def print_sensor():
sensor_width = 4
sensor_height_offset = 0.5
sensor_length_offset = 2
e3DMatrixPrinting.move_y(sensor_width/2)
e3DMatrixPrinting.print_mode(print_height_abs = bus_line_print_height+sensor_height_offset, print_speed = 20)
e3DPGlobals.g.feed(sensor_print_speed)
e3DMatrixPrinting.move_x(-1*bladder_spacing*(num_bladders-0.5)-sensor_length_offset)
e3DMatrixPrinting.move_y(-1*sensor_width)
e3DMatrixPrinting.move_x(bladder_spacing*(num_bladders-0.5)+sensor_length_offset)
e3DMatrixPrinting.travel_mode()
def print_sensor():
sensor_width = 4
sensor_height_offset = 0.5
sensor_length_offset = 3
e3DMatrixPrinting.move_y(sensor_width / 2)
e3DMatrixPrinting.print_mode(print_height_abs=bus_line_print_height +
sensor_height_offset,
print_speed=20)
e3DPGlobals.g.feed(sensor_print_speed)
e3DMatrixPrinting.move_x(-1 * bladder_spacing * (num_bladders - 0.5) -
sensor_length_offset)
e3DMatrixPrinting.move_y(-1 * sensor_width)
e3DMatrixPrinting.move_x(bladder_spacing * (num_bladders - 0.5) +
sensor_length_offset)
e3DMatrixPrinting.travel_mode()
theta=angle_converted)
e3DMatrixPrinting.move_xy(x_distance=-1 * num_edges * edge,
y_distance=0,
theta=angle_converted)
while (n != 0.0):
trace_inner_units(repeats=n)
e3DMatrixPrinting.move_x(distance=edge, theta=pi / 3 + angle_converted)
trace_to_next_level(num_edges=n)
n = n - 1
e3DMatrixPrinting.move_xy(x_distance=edge / 2,
y_distance=h,
theta=angle_converted)
trace_outer_edges(num_edges=m)
number_of_edge_triangles = 5
print_triangular_meander(-79.7, np.power(number_of_edge_triangles, 2), 8.0,
0.0)
e3DMatrixPrinting.travel_mode()
h = 15.0 * (np.sqrt(3.0) / 2)
e3DMatrixPrinting.move_y(h * number_of_edge_triangles / 3)
number_of_edge_triangles = 8
print_triangular_meander(-77.7, np.power(number_of_edge_triangles, 2), 5.0,
-60.0)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.view('mayavi')
#e3DPGlobals.g.view()
e3DPGlobals.g.teardown()
def print_void_layer(length, width):
e3DMatrixPrinting.move_y(length / 2.0)
e3DMatrixPrinting.move_x(width)
e3DMatrixPrinting.move_y(-1 * length)
e3DMatrixPrinting.move_x(-1 * width)
e3DMatrixPrinting.move_y(length / 2.0)
def print_actuator(upperarm_length = 11, forarm_preActuator_length = 1, elbow_angle = 0, forarm_postActuator_length =4, theta=0, num_pads = 2):
"""Prints a soft actuator with the stem starting in the current position and rotated by theta. Assume nozzle is already at the correct height and already in print mode. (Continuation feature)
Basic actuator geometry is
y
^
|
+-->x
[] second pad
| forarm_length
[] first pad
| forarm_preActuator_length
. elbow (with optional bend angle of the forarm)
| upperarm_length
x start point
"""
# pad parameters
pad_length = 2.6 # length in Y
pad_width = 2.6 # width in x
n_meanders = 8
pad_print_speed = 4.5
pad_print_speed = pad_print_speed * 0.75
meander_separation_dist = pad_length/n_meanders
vent_stem_length = 1 # added 20150327
vent_spot_dwell = 0 # added 20150327
def print_actuator_pad():
"""Helper funciton. Print one actuator pad here"""
e3DPGlobals.g.write("\n; Print actuator pad.")
e3DPGlobals.g.feed(pad_print_speed)
e3DMatrixPrinting.move_x(-pad_width/2, theta) #move to the lower left corner of the pad
for meander in range(n_meanders-1):
e3DMatrixPrinting.move_xy(x_distance=pad_width, y_distance=meander_separation_dist,theta=theta) # horizontal across the whole pad
e3DMatrixPrinting.move_x(-pad_width,theta)
e3DMatrixPrinting.move_xy(x_distance=pad_width, y_distance=meander_separation_dist,theta=theta)
e3DMatrixPrinting.move_x(-pad_width/2, theta) # move to the middle of the top of the pad
e3DPGlobals.g.write("\n; PRINT ACTUATOR.")
e3DPGlobals.g.relative()
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed*3) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed/2) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
#print the forarm up to the elbow bend
e3DMatrixPrinting.move_y(upperarm_length, theta)
theta+=elbow_angle # make a turn at the elbow
#print the forarm after the elbow bend to the first pad
e3DMatrixPrinting.move_y(forarm_preActuator_length, theta)
# block below added on 2015.04.03
if num_pads == 1:
sign = (-1 if theta<0 else 1)
theta = sign * 120
print "theta_new"
print theta
e3DMatrixPrinting.move_y(1, theta)
#print actuator pad 1
print_actuator_pad()
if num_pads == 2:
#print connection stem to actuator second actuator pad
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed*3) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed/2) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DMatrixPrinting.move_y(forarm_postActuator_length, theta)
#print actuator pad 2
print_actuator_pad()
#added 20150327: print short stem to vent
e3DMatrixPrinting.move_y(vent_stem_length, theta)
e3DPGlobals.g.dwell(vent_spot_dwell)
#added 20150501, Experiment D-104 to avoid blobs at end of actuator
e3DMatrixPrinting.turn_pressure_off(com_port = 1, start_stop_dwell_time = 0)
e3DMatrixPrinting.move_y(2, theta)
e3DPGlobals.g.absolute()
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.write("\n; Done with Actuator.\n\n")
def print_actuator(upperarm_length=11,
forarm_preActuator_length=1,
elbow_angle=0,
forarm_postActuator_length=4,
theta=0,
num_pads=2):
"""Prints a soft actuator with the stem starting in the current position and rotated by theta. Assume nozzle is already at the correct height and already in print mode. (Continuation feature)
Basic actuator geometry is
y
^
|
+-->x
[] second pad
| forarm_length
[] first pad
| forarm_preActuator_length
. elbow (with optional bend angle of the forarm)
| upperarm_length
x start point
"""
# pad parameters
pad_length = 2.6 # length in Y
pad_width = 2.6 # width in x
n_meanders = 8
pad_print_speed = 4.5
pad_print_speed = pad_print_speed * 0.75
meander_separation_dist = pad_length / n_meanders
vent_stem_length = 1.5 # added 20150327
vent_spot_dwell = 0.5 # added 20150327
def print_actuator_pad():
"""Helper funciton. Print one actuator pad here"""
e3DPGlobals.g.write("\n; Print actuator pad.")
e3DPGlobals.g.feed(pad_print_speed)
e3DMatrixPrinting.move_x(
-pad_width / 2, theta) #move to the lower left corner of the pad
for meander in range(n_meanders - 1):
e3DMatrixPrinting.move_xy(
x_distance=pad_width,
y_distance=meander_separation_dist,
theta=theta) # horizontal across the whole pad
e3DMatrixPrinting.move_x(-pad_width, theta)
e3DMatrixPrinting.move_xy(x_distance=pad_width,
y_distance=meander_separation_dist,
theta=theta)
e3DMatrixPrinting.move_x(
-pad_width / 2, theta) # move to the middle of the top of the pad
e3DPGlobals.g.write("\n; PRINT ACTUATOR.")
e3DPGlobals.g.relative()
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed *
3) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed /
2) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
#print the forarm up to the elbow bend
e3DMatrixPrinting.move_y(upperarm_length, theta)
theta += elbow_angle # make a turn at the elbow
#print the forarm after the elbow bend to the first pad
e3DMatrixPrinting.move_y(forarm_preActuator_length, theta)
# block below added on 2015.04.03
if num_pads == 1:
sign = (-1 if theta < 0 else 1)
theta = sign * 120
print "theta_new"
print theta
e3DMatrixPrinting.move_y(1, theta)
#print actuator pad 1
print_actuator_pad()
if num_pads == 2:
#print connection stem to actuator second actuator pad
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed *
3) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed /
2) # *3 added on D-52
e3DPGlobals.g.feed(e3DMatrixPrinting.default_print_speed)
e3DMatrixPrinting.move_y(forarm_postActuator_length, theta)
#print actuator pad 2
print_actuator_pad()
#added 20150327: print short stem to vent
e3DMatrixPrinting.move_y(vent_stem_length, theta)
e3DPGlobals.g.dwell(vent_spot_dwell)
#added 20150501, Experiment D-104 to avoid blobs at end of actuator
e3DMatrixPrinting.turn_pressure_off(com_port=1, start_stop_dwell_time=0)
e3DPGlobals.g.dwell(1)
e3DMatrixPrinting.move_y(2, theta)
e3DPGlobals.g.absolute()
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.write("\n; Done with Actuator.\n\n")
e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = -1*h, theta = angle_converted)
def trace_to_next_level(num_edges):
e3DMatrixPrinting.move_x(distance = -1*num_edges*edge, theta = angle_converted)
def trace_outer_edges(num_edges):
#e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = pi/3+angle_converted)
e3DMatrixPrinting.move_xy(x_distance = num_edges*edge/2, y_distance = -1*num_edges*h, theta = angle_converted)
e3DMatrixPrinting.move_xy(x_distance = -1*num_edges*edge, y_distance = 0, theta = angle_converted)
while (n != 0.0):
trace_inner_units(repeats = n)
e3DMatrixPrinting.move_x(distance = edge, theta = pi/3+angle_converted)
trace_to_next_level(num_edges = n)
n = n - 1
e3DMatrixPrinting.move_xy(x_distance = edge/2, y_distance = h, theta = angle_converted)
trace_outer_edges(num_edges = m)
number_of_edge_triangles = 5
print_triangular_meander(-79.7, np.power(number_of_edge_triangles, 2), 8.0, 0.0)
e3DMatrixPrinting.travel_mode()
h = 15.0*(np.sqrt(3.0)/2)
e3DMatrixPrinting.move_y(h*number_of_edge_triangles/3)
number_of_edge_triangles = 8
print_triangular_meander(-77.7, np.power(number_of_edge_triangles, 2), 5.0, -60.0)
e3DMatrixPrinting.travel_mode()
e3DPGlobals.g.view('mayavi')
#e3DPGlobals.g.view()
e3DPGlobals.g.teardown()
def print_void_layer(length, width):
e3DMatrixPrinting.move_y(length/2.0)
e3DMatrixPrinting.move_x(width)
e3DMatrixPrinting.move_y(-1*length)
e3DMatrixPrinting.move_x(-1*width)
e3DMatrixPrinting.move_y(length/2.0)