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Schmidt","url":"https://thi.ng"},"license":"Apache-2.0","homepage":"https://thi.ng/axidraw","keywords":["2d","async","axidraw","driver","geometry","io","logger","no-browser","nodejs","penplotter","polyline","serialport","typescript"],"repository":{"type":"git","url":"git+https://codeberg.org/thi.ng/umbrella.git","directory":"packages/axidraw"},"description":"Minimal AxiDraw plotter/drawing machine controller for Node.js","maintainers":[{"name":"thi.ng","email":"k+npm@thi.ng"}],"readme":"\n\n# ![@thi.ng/axidraw](https://codeberg.org/thi.ng/umbrella/media/branch/develop/assets/banners/thing-axidraw.svg?64f7660b)\n\n[![npm version](https://img.shields.io/npm/v/@thi.ng/axidraw.svg)](https://www.npmjs.com/package/@thi.ng/axidraw)\n![npm downloads](https://img.shields.io/npm/dm/@thi.ng/axidraw.svg)\n[![Mastodon Follow](https://img.shields.io/mastodon/follow/109331703950160316?domain=https%3A%2F%2Fmastodon.thi.ng&style=social)](https://mastodon.thi.ng/@toxi)\n\n> [!NOTE]\n\n> This is one of 217 standalone projects. LLM-free, human-made and\n> cared for software, maintained as part of the\n> [@thi.ng/umbrella](https://codeberg.org/thi.ng/umbrella/) ecosystem and\n> anti-framework.\n>\n> 🚀 Please help me to work full-time on these projects by [sponsoring\n> me](https://codeberg.org/thi.ng/umbrella/src/branch/develop/CONTRIBUTING.md#donations).\n> Thank you! ❤️\n\n- [About](#about)\n - [Declarative vs. imperative](#declarative-vs-imperative)\n - [Units, limits & clamping](#units-limits--clamping)\n - [Path planning](#path-planning)\n - [thi.ng/geom support](#thinggeom-support)\n - [SVG support](#svg-support)\n - [Serial port support](#serial-port-support)\n - [Draw control](#draw-control)\n - [Metrics](#metrics)\n- [Status](#status)\n- [Installation](#installation)\n- [Dependencies](#dependencies)\n- [API](#api)\n- [Available draw commands](#available-draw-commands)\n - [Command sequence generators](#command-sequence-generators)\n - [Example usage](#example-usage)\n - [Basics](#basics)\n - [geom-axidraw example](#geom-axidraw-example)\n - [Brush & paint palette](#brush--paint-palette)\n- [Authors](#authors)\n- [License](#license)\n\n## About\n\nMinimal AxiDraw plotter/drawing machine controller for Node.js.\n\n![AXI-SCAPE #000](https://codeberg.org/thi.ng/umbrella/media/branch/develop/assets/axidraw/axiscape-1280.jpg)\n\nAXI-SCAPE \\#000, 12-layer watercolor painting/plot of cellular automata, © 2023 Karsten Schmidt\n\nThis package provides a super-lightweight alternative to control an [AxiDraw\nplotter](https://axidraw.com/) directly from Node.js, using a small custom set\nof medium/high-level drawing commands. Structurally, these custom commands are\n[thi.ng/hiccup](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/hiccup/)-like\nS-expressions, which can be easily serialized to/from JSON and are translated to\nthe native [EBB commands](https://evil-mad.github.io/EggBot/ebb.html) for the\nplotter.\n\n### Declarative vs. imperative\n\nDue to AxiDraw's lack of G-Code support, most other available AxiDraw support\nlibraries are providing only a purely imperative API to control the machine. In\ncontrast, this package utilizes a more declarative approach, also very much\nfollowing the pattern of other packages in the\n[thi.ng/umbrella](https://codeberg.org/thi.ng/umbrella/) monorepo, which allows\n(geometry) data to be inspected, augmented, converted/transformed, serialized up\nuntil the very last moment before being sent to the machine for physical\noutput...\n\n### Units, limits & clamping\n\nBy default, bounds checking and coordinate clamping are applied (against a user\ndefined bounding rect or paper size), however this can be disabled (in which\ncase all given coordinates are expected to be valid and within machine limits).\nCoordinates can be given in any unit, but if not using millimeters (default), a\nconversion factor to inches (`unitsPerInch`) **MUST** be provided as part of the\n[options\nobject](https://docs.thi.ng/umbrella/axidraw/interfaces/AxiDrawOpts.html) given\nto the `AxiDraw` constructor. Actual geometry clipping can be handled by the\n[geom or geom-axidraw](#thinggeom-support) packages...\n\nThe bounding rect can be either defined by a tuple of `[[minX,minY],\n[maxX,maxY]]` (in worldspace units) or as paper size defined as a\n[`quantity()`](https://docs.thi.ng/umbrella/units/functions/quantity-1.html). The\ndefault value is DIN A3 landscape.\n\nIf given as paper size (e.g. via\n[thi.ng/units](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/units/)\npresets), the actual units used to define these dimensions are irrelevant and\nwill be automatically converted.\n\n[List of paper\nsizes/presets](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/units/README.md#constants)\n\n### Path planning\n\nPath planning is considered a higher level operation than what's addressed by\nthis package and is therefore out of scope. The\n[thi.ng/geom-axidraw](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/geom-axidraw)\nprovides some configurable point & shape sorting functions, but this is an\ninterim solution and a full path/route planning facility is currently still\noutstanding and awaiting to be ported from other projects.\n\n### thi.ng/geom support\n\nThe [thi.ng/geom](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/geom)\npackage provides numerous shape types & operations to generate & transform\ngeometry. Additionally,\n[thi.ng/geom-axidraw](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/geom-axidraw)\ncan act as bridge API and provides the polymorphic\n[`asAxiDraw()`](https://docs.thi.ng/umbrella/geom-axidraw/functions/asAxiDraw.html)\nfunction to convert single shapes or entire shape groups/hierarchies directly\ninto the draw commands used by this (axidraw) package. See package readme for\nmore details and examples.\n\n### SVG support\n\nThis package does **not** provide any direct conversions from SVG or any other\ngeometry format. But again, whilst not containing a full SVG parser (at current\nonly single paths can be parsed), the family of\n[thi.ng/geom](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/geom)\npackages provides numerous shape types & operations which can be directly\nutilized to output generated geometry together with this package...\n\nThe only built-in conversion provided here is the\n[`polyline()`](https://docs.thi.ng/umbrella/axidraw/functions/polyline.html)\nutility function to convert an array of points (representing a polyline) to an\narray of drawing commands (with various config options). All other conversions\nare out of scope for this package (& for now).\n\n### Serial port support\n\nWe're using the [serialport](https://serialport.io/) NPM package to submit data\ndirectly to the drawing machine. That package includes native bindings for\nLinux, MacOS and Windows.\n\nThe\n[`AxiDraw.connect()`](https://docs.thi.ng/umbrella/axidraw/classes/AxiDraw.html#connect)\nfunction (see example below) attempts to find the drawing machine by matching a\ngiven regexp with available port names. The default regexp might only work on\nMac, but YMMV!\n\nAt some point it would also be worth looking into\n[WebSerial](https://developer.mozilla.org/en-US/docs/Web/API/Web_Serial_API)\nsupport to enable plotting directly from the browser. Right now this package is\nonly aimed at Node.js though...\n\n### Draw control\n\nThe main\n[`draw()`](https://docs.thi.ng/umbrella/axidraw/classes/AxiDraw.html#draw)\nfunction provided by this package is async and supports custom implementations\nto pause, resume or cancel the processing of further drawing commands. By the\ndefault\n[`AxiDrawControl`](https://docs.thi.ng/umbrella/axidraw/classes/AxiDrawControl.html)\nis used as default implementation.\n\nIf a control is provided, it will be checked prior to processing each individual\ncommand. Drawing will be paused if the control state is in paused state and the\ncontrol will be rechecked every N milliseconds for updates (configurable). In\npaused state, the pen will be automatically lifted (if it wasn't already) and\nwhen resuming it will be sent down again (if it was originally down). Draw\ncommands are only sent to the machine if no control is provided at all or if the\ncontrol is in the \"continue\" state.\n\n### Metrics\n\nThe [`draw()`](https://docs.thi.ng/umbrella/axidraw/classes/AxiDraw.html#draw)\nfunction also records several\n[metrics](https://docs.thi.ng/umbrella/axidraw/interfaces/Metrics.html), useful\nfor further analysis (or to identify optimizations) of the plotting process.\nThese metrics include:\n\n- total duration\n- total distance traveled\n- draw distance (i.e. only whilst pen is down)\n- number of pen up/down commands (i.e. to consider servo lifespan)\n- total number of commands\n\n## Status\n\n**ALPHA** - bleeding edge / work-in-progress\n\n[Search or submit any issues for this package](https://codeberg.org/thi.ng/umbrella/issues?q=%5Baxidraw%5D)\n\n## Installation\n\n```bash\nyarn add @thi.ng/axidraw\n```\n\nESM import:\n\n```ts\nimport * as axi from \"@thi.ng/axidraw\";\n```\n\nFor Node.js REPL:\n\n```js\nconst axi = await import(\"@thi.ng/axidraw\");\n```\n\nPackage sizes (brotli'd, pre-treeshake): ESM: 3.27 KB\n\n## Dependencies\n\n- [@thi.ng/api](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/api)\n- [@thi.ng/checks](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/checks)\n- [@thi.ng/compose](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/compose)\n- [@thi.ng/date](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/date)\n- [@thi.ng/errors](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/errors)\n- [@thi.ng/logger](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/logger)\n- [@thi.ng/math](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/math)\n- [@thi.ng/transducers](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/transducers)\n- [@thi.ng/units](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/units)\n- [@thi.ng/vectors](https://codeberg.org/thi.ng/umbrella/src/branch/develop/packages/vectors)\n- [serialport](git://github.com/serialport/node-serialport.git)\n\nNote: @thi.ng/api is in _most_ cases a type-only import (not used at runtime)\n\n## API\n\n[Generated API docs](https://docs.thi.ng/umbrella/axidraw/)\n\n## Available draw commands\n\nAll\n[`DrawCommand`s](https://docs.thi.ng/umbrella/axidraw/types/DrawCommand.html)\nare expressed as S-expression-like, [thi.ng/hiccup]()-style elements, aka JS\narrays/tuples of `[command, ...args]`. The following commands are supported. All\nalso as predefined constants or factory functions for the parametric ones:\n\n| Command | Preset/factory | Description |\n|---------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------|\n| `[\"comment\", msg]` | [`COMMENT`](https://docs.thi.ng/umbrella/axidraw/functions/COMMENT.html) | Ignored, but logged during plotting |\n| `[\"d\", delay?, level?]` / `[\"u\", delay?, level?]` | [`DOWN`](https://docs.thi.ng/umbrella/axidraw/functions/DOWN.html) / [`UP`](https://docs.thi.ng/umbrella/axidraw/functions/UP.html) | Move pen up/down w/ optional delay & level (0-100) |\n| `[\"home\"]` | `HOME` | Move to home position (origin) |\n| `[\"m\", [x,y], speed?]` | [`MOVE_REL`](https://docs.thi.ng/umbrella/axidraw/functions/MOVE_REL.html) | Move to relative position w/ optional speed factor |\n| `[\"M\", [x,y], speed?]` | [`MOVE`](https://docs.thi.ng/umbrella/axidraw/functions/MOVE.html) | Move to absolute position w/ optional speed factor |\n| `[\"on\"]` / `[\"off\"]` | `ON` / `OFF` | Turn motors on/off |\n| `[\"pen\", down, up]` | [`PEN`](https://docs.thi.ng/umbrella/axidraw/functions/PEN.html) | Pen config (up/down levels) |\n| `[\"reset\"]` | `RESET` | Execute user defined reset sequence(1) |\n| `[\"restore\"]` | `RESTORE` | Restore saved pen up/down levels |\n| `[\"save\"]` | `SAVE` | Save current pen up/down levels |\n| `[\"start\"]` | `START` | Execute user defined start sequence(1) |\n| `[\"stop\"]` | `STOP` | Execute user defined stop sequence(1) |\n| `[\"w\", delay]` | [`WAIT`](https://docs.thi.ng/umbrella/axidraw/functions/WAIT.html) | Wait N milliseconds |\n\n- (1) See\n [AxiDrawOpts](https://docs.thi.ng/umbrella/axidraw/interfaces/AxiDrawOpts.html)\n for details.\n\n### Command sequence generators\n\nAdditionally, the following command sequence generators are provided (see their\ndocs for details and code examples):\n\n- [`complete()`](https://docs.thi.ng/umbrella/axidraw/functions/complete.html)\n- [`dip()`](https://docs.thi.ng/umbrella/axidraw/functions/dip.html)\n- [`linearPalette()`](https://docs.thi.ng/umbrella/axidraw/functions/linearPalette.html)\n- [`polyline()`](https://docs.thi.ng/umbrella/axidraw/functions/polyline.html)\n- [`radialPalette()`](https://docs.thi.ng/umbrella/axidraw/functions/radialPalette.html)\n- [`registrationMark()`](https://docs.thi.ng/umbrella/axidraw/functions/registrationMark.html)\n\n### Example usage\n\n#### Basics\n\n```js tangle:export/readme-basic.js\nimport { AxiDraw, polyline } from \"@thi.ng/axidraw\";\n\n(async () => {\n\n// instantiate w/ default options (see docs for info)\nconst axi = new AxiDraw();\n\n// connect to 1st serial port matching given pre-string or regexp\n// (the port used here is the default arg)\nawait axi.connect(\"/dev/tty.usbmodem\");\n// true\n\n// vertices defining a polyline of a 100x100 mm square (top left at 20,20)\nconst verts = [[20, 20], [120, 20], [120, 120], [20, 120], [20, 20]];\n\n// convert to drawing commands (w/ custom speed, 25%)\n// see docs for config options\nconst path = polyline(verts, { speed: 0.25 })\n// [\n// [\"m\", [20, 20]],\n// [\"d\"],\n// [\"m\", [120, 20], 0.25],\n// [\"m\", [120, 120], 0.25],\n// [\"m\", [20, 120], 0.25],\n// [\"m\", [20, 20], 0.25],\n// [\"u\"]\n// ]\n\n// draw/send seq of commands\n// by default the given commands will be wrapped with a start/end\n// command sequence, configurable via options given to AxiDraw ctor)...\nawait axi.draw(path);\n\n})();\n```\n\n### geom-axidraw example\n\nResult shown here: https://mastodon.thi.ng/@toxi/109473655772673067\n\n```js tangle:export/readme-geom.js\nimport { AxiDraw } from \"@thi.ng/axidraw\";\nimport { asCubic, group, pathFromCubics, star } from \"@thi.ng/geom\";\nimport { asAxiDraw } from \"@thi.ng/geom-axidraw\";\nimport { map, range } from \"@thi.ng/transducers\";\n\n(async () => {\n // create group of bezier-interpolated star polygons,\n // with each path using a slightly different configuration\n const geo = group({ translate: [100, 100] }, [\n ...map(\n (t) =>\n pathFromCubics(\n asCubic(star(90, 6, [t, 1]), {\n breakPoints: true,\n scale: 0.66,\n })\n ),\n range(0.3, 1.01, 0.05)\n ),\n ]);\n\n // connect to plotter\n const axi = new AxiDraw();\n await axi.connect();\n // convert geometry to drawing commands & send to plotter\n await axi.draw(asAxiDraw(geo, { samples: 40 }));\n})();\n```\n\n### Brush & paint palette\n\nThis example illustrates how the [`linearPalette()`]() command sequence\ngenerator can be used to paint random dots with a brush which gets re-dipped in\ndifferent paints every 10 dots...\n\nAlso see\n[`InterleaveOpts`](https://docs.thi.ng/umbrella/geom-axidraw/interfaces/InterleaveOpts.html)\nfor more details...\n\n```ts\nimport { points } from \"@thi.ng/geom\";\nimport { asAxiDraw } from \"@thi.ng/geom-axidraw\";\nimport { repeatedly } from \"@thi.ng/transducers\";\nimport { randMinMax2 } from \"@thi.ng/vectors\";\n\n// configure palette\n// \"linear\" here means the palette slots are arranged in a line\n// (there's also a radialPalette() function for circular/elliptical palette layouts)\nconst palette = linearPalette({\n // first palette slot is near the world origin (slight offset)\n pos: [2, 0],\n // 2mm jitter radius (to not always move to exact same position)\n jitter: 2,\n // palette has 5 paint slots\n num: 5,\n // each slot 40mm separation along Y-axis\n // (needs to be measured/determined manually)\n step: [0, 40],\n // dip brush 3x each time\n repeat: 3,\n});\n\n// define point cloud of 100 random points\n// using a random palette slot each time (for each refill)\n// assign axidraw-specific attribs to refill brush every 10 dots\nconst cloud = points(\n // pick random points\n [...repeatedly(() => randMinMax2([], [10, 10], [190, 190]), 100)],\n // shape attributes\n {\n __axi: {\n interleave: {\n // every 10 elements/dots...\n num: 10,\n // execute these commands...\n commands: () => [\n // first brush cleaning in water\n // (we decide to use the last palette slot for that)\n ...palette(4),\n // now \"refill\" brush at a random other slot\n ...palette(Math.floor(Math.random() * 4))\n ]\n }\n }\n }\n);\n\n// AxiDraw setup\nconst axi = new AxiDraw();\n...\n\n// convert geometry into axidraw commands and send to plotter\naxi.draw(asAxiDraw(cloud));\n```\n\nOther selected toots/tweets:\n\n- [Project announcement](https://mastodon.thi.ng/@toxi/109490174709589253)\n- [Geometry conversion basics](https://mastodon.thi.ng/@toxi/109473655772673067)\n- [Shape group conversion and stippling](https://mastodon.thi.ng/@toxi/109474947869078797)\n- [Per-shape & on-the-fly polyline clipping](https://mastodon.thi.ng/@toxi/109483553358349473)\n- [Bitmap-to-vector conversions & shape sorting](https://mastodon.thi.ng/@toxi/109570540391689321)\n- [Multi-color plotting](https://mastodon.thi.ng/@toxi/109586780630493994)\n- [Using water color & paintbrush](https://mastodon.thi.ng/@toxi/110044424626641749)\n- [Water color brush tests](https://mastodon.thi.ng/@toxi/110051629944117139)\n- more to come...\n\n## Authors\n\n- [Karsten Schmidt](https://thi.ng)\n\nIf this project contributes to an academic publication, please cite it as:\n\n```bibtex\n@misc{thing-axidraw,\n title = \"@thi.ng/axidraw\",\n author = \"Karsten Schmidt\",\n note = \"https://thi.ng/axidraw\",\n year = 2022\n}\n```\n\n## License\n\n© 2022 - 2026 Karsten Schmidt // Apache License 2.0\n","readmeFilename":"README.md"}