def elementsandVarsTest(self): """test method, for experimental composition of nodes: this creates all the elements for a basic reprap type node""" """CARTESIAN BOT DEFINITION""" """3d Position""" pos=Variable(self,"position",Vector(['x','y','z']),"vector","mm",None,"memory",3,True,['x','y','z']) """all the motors/actors controlling the 3d Position""" mot1=Actor(type="StepperMotor",name="x_motor",tool="cartesianBot",boundVariable=pos,variableChannel='x') mot2=Actor(type="StepperMotor",name="y_motor",tool="cartesianBot",boundVariable=pos,variableChannel='y') mot3=Actor(type="StepperMotor",name="z_motor",tool="cartesianBot",boundVariable=pos,variableChannel='z') """all the sensors giving feedback on the 3d Position""" endStop1=Sensor(type="end_sensor",name="x_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='x') endStop2=Sensor(type="end_sensor",name="x_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='x') endStop3=Sensor(type="end_sensor",name="y_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='y') endStop4=Sensor(type="end_sensor",name="y_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='y') endStop5=Sensor(type="end_sensor",name="z_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='z') endStop6=Sensor(type="end_sensor",name="z_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='z') """add all these to the current node""" self.add_variable(pos) self.add_elements([mot1,mot2,mot3,endStop1,endStop2,endStop3,endStop4,endStop5,endStop6]) pos.attach_sensors([(endStop1,endStop1.channel),(endStop2,endStop2.channel),(endStop3,endStop3.channel), (endStop4,endStop4.channel),(endStop5,endStop5.channel),(endStop6,endStop6.channel)]) pos.attach_actors([(mot1,mot1.channel),(mot2,mot2.channel),(mot3,mot3.channel)]) """EXTRUDER 1 DEFINITION""" """two variables""" head_temp=Variable(self,"head_temp",0,"temperature","celcius") extrudate_lng=Variable(self,"filament_extrudate",Vector(['e']),"vector","mm") """all the actors controlling the extrusion of this print head""" extrudMot=Actor(type="StepperMotor",name="e_motor1",tool="PrintHead",boundVariable=extrudate_lng,variableChannel='e') head_heater=Actor(type="Heater",name="extruder1_heater",tool="PrintHead",boundVariable=head_temp) """all the sensors giving feedback on the extrusion of this print head""" head_tempSensor=Sensor(type="temperature_sensor",name="extruder1_temp_sensor",tool="PrintHead",boundVariable=head_temp) extrudate_lng.attach_actor(extrudMot,'e') head_temp.attach_both([(head_heater,None)],[(head_tempSensor,None)])
def elementsandVarsTest(self): """test method, for experimental composition of nodes: this creates all the elements for a basic reprap type node""" """CARTESIAN BOT DEFINITION""" """3d Position""" pos = Variable(self, "position", Vector(['x', 'y', 'z']), "vector", "mm", None, "memory", 3, True, ['x', 'y', 'z']) """all the motors/actors controlling the 3d Position""" mot1 = Actor(type="StepperMotor", name="x_motor", tool="cartesianBot", boundVariable=pos, variableChannel='x') mot2 = Actor(type="StepperMotor", name="y_motor", tool="cartesianBot", boundVariable=pos, variableChannel='y') mot3 = Actor(type="StepperMotor", name="z_motor", tool="cartesianBot", boundVariable=pos, variableChannel='z') """all the sensors giving feedback on the 3d Position""" endStop1 = Sensor(type="end_sensor", name="x_startSensor", tool="cartesianBot", boundVariable=pos, variableChannel='x') endStop2 = Sensor(type="end_sensor", name="x_endSensor", tool="cartesianBot", boundVariable=pos, variableChannel='x') endStop3 = Sensor(type="end_sensor", name="y_startSensor", tool="cartesianBot", boundVariable=pos, variableChannel='y') endStop4 = Sensor(type="end_sensor", name="y_endSensor", tool="cartesianBot", boundVariable=pos, variableChannel='y') endStop5 = Sensor(type="end_sensor", name="z_startSensor", tool="cartesianBot", boundVariable=pos, variableChannel='z') endStop6 = Sensor(type="end_sensor", name="z_endSensor", tool="cartesianBot", boundVariable=pos, variableChannel='z') """add all these to the current node""" self.add_variable(pos) self.add_elements([ mot1, mot2, mot3, endStop1, endStop2, endStop3, endStop4, endStop5, endStop6 ]) pos.attach_sensors([(endStop1, endStop1.channel), (endStop2, endStop2.channel), (endStop3, endStop3.channel), (endStop4, endStop4.channel), (endStop5, endStop5.channel), (endStop6, endStop6.channel)]) pos.attach_actors([(mot1, mot1.channel), (mot2, mot2.channel), (mot3, mot3.channel)]) """EXTRUDER 1 DEFINITION""" """two variables""" head_temp = Variable(self, "head_temp", 0, "temperature", "celcius") extrudate_lng = Variable(self, "filament_extrudate", Vector(['e']), "vector", "mm") """all the actors controlling the extrusion of this print head""" extrudMot = Actor(type="StepperMotor", name="e_motor1", tool="PrintHead", boundVariable=extrudate_lng, variableChannel='e') head_heater = Actor(type="Heater", name="extruder1_heater", tool="PrintHead", boundVariable=head_temp) """all the sensors giving feedback on the extrusion of this print head""" head_tempSensor = Sensor(type="temperature_sensor", name="extruder1_temp_sensor", tool="PrintHead", boundVariable=head_temp) extrudate_lng.attach_actor(extrudMot, 'e') head_temp.attach_both([(head_heater, None)], [(head_tempSensor, None)])