def init_G(strFile):
print "Initializing G..."
global g
g = G(
print_lines=False,
outfile=strFile,
# header = r"\\vfiler1.seas.harvard.edu\group0\jlewis\User Files\Fitzgerald\SoftRobots\MeCodeFiles\header.txt",
# footer = r"\\vfiler1.seas.harvard.edu\group0\jlewis\User Files\Fitzgerald\SoftRobots\MeCodeFiles\footer.txt"
)
g.rename_axis(z=CorrectedMultiMaterial.cur_tool)
CorrectedMultiMaterial.change_tool(CorrectedMultiMaterial.cur_tool_index)
return g
def init_G(strFile):
print "Initializing G..."
global g
g = G(
print_lines=False,
outfile=strFile,
# header = r"\\vfiler1.seas.harvard.edu\group0\jlewis\User Files\Fitzgerald\SoftRobots\MeCodeFiles\header.txt",
# footer = r"\\vfiler1.seas.harvard.edu\group0\jlewis\User Files\Fitzgerald\SoftRobots\MeCodeFiles\footer.txt"
)
g.rename_axis(z=CorrectedMultiMaterial.cur_tool)
CorrectedMultiMaterial.change_tool(CorrectedMultiMaterial.cur_tool_index)
return g
def print_pneunet():
# The order of these commands is essential to keeping correct alignment and
# connections between components. Start with initiating alignment and setting
# print heights.
emb3DMatrixPrinting.set_default_travel_height(mold_top, 15)
ClosedLoopActuator_ActuatorOnly.set_print_heights(second_layer_bottom)
ClosedLoopActuatorSensors.set_print_heights(sensor_layer_bottoms)
CorrectedMultiMaterial.set_cur_tool() # start with A
CorrectedMultiMaterial.offset_tools() # align all tips
# The printing should start with the print nozzle on the centerline of the
# mold and 15 mm to the right of the mold's left edge. Set this (X,Y)
# position as (0,0) with POSOFFSET X Y and swap to Material B:
emb3DPGlobals.g.abs_move(x=start_pos[0], y=start_pos[1])
CorrectedMultiMaterial.new_change_tool(1) # switch to B
ClosedLoopActuatorSensors.print_curvature_sensor()
# At this point, the curvature sensor should be done, and the tip out of the
# mold. Call a long dwell; hit pause on the CNC Operator Software, and prepare
# the next layer of the mold.
emb3DPGlobals.g.dwell(30)
# Coming into the new matrix, print the inlets for the curvature sensor:
ClosedLoopActuatorSensors.print_curvature_sensor_inlet()
# Now ,move back to the temporary (X=0, Y=0) position and begin printing the
# actuator in the new matrix material; start with the actuator spacers.
CorrectedMultiMaterial.new_change_tool(0) # switch to A
emb3DPGlobals.g.abs_move(x=start_pos[0], y=start_pos[1])
ClosedLoopActuator_ActuatorOnly.print_bladder_spacers(
) # use A to print spacers
# Now start printing the proprioceptive sensor:
CorrectedMultiMaterial.new_change_tool(1) # switch to B
ClosedLoopActuatorSensors.print_connectors() # use B to print connectors
# Print the bladders of the actuator:
CorrectedMultiMaterial.new_change_tool(0) # change to A
ClosedLoopActuator_ActuatorOnly.print_bladders() #use C to print bladders
# Finish printing the proprioceptive sensor:
CorrectedMultiMaterial.new_change_tool(1) #change back to B
ClosedLoopActuatorSensors.print_better_spokes() #use B for spokes
ClosedLoopActuatorSensors.print_fancy_sensor_inlet(
) #use B for fancy sensor inlet
ClosedLoopActuatorSensors.print_tops() #use B for tops
# Print the busline and inlet for the actuator:
CorrectedMultiMaterial.new_change_tool(0) #change to A
ClosedLoopActuator_ActuatorOnly.print_bladder_bus_line(
) #use C for bladder bus line
ClosedLoopActuator_ActuatorOnly.print_bus_line_inlet(
) #use C for bladder bus line inlet
# At this point, the curvature sensor, prioceptive sensor, and actuator
# should be done. The tip should be out of the mold. Call a long dwell; hit
# pause on the CNC Operator Software, and prepare the next layer of the mold.
emb3DPGlobals.g.abs_move(x=start_pos[0], y=start_pos[1])
emb3DPGlobals.g.dwell(30)
# Print the contact sensor:
CorrectedMultiMaterial.new_change_tool(1) #change to B
ClosedLoopActuatorSensors.print_contact_sensor_inlet(
) #use B for sensor inlet
CorrectedMultiMaterial.new_change_tool(0) #change to A
emb3DPGlobals.g.abs_move(x=start_pos[0], y=start_pos[1])
CorrectedMultiMaterial.new_change_tool(1) #change back to B
ClosedLoopActuatorSensors.print_contact_sensor() #use B for sensor
CorrectedMultiMaterial.new_change_tool(0) #end with A
emb3DPGlobals.g.abs_move(x=start_pos[0], y=start_pos[1])
# Return to the temporary (X=0, Y=0) position and remove all position and
# tool offsets:
CorrectedMultiMaterial.remove_tool_offset()
def print_pneunet():
# The order of these commands is essential to keeping correct alignment and
# connections between components. Start with initiating alignment and setting
# print heights.
emb3DMatrixPrinting.set_default_travel_height(mold_top, 15)
ClosedLoopActuator_ActuatorOnly.set_print_heights(second_layer_bottom)
ClosedLoopActuatorSensors.set_print_heights(sensor_layer_bottoms)
CorrectedMultiMaterial.set_cur_tool() # start with A
CorrectedMultiMaterial.offset_tools() # align all tips
# The printing should start with the print nozzle on the centerline of the
# mold and 15 mm to the right of the mold's left edge. Set this (X,Y)
# position as (0,0) with POSOFFSET X Y and swap to Material B:
emb3DPGlobals.g.abs_move(x = start_pos[0], y = start_pos[1])
CorrectedMultiMaterial.new_change_tool(1) # switch to B
ClosedLoopActuatorSensors.print_curvature_sensor()
# At this point, the curvature sensor should be done, and the tip out of the
# mold. Call a long dwell; hit pause on the CNC Operator Software, and prepare
# the next layer of the mold.
emb3DPGlobals.g.dwell(30)
# Coming into the new matrix, print the inlets for the curvature sensor:
ClosedLoopActuatorSensors.print_curvature_sensor_inlet()
# Now ,move back to the temporary (X=0, Y=0) position and begin printing the
# actuator in the new matrix material; start with the actuator spacers.
CorrectedMultiMaterial.new_change_tool(0) # switch to A
emb3DPGlobals.g.abs_move(x = start_pos[0], y = start_pos[1])
ClosedLoopActuator_ActuatorOnly.print_bladder_spacers() # use A to print spacers
# Now start printing the proprioceptive sensor:
CorrectedMultiMaterial.new_change_tool(1) # switch to B
ClosedLoopActuatorSensors.print_connectors() # use B to print connectors
# Print the bladders of the actuator:
CorrectedMultiMaterial.new_change_tool(0) # change to A
ClosedLoopActuator_ActuatorOnly.print_bladders() #use C to print bladders
# Finish printing the proprioceptive sensor:
CorrectedMultiMaterial.new_change_tool(1) #change back to B
ClosedLoopActuatorSensors.print_better_spokes() #use B for spokes
ClosedLoopActuatorSensors.print_fancy_sensor_inlet() #use B for fancy sensor inlet
ClosedLoopActuatorSensors.print_tops() #use B for tops
# Print the busline and inlet for the actuator:
CorrectedMultiMaterial.new_change_tool(0) #change to A
ClosedLoopActuator_ActuatorOnly.print_bladder_bus_line() #use C for bladder bus line
ClosedLoopActuator_ActuatorOnly.print_bus_line_inlet() #use C for bladder bus line inlet
# At this point, the curvature sensor, prioceptive sensor, and actuator
# should be done. The tip should be out of the mold. Call a long dwell; hit
# pause on the CNC Operator Software, and prepare the next layer of the mold.
emb3DPGlobals.g.abs_move(x = start_pos[0], y = start_pos[1])
emb3DPGlobals.g.dwell(30)
# Print the contact sensor:
CorrectedMultiMaterial.new_change_tool(1) #change to B
ClosedLoopActuatorSensors.print_contact_sensor_inlet() #use B for sensor inlet
CorrectedMultiMaterial.new_change_tool(0) #change to A
emb3DPGlobals.g.abs_move(x = start_pos[0], y = start_pos[1])
CorrectedMultiMaterial.new_change_tool(1) #change back to B
ClosedLoopActuatorSensors.print_contact_sensor() #use B for sensor
CorrectedMultiMaterial.new_change_tool(0) #end with A
emb3DPGlobals.g.abs_move(x = start_pos[0], y = start_pos[1])
# Return to the temporary (X=0, Y=0) position and remove all position and
# tool offsets:
CorrectedMultiMaterial.remove_tool_offset()
