.png

GRBLModule.set_mode(mode)

Set the mode of the motor.

Parameters:

mode – The mode of the motor. Options: - Absolute: GRBLModule.MODE_ABSOLUTE - Relative: GRBLModule.MODE_RELATIVE

UIFLOW2:

set_mode.png

GRBLModule.init(x_step, y_step, z_step, acc)

Initialize the motor.

Parameters:

  • x_step – The step of the X motor.

  • y_step – The step of the Y motor.

  • z_step – The step of the Z motor.

  • acc – The acceleration of the motor.

UIFLOW2:

init.png

GRBLModule.flush()

Flush the buffer.

UIFLOW2:

flush.png

GRBLModule.get_message()

Get the message.

Return (str):

The message string.

UIFLOW2:

get_message.png

GRBLModule.get_status()

Get the status.

Return (str):

The status string.

UIFLOW2:

get_status.png

GRBLModule.get_idle_state()

Get the idle state.

Return (bool):

The idle state.

UIFLOW2:

get_idle_state.png

GRBLModule.get_lock_state()

Get the lock state.

Return (bool):

The lock state.

UIFLOW2:

get_lock_state.png

GRBLModule.wait_idle()

Wait until the motor is idle.

UIFLOW2:

wait_idle.png

GRBLModule.unlock_alarm_state()

Unlock the alarm state.

UIFLOW2:

unlock_alarm_state.png

GRBLModule.lock()

Lock the motor.

UIFLOW2:

lock.png

GRBLModule.unlock()

Unlock the motor.

UIFLOW2:

unlock.png

Constants

GRBLModule.MODE_ABSOLUTE
GRBLModule.MODE_RELATIVE

Motor mode