def elementsandVarsTest(self):
"""test method, for experimental composition of nodes: this creates all the elements for a basic
reprap type node"""
"""CARTESIAN BOT DEFINITION"""
"""3d Position"""
pos=Variable(self,"position",Vector(['x','y','z']),"vector","mm",None,"memory",3,True,['x','y','z'])
"""all the motors/actors controlling the 3d Position"""
mot1=Actor(type="StepperMotor",name="x_motor",tool="cartesianBot",boundVariable=pos,variableChannel='x')
mot2=Actor(type="StepperMotor",name="y_motor",tool="cartesianBot",boundVariable=pos,variableChannel='y')
mot3=Actor(type="StepperMotor",name="z_motor",tool="cartesianBot",boundVariable=pos,variableChannel='z')
"""all the sensors giving feedback on the 3d Position"""
endStop1=Sensor(type="end_sensor",name="x_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='x')
endStop2=Sensor(type="end_sensor",name="x_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='x')
endStop3=Sensor(type="end_sensor",name="y_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='y')
endStop4=Sensor(type="end_sensor",name="y_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='y')
endStop5=Sensor(type="end_sensor",name="z_startSensor",tool="cartesianBot",boundVariable=pos,variableChannel='z')
endStop6=Sensor(type="end_sensor",name="z_endSensor",tool="cartesianBot",boundVariable=pos,variableChannel='z')
"""add all these to the current node"""
self.add_variable(pos)
self.add_elements([mot1,mot2,mot3,endStop1,endStop2,endStop3,endStop4,endStop5,endStop6])
pos.attach_sensors([(endStop1,endStop1.channel),(endStop2,endStop2.channel),(endStop3,endStop3.channel),
(endStop4,endStop4.channel),(endStop5,endStop5.channel),(endStop6,endStop6.channel)])
pos.attach_actors([(mot1,mot1.channel),(mot2,mot2.channel),(mot3,mot3.channel)])
"""EXTRUDER 1 DEFINITION"""
"""two variables"""
head_temp=Variable(self,"head_temp",0,"temperature","celcius")
extrudate_lng=Variable(self,"filament_extrudate",Vector(['e']),"vector","mm")
"""all the actors controlling the extrusion of this print head"""
extrudMot=Actor(type="StepperMotor",name="e_motor1",tool="PrintHead",boundVariable=extrudate_lng,variableChannel='e')
head_heater=Actor(type="Heater",name="extruder1_heater",tool="PrintHead",boundVariable=head_temp)
"""all the sensors giving feedback on the extrusion of this print head"""
head_tempSensor=Sensor(type="temperature_sensor",name="extruder1_temp_sensor",tool="PrintHead",boundVariable=head_temp)
extrudate_lng.attach_actor(extrudMot,'e')
head_temp.attach_both([(head_heater,None)],[(head_tempSensor,None)])
def elementsandVarsTest(self):
"""test method, for experimental composition of nodes: this creates all the elements for a basic
reprap type node"""
"""CARTESIAN BOT DEFINITION"""
"""3d Position"""
pos = Variable(self, "position", Vector(['x', 'y', 'z']), "vector",
"mm", None, "memory", 3, True, ['x', 'y', 'z'])
"""all the motors/actors controlling the 3d Position"""
mot1 = Actor(type="StepperMotor",
name="x_motor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='x')
mot2 = Actor(type="StepperMotor",
name="y_motor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='y')
mot3 = Actor(type="StepperMotor",
name="z_motor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='z')
"""all the sensors giving feedback on the 3d Position"""
endStop1 = Sensor(type="end_sensor",
name="x_startSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='x')
endStop2 = Sensor(type="end_sensor",
name="x_endSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='x')
endStop3 = Sensor(type="end_sensor",
name="y_startSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='y')
endStop4 = Sensor(type="end_sensor",
name="y_endSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='y')
endStop5 = Sensor(type="end_sensor",
name="z_startSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='z')
endStop6 = Sensor(type="end_sensor",
name="z_endSensor",
tool="cartesianBot",
boundVariable=pos,
variableChannel='z')
"""add all these to the current node"""
self.add_variable(pos)
self.add_elements([
mot1, mot2, mot3, endStop1, endStop2, endStop3, endStop4, endStop5,
endStop6
])
pos.attach_sensors([(endStop1, endStop1.channel),
(endStop2, endStop2.channel),
(endStop3, endStop3.channel),
(endStop4, endStop4.channel),
(endStop5, endStop5.channel),
(endStop6, endStop6.channel)])
pos.attach_actors([(mot1, mot1.channel), (mot2, mot2.channel),
(mot3, mot3.channel)])
"""EXTRUDER 1 DEFINITION"""
"""two variables"""
head_temp = Variable(self, "head_temp", 0, "temperature", "celcius")
extrudate_lng = Variable(self, "filament_extrudate", Vector(['e']),
"vector", "mm")
"""all the actors controlling the extrusion of this print head"""
extrudMot = Actor(type="StepperMotor",
name="e_motor1",
tool="PrintHead",
boundVariable=extrudate_lng,
variableChannel='e')
head_heater = Actor(type="Heater",
name="extruder1_heater",
tool="PrintHead",
boundVariable=head_temp)
"""all the sensors giving feedback on the extrusion of this print head"""
head_tempSensor = Sensor(type="temperature_sensor",
name="extruder1_temp_sensor",
tool="PrintHead",
boundVariable=head_temp)
extrudate_lng.attach_actor(extrudMot, 'e')
head_temp.attach_both([(head_heater, None)], [(head_tempSensor, None)])
