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_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_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_spacer_void_layer(length, width):
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(length/2.0)
emb3DPGlobals.g.feed(spacer_print_speed * edge_reduction_factor)
emb3DMatrixPrinting.move_x(width)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(-1*length)
emb3DPGlobals.g.feed(spacer_print_speed * edge_reduction_factor)
emb3DMatrixPrinting.move_x(-1*width)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(length/2.0)
def print_spacer_void_layer(length, width):
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(length / 2.0)
emb3DPGlobals.g.feed(spacer_print_speed * edge_reduction_factor)
emb3DMatrixPrinting.move_x(width)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(-1 * length)
emb3DPGlobals.g.feed(spacer_print_speed * edge_reduction_factor)
emb3DMatrixPrinting.move_x(-1 * width)
emb3DPGlobals.g.feed(spacer_print_speed)
emb3DMatrixPrinting.move_y(length / 2.0)
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_void_layer(length, width):
emb3DMatrixPrinting.move_y(length/2.0)
emb3DMatrixPrinting.move_x(width)
emb3DMatrixPrinting.move_y(-1*length)
emb3DMatrixPrinting.move_x(-1*width)
emb3DMatrixPrinting.move_y(length/2.0)
def print_void_layer(length, width):
emb3DMatrixPrinting.move_y(length / 2.0)
emb3DMatrixPrinting.move_x(width)
emb3DMatrixPrinting.move_y(-1 * length)
emb3DMatrixPrinting.move_x(-1 * width)
emb3DMatrixPrinting.move_y(length / 2.0)
