def print_bladders():
for bladder in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = bladder_print_height, print_speed = 20)
emb3DPGlobals.g.feed(bladder_print_speed)
for layer in range(bladder_layers):
print_void_layer(length = bladder_length, width = bladder_width)
emb3DPGlobals.g.move(z = bladder_layer_increment)
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(bladder_spacing)
def print_bladders():
for bladder in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs=bladder_print_height,
print_speed=20)
emb3DPGlobals.g.feed(bladder_print_speed)
for layer in range(bladder_layers):
print_void_layer(length=bladder_length, width=bladder_width)
emb3DPGlobals.g.move(z=bladder_layer_increment)
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(bladder_spacing)
def print_bladder_spacers():
emb3DMatrixPrinting.travel_mode()
for spacer in range(num_spacers):
emb3DMatrixPrinting.move_x(spacer_spacing)
######### 2015.10.12 spacer_print_height = substrate_zero + spacer_layer_increment
emb3DMatrixPrinting.print_mode(print_height_abs = spacer_print_height, print_speed = 20)
emb3DPGlobals.g.feed(spacer_print_speed)
for layer in range(spacer_layers):
print_spacer_void_layer(length = spacer_length, width = spacer_width)
emb3DPGlobals.g.feed(10)
emb3DPGlobals.g.move(z = spacer_layer_increment)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.travel_mode()
def print_curvature_sensor():
emb3DMatrixPrinting.move_y(sensor_width/2)
emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.print_mode(print_height_abs = curvature_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(curvature_sensor_print_speed)
#for meander in xrange(2):
emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)-(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.move_y(-1*curvature_sensor_width)
emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
#emb3DMatrixPrinting.move_y(-1*curvature_sensor_width/5)
#emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)-(curvature_sensor_length_offset+2))
#emb3DMatrixPrinting.move_y(-1*curvature_sensor_width/5)
#emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.travel_mode()
def print_bladder_spacers():
emb3DMatrixPrinting.travel_mode()
for spacer in range(num_spacers):
emb3DMatrixPrinting.move_x(spacer_spacing)
######### 2015.10.12 spacer_print_height = substrate_zero + spacer_layer_increment
emb3DMatrixPrinting.print_mode(print_height_abs=spacer_print_height,
print_speed=20)
emb3DPGlobals.g.feed(spacer_print_speed)
for layer in range(spacer_layers):
print_spacer_void_layer(length=spacer_length, width=spacer_width)
emb3DPGlobals.g.feed(10)
emb3DPGlobals.g.move(z=spacer_layer_increment)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.travel_mode()
def print_curvature_sensor_inlet():
## move these variables up to the top of the script:
pre_inlet_print_speed = 2
emb3DMatrixPrinting.print_mode(print_height_abs = curvature_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = 4)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -1*inlet_length_sensor, y = sensor_width)
emb3DMatrixPrinting.print_mode(print_height_abs = curvature_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = 4)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_sensor)
emb3DMatrixPrinting.travel_mode()
def print_better_spokes():
emb3DMatrixPrinting.move_x(-ClosedLoopActuator_ActuatorOnly.bladder_spacing + ClosedLoopActuator_ActuatorOnly.bladder_width + connector_offset)
emb3DMatrixPrinting.move_y(-ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
#first moving left on lower value y side
for spokes in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = spoke_print_speed)
if (spokes != 0):
emb3DPGlobals.g.move(z = top_print_height - connector_print_height)
else: # if first one, print shorter spoke for inlet
emb3DPGlobals.g.move(z = fancy_sensor_inlet_print_height- connector_print_height)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x= -2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = spoke_print_speed)
emb3DPGlobals.g.move(z = top_print_height- connector_print_height)
emb3DMatrixPrinting.travel_mode()
### Edited on 2015.10.22 ######
## why is the code below different than the previous g.move(x = ...) move?
#emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2*connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x= -2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
###############################
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - 2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
#emb3DMatrixPrinting.print_mode(print_height_abs = top_print_height, print_speed = spoke_print_speed)
emb3DPGlobals.g.move(y = ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset)
#emb3DMatrixPrinting.travel_mode()
#then moving right on higher value y side
for spokes in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = spoke_print_speed)
emb3DPGlobals.g.move(z = top_print_height - connector_print_height)
emb3DMatrixPrinting.travel_mode()
if (spokes == 0):
emb3DMatrixPrinting.print_mode(print_height_abs = top_print_height, print_speed = spoke_print_speed)
emb3DPGlobals.g.move(y = -(ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset))
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(y = ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset)
emb3DPGlobals.g.move(x= 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = spoke_print_speed)
if (spokes != num_bladders-1):
emb3DPGlobals.g.move(z = top_print_height - connector_print_height)
else:# if first one, print shorter spoke for inlet
emb3DPGlobals.g.move(z = fancy_sensor_inlet_print_height- connector_print_height)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - 2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
def print_contact_sensor():
## move these variables up to the top of the script:
additional_y_offset_for_inlets = 2
inlet_height_offset = 5 # before 20151005, this was equal to 4
##
emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.move_y(sensor_width/2 + additional_y_offset_for_inlets)
emb3DMatrixPrinting.print_mode(print_height_abs = contact_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(curvature_sensor_print_speed)
emb3DMatrixPrinting.move_y(-1*additional_y_offset_for_inlets)
#for meander in xrange(2):
emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)-(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.move_y(-1*curvature_sensor_width)
emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
#emb3DMatrixPrinting.move_y(-1*curvature_sensor_width/5)
#emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)-(curvature_sensor_length_offset+2))
#emb3DMatrixPrinting.move_y(-1*curvature_sensor_width/5)
#emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2))
emb3DMatrixPrinting.move_y(-1*additional_y_offset_for_inlets)
emb3DMatrixPrinting.travel_mode()
def print_contact_sensor_inlet():
## move these variables up to the top of the script:
additional_y_offset_for_inlets = 2
inlet_height_offset = 5 # before 20151005, this was equal to 4
pre_inlet_print_speed = 2
##
emb3DMatrixPrinting.move_x(ClosedLoopActuator_ActuatorOnly.bladder_spacing*(num_bladders-0.5)+(curvature_sensor_length_offset+2) + inlet_length_sensor)
emb3DMatrixPrinting.move_y(sensor_width/2 + additional_y_offset_for_inlets)
emb3DMatrixPrinting.print_mode(print_height_abs = contact_layer_bottom - inlet_height_offset, print_speed = 20)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = -1 * inlet_length_sensor)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = inlet_height_offset)
#emb3DPGlobals.g.move(y = -1 * additional_y_offset_for_inlets)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = inlet_length_sensor, y = -1*sensor_width - 2 * additional_y_offset_for_inlets)
emb3DMatrixPrinting.print_mode(print_height_abs = contact_layer_bottom - inlet_height_offset, print_speed = 20)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = -1 * inlet_length_sensor)
#emb3DPGlobabls.g.move(y = additional_y_offset_for_inlets)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = inlet_height_offset)
emb3DMatrixPrinting.travel_mode()
def print_fancy_sensor_inlet():
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.print_mode(print_height_abs = fancy_sensor_inlet_print_height, print_speed = fancy_sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_fancy_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -inlet_length_fancy_sensor)
emb3DPGlobals.g.move(y = 2*(-ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset))
emb3DMatrixPrinting.print_mode(print_height_abs = fancy_sensor_inlet_print_height, print_speed = fancy_sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_fancy_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -inlet_length_fancy_sensor)
emb3DPGlobals.g.move(y = ClosedLoopActuator_ActuatorOnly.spacer_length/2 - top_y_offset)
emb3DMatrixPrinting.travel_mode()
def print_connectors():
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.spacer_spacing*(ClosedLoopActuator_ActuatorOnly.num_spacers-1)-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing/2.0)
emb3DPGlobals.g.move(x = -connector_offset, y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
for connector in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = connector_print_speed)
emb3DPGlobals.g.move(x = 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - 2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width, y = ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset)
for connector in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = top_print_speed)
emb3DPGlobals.g.move(x = -2* connector_offset + -ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
def print_bus_line_inlet():
emb3DPGlobals.g.feed(bus_line_inlet_print_speed)
emb3DMatrixPrinting.move_x(inlet_length_bus_line)
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(-inlet_length_bus_line)
def print_bus_line_inlet():
emb3DPGlobals.g.feed(bus_line_inlet_print_speed)
emb3DMatrixPrinting.move_x(inlet_length_bus_line)
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(-inlet_length_bus_line)
