def interface_with_hole(Left, Front, to_cliff, Valve = False):
if (Valve == 1):
hole_pos = check_valve_left_hole_pos if Left else check_valve_right_hole_pos
else:
hole_pos = ((front_left_hole_pos if Left else front_right_hole_pos) if Front else (back_left_hole_pos if Left else back_right_hole_pos))
# The code below was commented out by RTruby on 2015.01.21; module_top_print_height should be module_hole_depth
#print "\tInterfacing with hole at " + str(hole_pos) + " at depth " + str(module_top_print_height) + "."
print "\tInterfacing with hole at " + str(hole_pos) + " at depth " + str(module_hole_depth)
e3DPGlobals.g.abs_move(x=hole_pos[0], y=hole_pos[1]) # move above the hole
e3DMatrixPrinting.print_mode(print_height_abs=module_hole_depth) # go in the hole, start extrusion
e3DPGlobals.g.dwell(hole_flush_dwell_time)
# Note by RTruby, 2015.01.21 - module_top_print_height was originally -1
# in the line below; THIS MUST CHANGE - figure out how to
#if-else below added for D-90
if (Valve == 1):
height_offset_between_lines_to_valves = 1.5
e3DMatrixPrinting.move_z_abs(height = module_top_print_height-height_offset_between_lines_to_valves, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed) # drag up to top of hole
else:
e3DMatrixPrinting.move_z_abs(height = module_top_print_height, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed) # drag up to top of hole
if (to_cliff):
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x= (-1 if Left else 1) * line_offset_x +centerline_x, y = (module_front_edge_y if Front else module_back_edge_y)) # move above the hole
#else:
#e3DMatrixPrinting.travel_mode()
def connect_one_side(Left):
x_offset_mult = (-1 if Left else 1)
height_offset = 1.5
meander_front_y = -41 # 2015.02.03 - switched from -45, -40 was too close
meander_front_y = -44.5 # for new Octobot molds used in D-90, 2015.04.21
meander_back_y = -45 # 2015.02.03 - switched from -50
meander_back_y = -47.5 # for new Octobot molds used in D-90, 2015.04.21
##meander_inner_x_offset = 3 # was originally 0.75 in Dan's code
meander_inner_x_offset = 1.5 #added for D-80
connection_overlap = 0.0 # what is this? it was originally in Dan's code as 0.5 originally
meander_print_speed = 0.5 # switched from 0.6 on 2014.02.06
meander_connection_dwell_time = 1
ramp_height = 0.0
small_diameter_filament_speed = 3
# 2015.05.19: Now, connect the oscillator inlets to the vents downstream
# of actuators L1 and R1. Move above inlet hole and connect:
hole_pos = (LogicModule.back_left_hole_pos if Left else LogicModule.back_right_hole_pos)
e3DPGlobals.g.abs_move(x = hole_pos[0], y = hole_pos[1])
e3DMatrixPrinting.print_mode(LogicModule.module_top_print_height, print_speed = e3DMatrixPrinting.default_print_speed)
e3DMatrixPrinting.move_z_abs(FancyOctobot2.control_line_height_abs + 2)
e3DPGlobals.g.feed(small_diameter_filament_speed)
e3DPGlobals.g.abs_move(x = FancyOctobot2.mold_center_x + x_offset_mult * meander_inner_x_offset * 4)
to_y_downstream_of_actuator = FancyOctobot2.routing_front_y + FancyOctobot2.to_osc_vent_offset
control_line_x = FancyOctobot2.mold_center_x + x_offset_mult*FancyOctobot2.control_line_connector_x_dist_from_center_line
e3DPGlobals.g.abs_move(x=control_line_x, y = to_y_downstream_of_actuator)
e3DMatrixPrinting.travel_mode()
def print_triangular_meander(print_height, N, edge, angle):
n = np.sqrt(N)
m = n
n = n - 1
pi = 3.141592653589793
angle_converted = pi*angle/180.0
h = edge*(np.sqrt(3.0)/2)
e3DMatrixPrinting.print_mode(print_height_abs = print_height, print_speed = 1.5)
e3DPGlobals.g.relative()
def trace_inner_units(repeats):
for repeat in range(int(repeats)):
e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = angle_converted)
e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = -1*h, theta = angle_converted)
def trace_to_next_level(num_edges):
e3DMatrixPrinting.move_x(distance = -1*num_edges*edge, theta = angle_converted)
def trace_outer_edges(num_edges):
#e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = pi/3+angle_converted)
e3DMatrixPrinting.move_xy(x_distance = num_edges*edge/2, y_distance = -1*num_edges*h, theta = angle_converted)
e3DMatrixPrinting.move_xy(x_distance = -1*num_edges*edge, y_distance = 0, theta = angle_converted)
while (n != 0.0):
trace_inner_units(repeats = n)
e3DMatrixPrinting.move_x(distance = edge, theta = pi/3+angle_converted)
trace_to_next_level(num_edges = n)
n = n - 1
e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = angle_converted)
trace_outer_edges(num_edges = m)
def print_bladder_bus_line():
e3DMatrixPrinting.move_x(-1 * bladder_spacing * (num_bladders))
e3DMatrixPrinting.print_mode(print_height_abs=bus_line_print_height,
print_speed=20)
e3DPGlobals.g.feed(bus_line_print_speed)
e3DMatrixPrinting.move_x(bladder_spacing * (num_bladders - 0.5))
e3DMatrixPrinting.travel_mode()
def print_plenum_meander(Left):
x_offset_mult = (-1 if Left else 1)
height_offset = 1.5
meander_front_y = -41 # 2015.02.03 - switched from -45, -40 was too close
meander_front_y = -44.5 # for new Octobot molds used in D-90, 2015.04.21
meander_back_y = -45 # 2015.02.03 - switched from -50
meander_back_y = -47.5 # for new Octobot molds used in D-90, 2015.04.21
##meander_inner_x_offset = 3 # was originally 0.75 in Dan's code
meander_inner_x_offset = 1.5 #added for D-80
connection_overlap = 0.0 # what is this? it was originally in Dan's code as 0.5 originally
meander_print_speed = 0.5 # switched from 0.6 on 2014.02.06
meander_connection_dwell_time = 1
ramp_height = 0.0
# Print the fuel reservoirs, starting at the check valves. This code was changed for D-90.
# 2015.05.15: First create an interface with the original logic inlets.
# 2015.05.15: These inlets will later connect with poitns downstream of all the actuators.
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = False)
e3DMatrixPrinting.travel_mode()
#2015.05.15: Now interface with the check valve inlets. These will lead to fuel reservoir and onto the reaction chambers.
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = True)
e3DMatrixPrinting.move_z_abs(module_print_height_back - height_offset, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed)
# 2015.05.15: Move out of the way for connecting up to the reaction chamber:
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 2)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.abs_move(y=meander_back_y-connection_overlap)
e3DMatrixPrinting.print_mode(print_height_abs = plenum_meander_print_height, print_speed = meander_print_speed)
e3DPGlobals.g.abs_move(y=meander_front_y)
e3DMatrixPrinting.move_z_abs(module_print_height_back - height_offset)
hole_pos = (LogicModule.check_valve_left_hole_pos if Left else LogicModule.check_valve_right_hole_pos)
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 2, y = hole_pos[1])
# 2015.05.15: Connect with the channel out of the way and connected to the check valve.
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 2, y = meander_back_y - connection_overlap)
e3DMatrixPrinting.print_mode(plenum_meander_print_height, print_speed = meander_print_speed)
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 0.5)
e3DMatrixPrinting.move_z_abs(module_print_height_back)
# 2015.05.19: Now, it's ime to connect the reaction chamber with the
# fuel reservoir. First print at normal speed, and then create a region
# in the line of very small diameter. Connect with the reaction chamber.
small_diameter_filament_length = 5
small_diameter_filament_speed = 3
e3DPGlobals.g.abs_move(y = hole_pos[1])
#2015.05.19: Speed up and move to hiehgt of reaction chamber junction
e3DMatrixPrinting.move_z_abs(LogicModule.module_top_print_height+ramp_height)
e3DPGlobals.g.feed(small_diameter_filament_speed)
e3DPGlobals.g.abs_move(y = hole_pos[1] + small_diameter_filament_length)
# 2015.05.19: Slow down
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
# 2015.05.19: Print up to reaction chamber
pressure_channel_back_y = OctobotLogicModule.get_pressure_channel_back_y()
e3DPGlobals.g.abs_move(x=FancyOctobot2.mold_center_x+x_offset_mult*FancyOctobot2.control_line_connector_x_dist_from_center_line, y = pressure_channel_back_y)
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
def print_sensor():
sensor_width = 4
sensor_height_offset = 0.5
sensor_length_offset = 2
e3DMatrixPrinting.move_y(sensor_width/2)
e3DMatrixPrinting.print_mode(print_height_abs = bus_line_print_height+sensor_height_offset, print_speed = 20)
e3DPGlobals.g.feed(sensor_print_speed)
e3DMatrixPrinting.move_x(-1*bladder_spacing*(num_bladders-0.5)-sensor_length_offset)
e3DMatrixPrinting.move_y(-1*sensor_width)
e3DMatrixPrinting.move_x(bladder_spacing*(num_bladders-0.5)+sensor_length_offset)
e3DMatrixPrinting.travel_mode()
def print_bladders():
e3DMatrixPrinting.move_x(-1 * spacer_spacing * (num_spacers - 1) -
1 * bladder_spacing / 2.0)
for bladder in range(num_bladders):
e3DMatrixPrinting.print_mode(print_height_abs=bladder_print_height,
print_speed=20)
e3DPGlobals.g.feed(bladder_print_speed)
for layer in range(bladder_layers):
print_void_layer(length=bladder_length, width=bladder_width)
e3DPGlobals.g.move(z=bladder_layer_increment)
e3DMatrixPrinting.travel_mode()
e3DMatrixPrinting.move_x(bladder_spacing)
def print_bladders():
e3DMatrixPrinting.move_x(-1*spacer_spacing*(num_spacers-1))
e3DMatrixPrinting.move_x(-1*bladder_spacing/2.0)
#bladder_print_height = (((spacer_layers + 2) * spacer_layer_increment/2) + substrate_zero)
for bladder in range(num_bladders):
e3DMatrixPrinting.print_mode(print_height_abs = bladder_print_height, print_speed = 20)
e3DPGlobals.g.feed(bladder_print_speed)
for layer in range(bladder_layers):
print_void_layer(length = bladder_length, width = bladder_width)
e3DPGlobals.g.move(z = bladder_layer_increment)
e3DMatrixPrinting.travel_mode()
e3DMatrixPrinting.move_x(bladder_spacing)
def print_bladder_spacers():
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.write("\n; Print pneunet bladders.")
for spacer in range(num_spacers):
e3DMatrixPrinting.move_x(spacer_spacing)
spacer_print_height = substrate_zero + spacer_layer_increment
e3DMatrixPrinting.print_mode(print_height_abs = spacer_print_height, print_speed = 20)
e3DPGlobals.g.feed(spacer_print_speed)
for layer in range(spacer_layers):
print_void_layer(length = spacer_length, width = spacer_width)
e3DPGlobals.g.move(z = spacer_layer_increment)
e3DMatrixPrinting.travel_mode()
def print_bladder_spacers():
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.write("\n; Print pneunet bladders.")
for spacer in range(num_spacers):
e3DMatrixPrinting.move_x(spacer_spacing)
spacer_print_height = substrate_zero + spacer_layer_increment
e3DMatrixPrinting.print_mode(print_height_abs=spacer_print_height,
print_speed=20)
e3DPGlobals.g.feed(spacer_print_speed)
for layer in range(spacer_layers):
print_void_layer(length=spacer_length, width=spacer_width)
e3DPGlobals.g.move(z=spacer_layer_increment)
e3DMatrixPrinting.travel_mode()
def print_plenum_meander(Left):
x_offset_mult = (-1 if Left else 1)
height_offset = 1.5
# Print the fuel reservoirs, starting at the check valves. This code was changed for D-90.
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = False)
e3DMatrixPrinting.travel_mode()
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = True)
e3DMatrixPrinting.move_z_abs(module_print_height_back - height_offset, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed)
e3DMatrixPrinting.travel_mode()
meander_front_y = -41 # 2015.02.03 - switched from -45, -40 was too close
meander_front_y = -44.5 # for new Octobot molds used in D-90, 2015.04.21
meander_back_y = -45 # 2015.02.03 - switched from -50
meander_back_y = -47.5 # for new Octobot molds used in D-90, 2015.04.21
##meander_inner_x_offset = 3 # was originally 0.75 in Dan's code
meander_inner_x_offset = 1.5 #added for D-80
connection_overlap = 0.0 # what is this? it was originally in Dan's code as 0.5 originally
meander_print_speed = 0.5 # switched from 0.6 on 2014.02.06
meander_connection_dwell_time = 1
e3DPGlobals.g.abs_move(x=centerline_x+x_offset_mult*meander_inner_x_offset, y=meander_back_y-connection_overlap)
e3DMatrixPrinting.print_mode(print_height_abs = plenum_meander_print_height, print_speed = meander_print_speed)
safe_hole_connection_x_offset = meander_inner_x_offset
##e3DMatrixPrinting.move_z_abs(height = plenum_meander_print_height) # redundant?
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(y = meander_front_y)
e3DPGlobals.g.abs_move(x = centerline_x+x_offset_mult*meander_inner_x_offset)
e3DMatrixPrinting.move_z_abs(height = module_print_height_back - height_offset)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
hole_pos = (LogicModule.check_valve_left_hole_pos if Left else LogicModule.check_valve_right_hole_pos)
e3DPGlobals.g.abs_move(x=hole_pos[0], y=hole_pos[1]) # move above the hole
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
# Now, connect the fule line to the inlets to the oscillator:
e3DPGlobals.g.abs_move(x=centerline_x+x_offset_mult*meander_inner_x_offset, y=meander_back_y-connection_overlap)
e3DMatrixPrinting.print_mode(print_height_abs = plenum_meander_print_height, print_speed = meander_print_speed)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 2)
e3DPGlobals.g.abs_move(y = meander_front_y)
e3DMatrixPrinting.move_z_abs(height = module_print_height_back)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
##e3DPGlobals.g.abs_move(y = LogicModule.module_back_edge_y)
hole_pos = (LogicModule.back_left_hole_pos if Left else LogicModule.back_right_hole_pos)
e3DPGlobals.g.abs_move(x = hole_pos[0], y = hole_pos[1])
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
def print_plenum_meander(Left):
x_offset_mult = (-1 if Left else 1)
height_offset = 1.5
# Print the fuel reservoirs, starting at the check valves. This code was changed for D-90.
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = False)
e3DMatrixPrinting.travel_mode()
LogicModule.interface_with_hole(Left = Left, Front = False, to_cliff = False, Valve = True)
e3DMatrixPrinting.move_z_abs(module_print_height_back - height_offset, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed)
e3DMatrixPrinting.travel_mode()
meander_front_y = -41 # 2015.02.03 - switched from -45, -40 was too close
meander_front_y = -44.5 # for new Octobot molds used in D-90, 2015.04.21
meander_back_y = -45 # 2015.02.03 - switched from -50
meander_back_y = -47.5 # for new Octobot molds used in D-90, 2015.04.21
##meander_inner_x_offset = 3 # was originally 0.75 in Dan's code
meander_inner_x_offset = 1.5 #added for D-80
connection_overlap = 0.0 # what is this? it was originally in Dan's code as 0.5 originally
meander_print_speed = 0.5 # switched from 0.6 on 2014.02.06
meander_connection_dwell_time = 1
e3DPGlobals.g.abs_move(x=centerline_x+x_offset_mult*meander_inner_x_offset, y=meander_back_y-connection_overlap)
e3DMatrixPrinting.print_mode(print_height_abs = plenum_meander_print_height, print_speed = meander_print_speed)
safe_hole_connection_x_offset = meander_inner_x_offset
##e3DMatrixPrinting.move_z_abs(height = plenum_meander_print_height) # redundant?
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(y = meander_front_y)
e3DPGlobals.g.abs_move(x = centerline_x+x_offset_mult*meander_inner_x_offset)
e3DMatrixPrinting.move_z_abs(height = module_print_height_back - height_offset)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
hole_pos = (LogicModule.check_valve_left_hole_pos if Left else LogicModule.check_valve_right_hole_pos)
e3DPGlobals.g.abs_move(x=hole_pos[0], y=hole_pos[1]) # move above the hole
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
# Now, connect the fule line to the inlets to the oscillator:
e3DPGlobals.g.abs_move(x=centerline_x+x_offset_mult*meander_inner_x_offset, y=meander_back_y-connection_overlap)
e3DMatrixPrinting.print_mode(print_height_abs = plenum_meander_print_height, print_speed = meander_print_speed)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x = centerline_x + x_offset_mult * meander_inner_x_offset * 2)
e3DPGlobals.g.abs_move(y = meander_front_y)
e3DMatrixPrinting.move_z_abs(height = module_print_height_back)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
##e3DPGlobals.g.abs_move(y = LogicModule.module_back_edge_y)
hole_pos = (LogicModule.back_left_hole_pos if Left else LogicModule.back_right_hole_pos)
e3DPGlobals.g.abs_move(x = hole_pos[0], y = hole_pos[1])
e3DPGlobals.g.dwell(meander_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
def print_pressureChamber_for_test_octobot(Left, fuel_line, needle_insertion,
spacer):
x_offset_mult = (-1 if Left else 1)
print "Printing module output to robot channels input via pressure chamber."
# ramp down down to channel (if needed) will determine min pressure channel back end y
pressure_channel_back_y = get_pressure_channel_back_y()
# Print a pressure chamber/connection from cliff base to the flow channel ends
e3DPGlobals.g.write("\n; PRINT PRESSURE CHAMBER FOR " +
("LEFT" if Left else "RIGHT") + " SIDE")
MultiMaterial.change_tool(1) # switch to platinum
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y
) # move over front of the front edge of the module ("cliff")
e3DMatrixPrinting.print_mode(
print_height_abs=FancyOctobot2.control_line_height_abs)
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DPGlobals.g.feed(pressure_chamber_speed)
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y + pressure_chamber_total_length
) # print up to the channel line back end # FancyOctobot2.control_line_back_y + pressure_channel_overlap
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
MultiMaterial.change_tool(0) # switch to Pluronic
# move back to upstream end of reaction chamber
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y)
e3DMatrixPrinting.print_mode(
print_height_abs=FancyOctobot2.control_line_height_abs)
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line +
x_offset_mult * spacer,
y=pressure_channel_back_y - fuel_line)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed / 4)
e3DPGlobals.g.abs_move(y=pressure_channel_back_y - fuel_line -
needle_insertion)
e3DPGlobals.g.dwell(20)
e3DMatrixPrinting.travel_mode()
def print_sensor():
sensor_width = 4
sensor_height_offset = 0.5
sensor_length_offset = 3
e3DMatrixPrinting.move_y(sensor_width / 2)
e3DMatrixPrinting.print_mode(print_height_abs=bus_line_print_height +
sensor_height_offset,
print_speed=20)
e3DPGlobals.g.feed(sensor_print_speed)
e3DMatrixPrinting.move_x(-1 * bladder_spacing * (num_bladders - 0.5) -
sensor_length_offset)
e3DMatrixPrinting.move_y(-1 * sensor_width)
e3DMatrixPrinting.move_x(bladder_spacing * (num_bladders - 0.5) +
sensor_length_offset)
e3DMatrixPrinting.travel_mode()
def print_triangular_meander(print_height, N, edge, angle):
n = np.sqrt(N)
m = n
n = n - 1
pi = 3.141592653589793
angle_converted = pi * angle / 180.0
h = edge * (np.sqrt(3.0) / 2)
e3DMatrixPrinting.print_mode(print_height_abs=print_height,
print_speed=1.5)
e3DPGlobals.g.relative()
def trace_inner_units(repeats):
for repeat in range(int(repeats)):
e3DMatrixPrinting.move_xy(x_distance=edge / 2,
y_distance=h,
theta=angle_converted)
e3DMatrixPrinting.move_xy(x_distance=edge / 2,
y_distance=-1 * h,
theta=angle_converted)
def trace_to_next_level(num_edges):
e3DMatrixPrinting.move_x(distance=-1 * num_edges * edge,
theta=angle_converted)
def trace_outer_edges(num_edges):
#e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = pi/3+angle_converted)
e3DMatrixPrinting.move_xy(x_distance=num_edges * edge / 2,
y_distance=-1 * num_edges * h,
theta=angle_converted)
e3DMatrixPrinting.move_xy(x_distance=-1 * num_edges * edge,
y_distance=0,
theta=angle_converted)
while (n != 0.0):
trace_inner_units(repeats=n)
e3DMatrixPrinting.move_x(distance=edge, theta=pi / 3 + angle_converted)
trace_to_next_level(num_edges=n)
n = n - 1
e3DMatrixPrinting.move_xy(x_distance=edge / 2,
y_distance=h,
theta=angle_converted)
trace_outer_edges(num_edges=m)
def print_robot(ecoflex_zero_left, ecoflex_zero_right,
func_print_internal_soft_logic):
""""Print a fancy robot in the mold. Assume we start at the front left corner of the mold"""
# PRINT_SPECIFIC PARAMETERS
#MACHINE_ZERO = ecoflex_zero_left # zero on the top of the left ecoflex layer
MACHINE_ZERO = ecoflex_zero_left[
2] # choose actuator L3 as reference, added 20150409
#MACHINE_ZERO_RIGHT = ecoflex_zero_right # the top of the left ecoflex layer
MACHINE_ZERO_RIGHT = ecoflex_zero_right[
2] # choose actuator L4 as reference, added 20150409
global right_side_offset
right_side_offset = MACHINE_ZERO_RIGHT - MACHINE_ZERO # added to the print height of the right actuators
'''
Note from RTruby:
On Jan 19, 2015, I went through all of Dan Fitzgerald's code, and made
sure I understood anything up until this comment.
GO BACK AND REVIEW THE CODE BELOW AND WHAT IT'S DOING.
'''
################ START PRINTING ################
# set the current X and Y as the origin of the current work coordinates
e3DPGlobals.g.absolute()
# go to our absolute work zero (mold top left corner)
e3DPGlobals.g.write(
"POSOFFSET CLEAR X Y U A B; clear all position offsets and work coordinates."
) #We should start in machine coordinates because the homing routine clears all position offsets, but clear them again anyway just incase
e3DPGlobals.g.write("; Moving to travel height " +
str(e3DMatrixPrinting.default_travel_height_abs) +
" above left zero " + str(MACHINE_ZERO) + ".")
e3DMatrixPrinting.move_z_abs(
MACHINE_ZERO + e3DMatrixPrinting.default_travel_height_abs,
vertical_travel_speed=e3DMatrixPrinting.default_air_travel_speed
) # calculate the absolute default_travel_height relative to our zero and go to it
#MultiMaterial.change_tool(1)
e3DPGlobals.g.write("; Moving B to Travel Height")
#e3DPGlobals.g.relative()
#e3DPGlobals.g.move(x=0.1, y=0.1) # appease the normals
#e3DPGlobals.g.absolute()
#B_Height = e3DMatrixPrinting.default_travel_height_abs+0.1
#e3DMatrixPrinting.move_z_abs(ecoflex_zero_left + B_Height, vertical_travel_speed=e3DMatrixPrinting.default_air_travel_speed) # calculate the absolute default_travel_height relative to our zero and go to it
#NOTE: Do NOT change tools for this. Then the Nozzle z offsets will be applied twice. (Once with (92, one more with the tool change fixture offet)
#: TODO: the downside of this is that the nozzles will travel at their unoffset heights (B will be above or below A and may crash if the discrepency is larger than the print travel height)
e3DPGlobals.g.write("G1 B" +
str(MACHINE_ZERO +
e3DMatrixPrinting.default_travel_height_abs))
#MultiMaterial.change_tool(0)
# set this current mold zero as the work zero (set clearany current position offsets
e3DPGlobals.g.write(
"\nG92 X0 Y0 " + MultiMaterial.cur_tool +
str(e3DMatrixPrinting.default_travel_height_abs) + " " +
MultiMaterial.tool_axis[1] +
str(e3DMatrixPrinting.default_travel_height_abs) +
" ; set the current position as <default_travel_height_abs> above the the absolute work coordinate zero origin"
)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_air_travel_speed)
MultiMaterial.set_cur_tool()
e3DPGlobals.g.write(" ; READY TO PRINT")
# Print the soft logic minus the final 'glue' flow lines to the rest of the robot
# VISITOR PATTERN - Call the logic printing function we were given as an argument. Give it parameters it needs specific to this robot's morphology
func_print_internal_soft_logic(
flow_connector_height_abs=control_line_height_abs,
centerline_x=mold_center_x,
flow_connectors_centerline_offset=
control_line_connector_x_dist_from_center_line,
flow_connectors_back_y=control_line_back_y)
################ Control Lines and Actuators ###############
#print control line A
cur_arm_row = 0
if (e3DPGlobals.g.position_history[-1][0] != control_line_A_connection_x
and e3DPGlobals.g.position_history[-1][0] != control_line_back_y):
e3DPGlobals.g.abs_move(x=control_line_A_connection_x,
y=control_line_back_y)
e3DMatrixPrinting.print_mode(
print_height_abs=control_line_height_abs,
print_speed=e3DMatrixPrinting.default_inlet_print_speed)
e3DPGlobals.g.abs_move(y=control_line_back_y +
OctobotLogicModule.pressure_channel_overlap
) #control_line_connector_length)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
if (control_line_A_x != control_line_A_connection_x or routing_back_y !=
control_line_back_y + control_line_connector_length):
e3DPGlobals.g.abs_move(x=control_line_A_x, y=routing_back_y)
e3DPGlobals.g.abs_move(x=control_line_A_x, y=routing_front_y)
# print top right actuator A1 directly from end of control line A
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[0])
e3DPGlobals.g.abs_move(x=mold_center_x -
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(
row=cur_arm_row,
arm_forarm_preActuator_length=arm_forarm_preActuator_length_arm1,
num_pads=1,
zero_reference_diff=ecoflex_zero_left[cur_arm_row] - MACHINE_ZERO)
#print control line B
e3DPGlobals.g.abs_move(x=control_line_B_connection_x,
y=control_line_back_y)
e3DMatrixPrinting.print_mode(
print_height_abs=control_line_height_abs,
print_speed=e3DMatrixPrinting.default_inlet_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_connection_x,
y=control_line_back_y +
control_line_connector_length)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
if (control_line_B_x != control_line_B_connection_x or routing_back_y !=
control_line_back_y + control_line_connector_length):
e3DPGlobals.g.abs_move(x=control_line_B_x, y=routing_back_y)
e3DPGlobals.g.abs_move(
x=control_line_B_x,
y=routing_front_y) # arm_rows_shoulder_y_abs[cur_arm_row]
# print top right actuator B1 directly from end of control line B
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[0])
e3DPGlobals.g.abs_move(x=mold_center_x +
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(
row=cur_arm_row,
arm_forarm_preActuator_length=arm_forarm_preActuator_length_arm1,
num_pads=1,
zero_reference_diff=ecoflex_zero_right[cur_arm_row] - MACHINE_ZERO)
# print actuator A3 (second from top (row 1), right) bridging straight over control line B
cur_arm_row = 1
e3DPGlobals.g.abs_move(
x=control_line_A_x,
y=routing_branchpoints_y[1]) # y=arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[1])
e3DPGlobals.g.abs_move(x=mold_center_x +
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(
row=cur_arm_row,
arm_forarm_preActuator_length=arm_forarm_preActuator_length,
num_pads=2,
zero_reference_diff=ecoflex_zero_right[cur_arm_row] - MACHINE_ZERO)
#print actuator B3 (second from top (row 1), left) going around the control line of A3
e3DPGlobals.g.abs_move(
x=control_line_B_x, y=routing_branchpoints_y[2]
) # connect to the control line midway between arm rows 1 and 2
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[1])
e3DPGlobals.g.abs_move(x=mold_center_x -
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(cur_arm_row,
arm_forarm_preActuator_length,
num_pads=2,
zero_reference_diff=ecoflex_zero_left[cur_arm_row] -
MACHINE_ZERO)
##print actuator A2 (second from bottom (row 3), left)
cur_arm_row = 2
e3DPGlobals.g.abs_move(
x=control_line_A_x,
y=routing_branchpoints_y[3]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[2])
e3DPGlobals.g.abs_move(x=mold_center_x -
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(cur_arm_row,
arm_forarm_preActuator_length,
num_pads=2,
zero_reference_diff=ecoflex_zero_left[cur_arm_row] -
MACHINE_ZERO)
#print actuator B2 (second from bottom, right)
e3DPGlobals.g.abs_move(
x=control_line_B_x,
y=routing_branchpoints_y[3]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[2])
e3DPGlobals.g.abs_move(x=mold_center_x +
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(cur_arm_row,
arm_forarm_preActuator_length,
num_pads=2,
zero_reference_diff=ecoflex_zero_right[cur_arm_row] -
MACHINE_ZERO)
#print actuator B4 (bottom (row 3), left) bridging over control line A
cur_arm_row = 3
e3DPGlobals.g.abs_move(
x=control_line_B_x,
y=routing_branchpoints_y[4]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[3])
e3DPGlobals.g.abs_move(x=mold_center_x -
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
# arm_formarm_preActuator_length + 2 added 20150604
print_left_actuator(cur_arm_row,
arm_forarm_preActuator_length + 2,
num_pads=2,
zero_reference_diff=ecoflex_zero_left[cur_arm_row] -
MACHINE_ZERO)
#print actuator A4 (bottom right) going around the control line of B4
e3DPGlobals.g.abs_move(
x=control_line_A_x, y=routing_branchpoints_y[5]
) # y=(arm_rows_shoulder_y_abs[cur_arm_row]+arm_rows_shoulder_y_abs[cur_arm_row-1])/2.0
e3DMatrixPrinting.print_mode(print_height_abs=control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x,
y=routing_leg_offshoot_points[3])
e3DPGlobals.g.abs_move(x=mold_center_x +
arm_rows_shouder_x_centerline_offsets[cur_arm_row],
y=arm_rows_shoulder_y_abs[cur_arm_row])
# arm_formarm_preActuator_length + 2 added 20150604
print_right_actuator(cur_arm_row,
arm_forarm_preActuator_length + 2,
num_pads=2,
zero_reference_diff=ecoflex_zero_right[cur_arm_row] -
MACHINE_ZERO)
#go back to home
e3DPGlobals.g.abs_move(x=0, y=0)
def print_bladder_bus_line():
e3DMatrixPrinting.move_x(-1*bladder_spacing*(num_bladders))
e3DMatrixPrinting.print_mode(print_height_abs = bus_line_print_height, print_speed = 20)
e3DPGlobals.g.feed(bus_line_print_speed)
e3DMatrixPrinting.move_x(bladder_spacing*(num_bladders-0.5))
e3DMatrixPrinting.travel_mode()
def print_robot(ecoflex_zero_left, ecoflex_zero_right, func_print_internal_soft_logic):
""""Print a fancy robot in the mold. Assume we start at the front left corner of the mold"""
# PRINT_SPECIFIC PARAMETERS
#MACHINE_ZERO = ecoflex_zero_left # zero on the top of the left ecoflex layer
MACHINE_ZERO = ecoflex_zero_left[2] # choose actuator L3 as reference, added 20150409
#MACHINE_ZERO_RIGHT = ecoflex_zero_right # the top of the left ecoflex layer
MACHINE_ZERO_RIGHT = ecoflex_zero_right[2] # choose actuator L4 as reference, added 20150409
global right_side_offset
right_side_offset = MACHINE_ZERO_RIGHT-MACHINE_ZERO # added to the print height of the right actuators
'''
Note from RTruby:
On Jan 19, 2015, I went through all of Dan Fitzgerald's code, and made
sure I understood anything up until this comment.
GO BACK AND REVIEW THE CODE BELOW AND WHAT IT'S DOING.
'''
################ START PRINTING ################
# set the current X and Y as the origin of the current work coordinates
e3DPGlobals.g.absolute()
# go to our absolute work zero (mold top left corner)
e3DPGlobals.g.write("POSOFFSET CLEAR X Y U A B; clear all position offsets and work coordinates.") #We should start in machine coordinates because the homing routine clears all position offsets, but clear them again anyway just incase
e3DPGlobals.g.write("; Moving to travel height " + str(e3DMatrixPrinting.default_travel_height_abs) + " above left zero " + str(MACHINE_ZERO) + ".")
e3DMatrixPrinting.move_z_abs(MACHINE_ZERO + e3DMatrixPrinting.default_travel_height_abs, vertical_travel_speed=e3DMatrixPrinting.default_air_travel_speed) # calculate the absolute default_travel_height relative to our zero and go to it
#MultiMaterial.change_tool(1)
e3DPGlobals.g.write("; Moving B to Travel Height")
#e3DPGlobals.g.relative()
#e3DPGlobals.g.move(x=0.1, y=0.1) # appease the normals
#e3DPGlobals.g.absolute()
#B_Height = e3DMatrixPrinting.default_travel_height_abs+0.1
#e3DMatrixPrinting.move_z_abs(ecoflex_zero_left + B_Height, vertical_travel_speed=e3DMatrixPrinting.default_air_travel_speed) # calculate the absolute default_travel_height relative to our zero and go to it
#NOTE: Do NOT change tools for this. Then the Nozzle z offsets will be applied twice. (Once with (92, one more with the tool change fixture offet)
#: TODO: the downside of this is that the nozzles will travel at their unoffset heights (B will be above or below A and may crash if the discrepency is larger than the print travel height)
e3DPGlobals.g.write("G1 B"+str(MACHINE_ZERO + e3DMatrixPrinting.default_travel_height_abs))
#MultiMaterial.change_tool(0)
# set this current mold zero as the work zero (set clearany current position offsets
e3DPGlobals.g.write("\nG92 X0 Y0 "+MultiMaterial.cur_tool+str(e3DMatrixPrinting.default_travel_height_abs)+" " + MultiMaterial.tool_axis[1]+str(e3DMatrixPrinting.default_travel_height_abs)+" ; set the current position as <default_travel_height_abs> above the the absolute work coordinate zero origin")
e3DPGlobals.g.feed(e3DMatrixPrinting.default_air_travel_speed)
MultiMaterial.set_cur_tool()
e3DPGlobals.g.write(" ; READY TO PRINT")
# Print the soft logic minus the final 'glue' flow lines to the rest of the robot
# VISITOR PATTERN - Call the logic printing function we were given as an argument. Give it parameters it needs specific to this robot's morphology
func_print_internal_soft_logic(flow_connector_height_abs = control_line_height_abs, centerline_x = mold_center_x, flow_connectors_centerline_offset = control_line_connector_x_dist_from_center_line, flow_connectors_back_y = control_line_back_y)
################ Control Lines and Actuators ###############
#print control line A
cur_arm_row = 0
if (e3DPGlobals.g.position_history[-1][0] != control_line_A_connection_x and e3DPGlobals.g.position_history[-1][0] != control_line_back_y):
e3DPGlobals.g.abs_move(x=control_line_A_connection_x, y = control_line_back_y)
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs, print_speed = e3DMatrixPrinting.default_inlet_print_speed)
e3DPGlobals.g.abs_move(y = control_line_back_y+OctobotLogicModule.pressure_channel_overlap)#control_line_connector_length)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
if (control_line_A_x != control_line_A_connection_x or routing_back_y != control_line_back_y+control_line_connector_length):
e3DPGlobals.g.abs_move(x=control_line_A_x, y = routing_back_y)
# Line below added 2015.05.15 when coding up a Fuel Octobot with oscillatory venting:
e3DPGlobals.g.abs_move(x=control_line_A_x, y = routing_front_y + to_osc_vent_offset)
e3DMatrixPrinting.move_z_abs(control_line_height_abs + 2)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.abs_move(x=control_line_A_x, y = routing_front_y)
# print top right actuator A1 directly from end of control line A
e3DMatrixPrinting.print_mode(print_height_abs = control_line_bridge_height_abs, print_speed = e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[0])
e3DPGlobals.g.abs_move(x=mold_center_x-arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(row=cur_arm_row, arm_forarm_preActuator_length=arm_forarm_preActuator_length_arm1, num_pads = 1, zero_reference_diff = ecoflex_zero_left[cur_arm_row]-MACHINE_ZERO)
#print control line B
e3DPGlobals.g.abs_move(x=control_line_B_connection_x, y = control_line_back_y)
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs, print_speed = e3DMatrixPrinting.default_inlet_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_connection_x, y = control_line_back_y+control_line_connector_length)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
if (control_line_B_x != control_line_B_connection_x or routing_back_y != control_line_back_y+control_line_connector_length):
e3DPGlobals.g.abs_move(x=control_line_B_x, y = routing_back_y)
# Line below added 2015.05.15 when coding up a Fuel Octobot with oscillatory venting:
e3DPGlobals.g.abs_move(x=control_line_B_x, y = routing_front_y + to_osc_vent_offset)
e3DMatrixPrinting.move_z_abs(control_line_height_abs + 2)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.abs_move(x=control_line_B_x, y = routing_front_y) # arm_rows_shoulder_y_abs[cur_arm_row]
# print top right actuator B1 directly from end of control line B
e3DMatrixPrinting.print_mode(print_height_abs = control_line_bridge_height_abs, print_speed = e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[0])
e3DPGlobals.g.abs_move(x=mold_center_x+arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(row=cur_arm_row, arm_forarm_preActuator_length=arm_forarm_preActuator_length_arm1, num_pads = 1, zero_reference_diff = ecoflex_zero_right[cur_arm_row]-MACHINE_ZERO)
# print actuator A3 (second from top (row 1), right) bridging straight over control line B
cur_arm_row = 1
e3DPGlobals.g.abs_move(x=control_line_A_x, y=routing_branchpoints_y[1]) # y=arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[1])
e3DPGlobals.g.abs_move(x=mold_center_x+arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(row=cur_arm_row, arm_forarm_preActuator_length=arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_right[cur_arm_row]-MACHINE_ZERO)
#print actuator B3 (second from top (row 1), left) going around the control line of A3
e3DPGlobals.g.abs_move(x=control_line_B_x, y=routing_branchpoints_y[2]) # connect to the control line midway between arm rows 1 and 2
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[1])
e3DPGlobals.g.abs_move(x=mold_center_x-arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(cur_arm_row, arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_left[cur_arm_row]-MACHINE_ZERO)
##print actuator A2 (second from bottom (row 3), left)
cur_arm_row = 2
e3DPGlobals.g.abs_move(x=control_line_A_x, y = routing_branchpoints_y[3]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[2])
e3DPGlobals.g.abs_move(x=mold_center_x-arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(cur_arm_row, arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_left[cur_arm_row]-MACHINE_ZERO)
#print actuator B2 (second from bottom, right)
e3DPGlobals.g.abs_move(x=control_line_B_x, y = routing_branchpoints_y[3]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[2])
e3DPGlobals.g.abs_move(x=mold_center_x+arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(cur_arm_row, arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_right[cur_arm_row]-MACHINE_ZERO)
#print actuator B4 (bottom (row 3), left) bridging over control line A
cur_arm_row=3
e3DPGlobals.g.abs_move(x=control_line_B_x, y = routing_branchpoints_y[4]) # arm_rows_shoulder_y_abs[cur_arm_row]
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_A_x)
e3DPGlobals.g.abs_move(x=control_line_A_x - routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[3])
e3DPGlobals.g.abs_move(x=mold_center_x-arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_left_actuator(cur_arm_row, arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_left[cur_arm_row]-MACHINE_ZERO)
#print actuator A4 (bottom right) going around the control line of B4
e3DPGlobals.g.abs_move(x=control_line_A_x, y=routing_branchpoints_y[5]) # y=(arm_rows_shoulder_y_abs[cur_arm_row]+arm_rows_shoulder_y_abs[cur_arm_row-1])/2.0
e3DMatrixPrinting.print_mode(print_height_abs = control_line_height_abs)
e3DMatrixPrinting.move_z_abs(control_line_bridge_height_abs)
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DPGlobals.g.abs_move(x=control_line_B_x)
e3DPGlobals.g.abs_move(x=control_line_B_x + routing_turnpoint_from_lines_x, y=routing_leg_offshoot_points[3])
e3DPGlobals.g.abs_move(x=mold_center_x+arm_rows_shouder_x_centerline_offsets[cur_arm_row], y=arm_rows_shoulder_y_abs[cur_arm_row])
print_right_actuator(cur_arm_row, arm_forarm_preActuator_length, num_pads = 2, zero_reference_diff = ecoflex_zero_right[cur_arm_row]-MACHINE_ZERO)
#go back to home
e3DPGlobals.g.abs_move(x=0,y=0)
def print_output_hole_to_flow_line_with_pressureChamber(Left, hole_pos):
x_offset_mult = (-1 if Left else 1)
print "Printing module output to robot channels input via pressure chamber."
# ramp down down to channel (if needed) will determine min pressure channel back end y
pressure_channel_back_y = get_pressure_channel_back_y()
# Print a pressure chamber/connection from cliff base to the flow channel ends
e3DPGlobals.g.write("\n; PRINT PRESSURE CHAMBER FOR " +
("LEFT" if Left else "RIGHT") + " SIDE")
MultiMaterial.change_tool(1) # switch to platinum
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y
) # move over front of the front edge of the module ("cliff")
e3DMatrixPrinting.print_mode(
print_height_abs=FancyOctobot2.control_line_height_abs)
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DPGlobals.g.feed(pressure_chamber_speed)
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y + pressure_chamber_total_length
) # print up to the channel line back end # FancyOctobot2.control_line_back_y + pressure_channel_overlap
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
MultiMaterial.change_tool(0)
print "PRESSURE CHAMBER TOTAL LENGTH IS " + str(
FancyOctobot2.control_line_back_y + pressure_channel_overlap -
pressure_channel_back_y)
# Print a vertical line in the hole to the top of the module
e3DPGlobals.g.write("\n; PRINT IN HOLE OF " +
("LEFT" if Left else "RIGHT") + " SIDE")
LogicModule.interface_with_hole(Left=Left, Front=True, to_cliff=False)
# drag up the cliff and over to the hole top in pluronic
if (LogicModule.module_top_print_height >
FancyOctobot2.control_line_height_abs):
print "\t CLIFF NEEDED"
# make a standard cliff - no ramp
e3DMatrixPrinting.travel_mode()
ramp_height = 0.0
e3DPGlobals.g.abs_move(
x=FancyOctobot2.mold_center_x + x_offset_mult *
FancyOctobot2.control_line_connector_x_dist_from_center_line,
y=pressure_channel_back_y + pressure_channel_overlap)
e3DMatrixPrinting.print_mode(
print_height_abs=FancyOctobot2.control_line_height_abs,
print_speed=e3DMatrixPrinting.default_inlet_print_speed)
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DPGlobals.g.abs_move(y=pressure_channel_back_y)
e3DMatrixPrinting.move_z_abs(
height=LogicModule.module_top_print_height + ramp_height,
vertical_travel_speed=e3DMatrixPrinting.default_z_drag_speed
) # drag z up the cliff
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
hole_pos = (LogicModule.front_left_hole_pos
if Left else LogicModule.front_right_hole_pos)
e3DPGlobals.g.abs_move(
x=hole_pos[0],
y=hole_pos[1],
z=LogicModule.module_top_print_height) # move above the hole
e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
e3DMatrixPrinting.travel_mode()
## ramp down from logic module print height to pressure channel (control line) height
#e3DMatrixPrinting.move_z_abs(height = FancyOctobot2.control_line_height_abs, vertical_travel_speed = e3DMatrixPrinting.default_z_drag_speed) # drag z up the cliff
#e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
#e3DPGlobals.g.abs_move(x=FancyOctobot2.mold_center_x+x_offset_mult*FancyOctobot2.control_line_connector_x_dist_from_center_line, y=LogicModule.module_front_edge_y)
#e3DPGlobals.g.abs_move(x=FancyOctobot2.mold_center_x+x_offset_mult*FancyOctobot2.control_line_connector_x_dist_from_center_line, y=pressure_channel_back_y, z=FancyOctobot2.control_line_height_abs) # move over front of the front edge of the module ("cliff")
#e3DPGlobals.g.abs_move(x=FancyOctobot2.mold_center_x+x_offset_mult*FancyOctobot2.control_line_connector_x_dist_from_center_line, y=pressure_channel_back_y+pressure_channel_overlap) # move over front of the front edge of the module ("cliff")
#e3DPGlobals.g.dwell(pressure_chamber_connection_dwell_time)
#e3DMatrixPrinting.travel_mode()
else:
print "CLIFF FROM MODULE TO CONTROL lINES NEEDED"
print "ERROR: Cliff from pressure lines up tp logic module print height not implmented yet!"
e3DPGlobals.g.write(
"ERROR: Cliff from pressure lines up tp logic module print height not implmented yet!"
)