def go_to_bottom():
botcamloc = get_coords()
if botcamloc is None:
# cancel
return
noz = machine.getDefaultHead().getDefaultNozzle()
if noz is None:
return # should error
# we don't want to go straight to the cam location--first XY,
# then Z
safeMoveLocation = Location(botcamloc.getUnits(), botcamloc.getX(), botcamloc.getY(), 0, 0);
MovableUtils.moveToLocationAtSafeZ(noz, safeMoveLocation)
#machine.defaultHead.defaultNozzle.moveTo(safeMoveLocation)
# our default z will be whatever the camera says
finalLocation = botcamloc.add(Location(botcamloc.getUnits(), 0,0, botcamloc.getZ(), 0))
ntip = noz.getNozzleTip()
if ntip is not None:
ntipcalib = ntip.getCalibration()
if ntipcalib is not None and ntipcalib.isEnabled():
zoffset = ntipcalib.getCalibrationZOffset()
if zoffset is not None:
finalLocation = botcamloc.add(Location(zoffset.getUnits(), 0, 0, zoffset.getValue(), 0))
#print("WOULD LIKE TO MOVE TO %s" % str(finalLocation))
MovableUtils.moveToLocationAtSafeZ(noz, finalLocation)
def go_cam():
loc = get_coords()
if loc is None:
# cancel
return
if machine.defaultHead is None or machine.defaultHead.defaultCamera is None:
return
MovableUtils.moveToLocationAtSafeZ(machine.defaultHead.defaultCamera, loc)
def go_z():
nozzle = machine.defaultHead.defaultNozzle
curloc = nozzle.location
zval = psypnp.ui.getUserInputFloat("Go Z", curloc.z)
if zval is None:
# cancel
return
if zval > HardLimitMax or zval < HardLimitMin:
machine.defaultHead.moveToSafeZ()
psypnp.ui.showError("That's crazy talk ( %s < limits < %s) " %
(str(HardLimitMin), str(HardLimitMax)))
else:
loc = Location(LengthUnit.Millimeters, curloc.x, curloc.y, zval, 0)
#nozzle.moveTo(loc)
MovableUtils.moveToLocationAtSafeZ(nozzle, loc)
def go_angle():
nozzle = machine.defaultHead.defaultNozzle
curloc = nozzle.location
val = psypnp.ui.getUserInputFloat("Go Rotation", curloc.rotation)
if val is None:
#cancel
return
if val < (-1 * HardMaxAngle) or val > HardMaxAngle:
psypnp.ui.showError("Only angles <= abs(%s) supported" %
str(HardMaxAngle))
return
loc = Location(LengthUnit.Millimeters, curloc.x, curloc.y, curloc.z, val)
# nozzle.moveTo(loc)
MovableUtils.moveToLocationAtSafeZ(nozzle, loc)
def go_cam():
if machine.defaultHead is None:
# too weird
return # should error
defNozz = machine.defaultHead.getDefaultNozzle()
if defNozz is None:
return # should error
loc = get_coords(defNozz)
if loc is None:
# cancel
return
MovableUtils.moveToLocationAtSafeZ(defNozz, loc)
def check_feeder_heights():
global StorageParentName
cur_feeder_index = get_current_idx()
#next_feeder_index = get_next_feeder_index(cur_feeder_index)
curFeed = get_current_feeder()
if curFeed is None:
return False
if not curFeed.isEnabled():
# we may have a stale current index
reset_idx_counter()
psypnp.ui.showError("Stale feed index, have reset. Please go again.")
return True
#curFeed = get_next_feeder_from(next_feeder_index)
feederPart = curFeed.getPart()
print("Will move to feeder %i\n%s \nwith part \n%s " %
(cur_feeder_index, str(curFeed.getName()), str(feederPart.getId())))
# always safeZ
machine.defaultHead.moveToSafeZ()
# we don't want to go straight to the cam location--first XY,
# then Z
feedPickLoc = curFeed.getPickLocation()
safeMoveLocation = Location(feedPickLoc.getUnits(), feedPickLoc.getX(),
feedPickLoc.getY(), 0, 45)
MovableUtils.moveToLocationAtSafeZ(machine.defaultHead.defaultNozzle,
safeMoveLocation)
#print("WOULD MOVE FIRST TO: %s" % str(safeMoveLocation))
locDepthZ = feedPickLoc.getZ()
if MinSaneHeightAbs > abs(locDepthZ):
print("Something weird with this feed -- height is %s" %
str(locDepthZ))
psypnp.ui.showError("Feeder height is strange: %s" % curFeed.getId())
return False
# length "down" to bottom of feed pick location, e.g. -35.00
locDepthZLength = Length(locDepthZ, feedPickLoc.getUnits())
# height of part, this is how much above the bottom of the feed pick
# location openpnp will travel before picking up
partHeight = feederPart.getHeight()
actualDepthZTravelled = locDepthZLength
if DoSubtractPartHeightFromLevel:
print("Removing part height from travel depth")
actualDepthZTravelled = locDepthZLength.add(partHeight)
# target location "real" depth openpnp will travel (as Location object)
locRealDepth = Location(feedPickLoc.getUnits(), 0, 0,
actualDepthZTravelled.getValue(), 0)
# safe depth to travel to, basically real location depth + MinSaneHeightAbs (mm)
locSafeDepth = locRealDepth.add(
Location(LengthUnit.Millimeters, 0, 0, MinSaneHeightAbs, 45))
# our first stage move is the (x,y) "safe" location with safe motion down
locDownFirstStage = safeMoveLocation.add(locSafeDepth)
# go there now
machine.defaultHead.defaultNozzle.moveTo(locDownFirstStage)
#print("NOW MOVE TO: %s" % str(locDownFirstStage))
# now lets slow down
curSpeed = machine.getSpeed()
machine.setSpeed(0.25)
#locFinalApproach = safeMoveLocation.add(locRealDepth)
#locFinalApproach = feedPickLoc.subtract(locRealDepth)Location(feedPickLoc.getUnits(), 0, 0, actualDepthZTravelled.getValue(), 0)
locFinalApproach = Location(feedPickLoc.getUnits(), feedPickLoc.getX(),
feedPickLoc.getY(),
actualDepthZTravelled.getValue(),
feedPickLoc.getRotation())
#print("WILL FINALLY MOVE TO: %s" % str(locFinalApproach))
#print("ORIG FEEDPICK LOC: %s" % str(feedPickLoc))
machine.defaultHead.defaultNozzle.moveTo(locFinalApproach)
machine.setSpeed(curSpeed)
keepShowing = True
while keepShowing:
sel = psypnp.getOption("Result",
"How does %s look?" % curFeed.getName(), [
'Thrilled!', 'Set Height', 'Up 0.1',
'Down 0.1', 'Up 1', 'Down 1'
])
if sel is None:
machine.defaultHead.moveToSafeZ()
return False
keepShowing = False
if sel == 0:
# all good
increment_idx_counter(cur_feeder_index)
machine.defaultHead.moveToSafeZ()
return True
if sel == 1:
# calculate height based on this
# take the part height and call the feeder that much lower
nozLoc = machine.defaultHead.defaultNozzle.location
nozHeight = Length(nozLoc.getZ(), nozLoc.getUnits())
feederHeight = nozHeight
if DoSubtractPartHeightFromLevel:
print("Adding part height to travel depth")
feederHeight = nozHeight.subtract(partHeight)
# now get the reference hole location
refHole = curFeed.getReferenceHoleLocation()
# create a new hole without a Z
newHole = Location(refHole.getUnits(), refHole.getX(),
refHole.getY(), 0, refHole.getRotation())
# finally, add the feederHeight we determined
#newHeight = nozLoc.getZ()
newZLoc = Location(feederHeight.getUnits(), 0, 0,
feederHeight.getValue(), 0)
newHole = newHole.add(newZLoc)
#print("WILL Set ref hole for %s to %s" % (feederPart.getName(), str(newHole)))
curFeed.setReferenceHoleLocation(newHole)
machine.defaultHead.moveToSafeZ()
increment_idx_counter(cur_feeder_index)
return True
if sel == 2: # Up 0.1
feedPickLoc = feedPickLoc.add(
Location(LengthUnit.Millimeters, 0, 0, 0.1, 0))
machine.defaultHead.defaultNozzle.moveTo(feedPickLoc)
keepShowing = True
if sel == 3: # Down 0.1
feedPickLoc = feedPickLoc.subtract(
Location(LengthUnit.Millimeters, 0, 0, 0.1, 0))
machine.defaultHead.defaultNozzle.moveTo(feedPickLoc)
keepShowing = True
if sel == 4: # Up 1
feedPickLoc = feedPickLoc.add(
Location(LengthUnit.Millimeters, 0, 0, 1, 0))
machine.defaultHead.defaultNozzle.moveTo(feedPickLoc)
keepShowing = True
if sel == 5: # Down 1
feedPickLoc = feedPickLoc.subtract(
Location(LengthUnit.Millimeters, 0, 0, 1, 0))
machine.defaultHead.defaultNozzle.moveTo(feedPickLoc)
keepShowing = True
return False
def go_cam():
cam = machine.defaultHead.defaultCamera
location = Location(LengthUnit.Millimeters, 0, 0, 0, 0)
MovableUtils.moveToLocationAtSafeZ(cam, location)