给这段代码加上注释import serial import time class Grbl: def __init__(self, port): self.port = port self.serial = serial.Serial(port, 115200, timeout=0.1) self.serial.flushInput() def initialize(self): self.serial.write(b"\r\n\r\n") time.sleep(2) self.serial.flushInput() self.serial.write(b"$X\n") self.serial.readline() def send_command(self, command): self.serial.write(command.encode() + b"\n") response = self.serial.readline().decode().strip() return response def jog(self, direction, distance): command = f"$J=G91 {direction}{distance} F1000" self.send_command(command) def move(self, x, y, z): command = f"G0 X{x} Y{y} Z{z}" self.send_command(command) def wait_for_idle(self): while True: self.serial.write("?".encode() + b"\n") response = self.serial.readline().decode().strip() if response == "Idle": break if __name__ == "__main__": grbl = Grbl("/dev/ttyUSB0") grbl.initialize() grbl.move(10, 10, 0) grbl.wait_for_idle() grbl.jog("X", 5) grbl.wait_for_idle() grbl.jog("Y", 5) grbl.wait_for_idle() grbl.move(0, 0, 0) grbl.wait_for_idle()

好的，以下是带注释的代码：

import serial
import time

class Grbl:
    def __init__(self, port):
        # 初始化串口连接
        self.port = port
        self.serial = serial.Serial(port, 115200, timeout=0.1)
        self.serial.flushInput()

    def initialize(self):
        # 初始化Grbl机器
        self.serial.write(b"\r\n\r\n")
        time.sleep(2)
        self.serial.flushInput()
        self.serial.write(b"$X\n")
        self.serial.readline()

    def send_command(self, command):
        # 发送G代码指令
        self.serial.write(command.encode() + b"\n")
        response = self.serial.readline().decode().strip()
        return response

    def jog(self, direction, distance):
        # 进行Jog操作
        command = f"$J=G91 {direction}{distance} F1000"
        self.send_command(command)

    def move(self, x, y, z):
        # 移动到指定位置
        command = f"G0 X{x} Y{y} Z{z}"
        self.send_command(command)

    def wait_for_idle(self):
        # 等待机器空闲
        while True:
            self.serial.write("?".encode() + b"\n")
            response = self.serial.readline().decode().strip()
            if response == "Idle":
                break

if __name__ == "__main__":
    # 实例化Grbl机器
    grbl = Grbl("/dev/ttyUSB0")
    # 初始化机器
    grbl.initialize()
    # 移动到指定位置
    grbl.move(10, 10, 0)
    # 等待机器空闲
    grbl.wait_for_idle()
    # 进行Jog操作
    grbl.jog("X", 5)
    # 等待机器空闲
    grbl.wait_for_idle()
    # 进行Jog操作
    grbl.jog("Y", 5)
    # 等待机器空闲
    grbl.wait_for_idle()
    # 移动到指定位置
    grbl.move(0, 0, 0)
    # 等待机器空闲
    grbl.wait_for_idle()

希望这些注释能够帮助您更好地理解代码的实现过程和意义。