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 set_feeder_heights():
nvStore = psypnp.nv.NVStorage(psypnp.config.storagekeys.FeedSearchStorage)
selFeeders = psypnp.ui.getSelectedFeeders()
defName = nvStore.feedname
if len(selFeeders) == 1:
defName = selFeeders[0]
if defName is None or not len(defName):
defName = '8mmStrip' # some default value
feedSearch = psypnp.search.prompt_for_feeders_by_name("Name of feeder, or substring thereof to match many", defName)
if feedSearch is None or feedSearch.searched is None or not len(feedSearch.searched):
return
nvStore.feedname = feedSearch.searched
if not len(feedSearch.results):
psypnp.ui.showError("No feeders match name '%s'" % pname, 'None found')
return
height = get_height_len()
if height is None:
return
numChanged = 0
for afeeder in feedSearch.results:
apart = afeeder.getPart()
if apart is not None:
pHeight = apart.getHeight()
if DoSubtractPartHeightFromLevel:
feederHeight = height.subtract(pHeight)
else:
feederHeight = height
refHole = afeeder.getReferenceHoleLocation()
if refHole is not None:
numChanged += 1
newHole = Location(refHole.getUnits(), refHole.getX(), refHole.getY(), 0, 0)
newZ = Location(feederHeight.getUnits(), 0, 0, feederHeight.getValue(), 0)
newHole = newHole.add(newZ)
psypnp.debug.out.buffer("Setting ref hole for %s to %s" % (afeeder.getName(), str(newHole)))
afeeder.setReferenceHoleLocation(newHole)
print("Number feeders affected: %i" % numChanged)
gui.getFeedersTab().repaint()
psypnp.showMessage("Set level Z for %i feeders" % numChanged)
def workspace_centroid():
'''
workspace_centroid find a spot that is in the "middle" of all
feed locations.
'''
x_tot = 0
y_tot = 0
feed_count = 0
unit_used = None
for aFeed in psypnp.globals.machine().getFeeders():
if aFeed and feed_type_supported(aFeed):
loc = get_feed_location(aFeed)
if loc is None:
continue
#print(str(loc))
feed_count += 1
x_tot += loc.getX()
y_tot += loc.getY()
if unit_used is None:
unit_used = loc.getUnits()
#print(str(unit_used))
if feed_count < 2:
return None
return Location(unit_used, x_tot / feed_count, y_tot / feed_count, 0, 0)
def feeders_translate():
matchingFeeders = get_feeders_by_name()
if matchingFeeders is None or not len(matchingFeeders):
return
xMoveDistance = psypnp.ui.getUserInputFloat("X displacement", 0.0)
yMoveDistance = psypnp.ui.getUserInputFloat("Y displacement", 0.0)
if xMoveDistance == 0 and yMoveDistance == 0:
return
fd1 = matchingFeeders[0]
refHole = fd1.getReferenceHoleLocation()
lastHole = fd1.getLastHoleLocation()
orientationDist = lastHole.subtract(refHole)
deltaX = 0.0
deltaY = 0.0
if abs(orientationDist.getX()) > abs(orientationDist.getY()):
deltaX = orientationDist.getX()
else:
deltaY = orientationDist.getY()
displacementLocation = Location(refHole.getUnits(), xMoveDistance,
yMoveDistance, 0, 0)
cleanOrientationDisp = Location(refHole.getUnits(), deltaX, deltaY, 0, 0)
numChanged = 0
for afeed in matchingFeeders:
refHole = afeed.getReferenceHoleLocation()
newLocRefHole = refHole.add(displacementLocation)
newLastHole = newLocRefHole.add(cleanOrientationDisp)
afeed.setReferenceHoleLocation(newLocRefHole)
afeed.setLastHoleLocation(newLastHole)
numChanged += 1
psypnp.showMessage("Moved %i feeders" % numChanged)
def get_coords():
cam = machine.defaultHead.defaultCamera
curloc = cam.location
# get the configured "smallfeed" distance, or default
dist = psypnp.nv.get_subvalue(
psypnp.config.storagekeys.CrossFeedScripts,
psypnp.config.storagekeys.CrossSmallFeedDistance,
psypnp.config.distances.SmallFeedDefault)
xval = 0
yval = -1 * dist
location = curloc.add(Location(LengthUnit.Millimeters, xval, yval, 0, 0))
return location
def get_coords(nozz):
curloc = nozz.location
xval = psypnp.ui.getUserInputFloat("X", curloc.getX())
if xval is None:
# cancel
return None
yval = psypnp.ui.getUserInputFloat("Y", curloc.getY())
if yval is None:
# cancel
return None
location = Location(LengthUnit.Millimeters, xval, yval, curloc.getZ(),
curloc.getRotation())
return location
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 move_nozzle():
nozzle = machine.defaultHead.defaultNozzle
location = nozzle.location
print_location(location)
# Move 10mm right
location = location.add(Location(LengthUnit.Millimeters, 10, 0, 0, 0))
print_location(location)
nozzle.moveTo(location)
# Move 10mm up
location = location.add(Location(LengthUnit.Millimeters, 0, 10, 0, 0))
print_location(location)
nozzle.moveTo(location)
# Move 10mm left
location = location.add(Location(LengthUnit.Millimeters, -10, 0, 0, 0))
print_location(location)
nozzle.moveTo(location)
# Move 10mm down
location = location.add(Location(LengthUnit.Millimeters, 0, -10, 0, 0))
print_location(location)
nozzle.moveTo(location)
def get_coords(nozz):
curloc = nozz.location
xval = psypnp.ui.getUserInputFloat("X", 0)
if xval is None:
# cancel
return None
yval = psypnp.ui.getUserInputFloat("Y", 0)
if yval is None:
# cancel
return None
try:
xval = float(xval)
except:
xval = 0
try:
yval = float(yval)
except:
yval = 0
location = curloc.add(Location(LengthUnit.Millimeters, xval, yval, 0, 0))
return location
from org.openpnp.machine.reference.driver import GcodeDriver from org.openpnp.model import LengthUnit, Location # Move 0,0,0 nozzle.moveToSafeZ() location = nozzle.getLocation() nozzle.moveTo(Location(LengthUnit.Millimeters, 0, 0, location.getZ(), 0)) # Disable calibration nozzleTip.getCalibration().reset() # Turn off backlash driver = machine.getDriver() driver.setBacklashOffsetX(0) driver.setBacklashOffsetY(0)
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 move_z(distance):
nozzle.moveTo(
nozzle.location.add(Location(LengthUnit.Millimeters, 0, 0, distance, 0))
)
from __future__ import absolute_import, division
from time import sleep
from javax.swing.JOptionPane import showMessageDialog
from org.openpnp.model import LengthUnit, Location
from org.openpnp.machine.reference.driver.GcodeDriver import CommandType
from org.openpnp.util.MovableUtils import moveToLocationAtSafeZ
vacSensor = machine.defaultHead.getActuatorByName("Vacuum_Sense_0")
nozzle = machine.defaultHead.defaultNozzle
probe_location = Location(LengthUnit.Millimeters, 0, 0, 0, 0)
def move_z(distance):
nozzle.moveTo(
nozzle.location.add(Location(LengthUnit.Millimeters, 0, 0, distance, 0))
)
def print_location(location):
print("Location: {}".format(location.toString()))
def probe_contact(travel, vac_threshold=900, settle_time=1, max_moves=11):
move_count = 0
sleep(settle_time) # Allow vac to settle
vac_level = int(vacSensor.read())
print(
"Starting %.2f probe at Z:%.2f, Vac: %d"
% (travel, nozzle.location.z, vac_level)
def apply(self):
self.resetFeedStats()
psypnp.debug.out.flush("Applying feed set changes... ")
for feedset in self.sets.entries():
psypnp.debug.out.flush("Handling feed set %s" % str(feedset))
for finfo in feedset.entries():
self.num_feeds_processed += 1
psypnp.debug.out.buffer("Feed %s: " % str(finfo))
opnpFeed = finfo.feed
if finfo.available():
psypnp.debug.out.flush("disabling")
self.num_feeds_disabled += 1
opnpFeed.setEnabled(False)
continue
self.num_feeds_enabled += 1
#enable feed
psypnp.debug.out.buffer("enabling")
opnpFeed.setEnabled(True)
# set part
opnpPart = finfo.associated_part.part
psypnp.debug.out.buffer("setting part to %s" % str(opnpPart))
opnpFeed.setPart(opnpPart)
opnpFeed.setMaxFeedCount(finfo.associated_part_maxcapacity)
# reset rotation
psypnp.debug.out.buffer("zeroing rotation")
oldLoc = opnpFeed.getLocation()
newLocation = Location(oldLoc.getUnits(), oldLoc.getX(),
oldLoc.getY(), oldLoc.getZ(), 0.0)
opnpFeed.setLocation(newLocation)
psypnp.debug.out.buffer("Reset feed count to 0")
opnpFeed.setFeedCount(0)
# set tape type for feed, if we can
psypnp.debug.out.buffer("TapeType... ", False)
if finfo.associated_part.package_description is not None \
and finfo.associated_part.package_description.tapetype:
ttypeMap = dict(
white=ReferenceStripFeeder.TapeType.WhitePaper,
black=ReferenceStripFeeder.TapeType.BlackPlastic,
clear=ReferenceStripFeeder.TapeType.ClearPlastic)
ttype = finfo.associated_part.package_description.tapetype
if ttype in ttypeMap:
psypnp.debug.out.buffer("setting tapetype to %s" %
ttype)
opnpFeed.setTapeType(ttypeMap[ttype])
else:
psypnp.debug.out.buffer(
"Could not set tapetype to '%s' ?" % str(ttype))
else:
psypnp.debug.out.buffer("No tapetype specified? Skipping")
psypnp.debug.out.flush("Done with feed.")
psypnp.debug.out.flush("Done applying to all feed sets.")
def feeders_align():
matchingFeeders = get_feeders_by_name()
if matchingFeeders is None or not len(matchingFeeders):
return
feedLocations = []
runningStatsX = (0, 0, 0)
runningStatsY = (0, 0, 0)
for afeeder in matchingFeeders:
if afeeder.isEnabled():
refHole = afeeder.getReferenceHoleLocation()
if refHole is None or not refHole:
print("A feed has no reference hole... hum")
else:
runningStatsX = updatePosStats(runningStatsX, refHole.getX())
runningStatsY = updatePosStats(runningStatsY, refHole.getY())
if runningStatsX[0] < 2:
# enabled count is too low
psypnp.ui.showError("Not enough enabled feeds to reliably find pos")
return
statsX = finalizePosStats(runningStatsX)
statsY = finalizePosStats(runningStatsY)
print("Final stats: \nX: %s\n\nY: %s" % (statsX, statsY))
targetX = None
targetY = None
if statsX[1] < statsY[1]:
# is a vertical set
targetX = statsX[0] # set to average X
if not psypnp.ui.getConfirmation(
"Effect change?",
"Will move vertical set to align with x=%s. Proceed?" %
str(targetX)):
return
else:
targetY = statsY[0] # set to average Y
if not psypnp.ui.getConfirmation(
"Effect change?",
"Will move horizontal set to align with y=%s. Proceed?" %
str(targetY)):
return
numChanged = 0
for afeeder in matchingFeeders:
refHole = afeeder.getReferenceHoleLocation()
if targetX is not None:
newX = targetX
newY = refHole.getY()
elif targetY is not None:
newX = refHole.getX()
newY = targetY
newLoc = Location(refHole.getUnits(), newX, newY, refHole.getZ(),
refHole.getRotation())
print("Setting feeder loc to: %s" % str(newLoc))
numChanged += 1
afeeder.setReferenceHoleLocation(newLoc)
gui.getFeedersTab().repaint()
psypnp.showMessage("Aligned %i feeders" % numChanged)
from __future__ import absolute_import, division
from time import sleep
from javax.swing.JOptionPane import showMessageDialog
from org.openpnp.model import LengthUnit, Location
from org.openpnp.machine.reference.driver.GcodeDriver import CommandType
from org.openpnp.util.MovableUtils import moveToLocationAtSafeZ
vacSensor = machine.defaultHead.getActuatorByName("Vacuum_Sense_0")
nozzle = machine.defaultHead.defaultNozzle
probe_location = Location(LengthUnit.Millimeters, -2.5, 15, -0.5, 0)
def move_z(distance):
nozzle.moveTo(
nozzle.location.add(Location(LengthUnit.Millimeters, 0, 0, distance,
0)))
def print_location(location):
print("Location: {}".format(location.toString()))
def probe_contact(travel, vac_threshold=900, settle_time=1, max_moves=11):
move_count = 0
sleep(settle_time) # Allow vac to settle
vac_level = int(vacSensor.read())
print("Starting %.2f probe at Z:%.2f, Vac: %d" %
(travel, nozzle.location.z, vac_level))
while vac_level > vac_threshold and move_count < max_moves:
move_count += 1
def go_cam():
cam = machine.defaultHead.defaultCamera
location = Location(LengthUnit.Millimeters, 0, 0, 0, 0)
MovableUtils.moveToLocationAtSafeZ(cam, location)