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ClosedLoopActuatorSensors.py
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ClosedLoopActuatorSensors.py
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# -*- coding: utf-8 -*-
"""
ClosedLoopActuatorSensors.py
Ryan Truby, Harvard Lewis Research Group
2015.09.27
Library of mecode functions for printing soft robot pneunet actuators with three
independent sensors: a curvature, proprioceptive, and contact sensor.
Printing notes:
The bladders, bus line, and spacers are all printed with 25 wt% Pluronic
F127 using a 1.5" straight red tip at 88 psi. This summer, we printed the
actuators at 85 psi, but I saw poor connectivity at this pressure starting
on 2015.09.05.
The matrix is formulated with 10:1 SortaClear 18 with 0.15% Thivex.
All sensing components printed with 25 wt% F127 lavendar tip at 75 psi in
Closed Loop Actuator Matrix.
"""
import emb3DMatrixPrinting
import emb3DPGlobals
import ClosedLoopActuator_ActuatorOnly
################################################################################
################################################################################
### POWERFUL PARAMETERS THAT AFFECT DIMENSIONS OF SENSORS - from ClosedLoopActuator_ActuatorOnly
num_bladders = ClosedLoopActuator_ActuatorOnly.num_bladders
num_layers = ClosedLoopActuator_ActuatorOnly.num_layers
### SENSOR PRINTING PARAMETERS - For printing with a glass, 30 um tip, 50 psi:
glass_tip_speed_factor = 1 # = 1 for no glass tip, 0.2 was REALLY slow when printing with 30 wt% F127 at 95 psi.
high_F127_conc_inlet_speed_factor = 0.25
sensor_print_speed = 4
sensor_width = 5
sensor_width = 4.0 # added 2015.10.12
sensor_height_offset = 0.5
sensor_length_offset = 3
####### CURVATURE SENSOR PARAMETERS ######
curvature_sensor_width = 4.0
#curvature_sensor_width = # added 2015.10.11
curvature_sensor_length_offset = 3
curvature_sensor_print_speed = 4
####### FANCY SENSOR PARAMETERS ########
# CONNECTOR PARAMETERS (connectors go below bladders)
connector_height_offset = 1.3 # distance below the bladder print height
connector_offset= (ClosedLoopActuator_ActuatorOnly.spacer_spacing/2 - ClosedLoopActuator_ActuatorOnly.spacer_width)/2 #halfway between spacers in x-direction
connector_print_speed = 4 #1.5 # Pressure: 75 psi changed on 8/10/15
# TOP PARAMETERS (tops go above spacers)
top_height_offset = 1.7 + 1 #how far above spacers, 0.7 added on 20151005, changed to 1 on another print on 20151005
top_y_offset = 0.375*ClosedLoopActuator_ActuatorOnly.spacer_length # distance in from the edges of the spacers (currently halfway) in the y-direction
spoke_print_speed = 4
top_print_speed = 4 #1.5 changed on 8/10/15
spoke_print_speed = top_print_speed #spokes connect connectors and tops
#### INLET PARAMETERS #####
fancy_sensor_inlet_print_speed = 2
inlet_length_fancy_sensor = 6.5
inlet_length_bus_line = 6.5
bus_line_inlet_print_speed = 0.5
sensor_inlet_print_speed = 2
sensor_inlet_connector_print_speed = 2
inlet_length_sensor = 6.5
# Start with substrate_zero at 1 so it will throw a fault on the printer unless
# they are set.
substrate_zero = ClosedLoopActuator_ActuatorOnly.substrate_zero
curvature_layer_bottom = 1
spacer_print_height = substrate_zero + ClosedLoopActuator_ActuatorOnly.spacer_layer_increment
connector_print_height = ClosedLoopActuator_ActuatorOnly.bladder_print_height - connector_height_offset
top_print_height = spacer_print_height + (ClosedLoopActuator_ActuatorOnly.spacer_layers -1 ) * ClosedLoopActuator_ActuatorOnly.spacer_layer_increment + top_height_offset
fancy_sensor_inlet_print_height = top_print_height - 2
contact_layer_bottom = 1
################################################################################
################################################################################
# FUNCTION FOR SETTING ALL RELEVANT PRINT HEIGHTS FOR SENSOR COMPONENTS:
def set_print_heights(mold_layer_bottoms):
# mold_layer_bottoms should have three elements only
global curvature_layer_bottom # for curvature sensor
global spacer_print_height # for proprioceptive sensor
global connector_print_height # for proprioceptive sensor
global top_print_height # for proprioceptive sensor
global fancy_sensor_inlet_print_height # for proprioceptive sensor
global contact_layer_bottom # for contact sensor
curvature_sensor_print_height_offset = (mold_layer_bottoms[0] + mold_layer_bottoms[1])/2
contact_sensor_print_height_offset = (mold_layer_bottoms[3] + mold_layer_bottoms[2])/2
curvature_sensor_print_height_offset = mold_layer_bottoms[0] + 0.8 # added 2016.01.28
curvature_layer_bottom = curvature_sensor_print_height_offset
spacer_print_height = mold_layer_bottoms[1]
connector_print_height = ClosedLoopActuator_ActuatorOnly.bladder_print_height - connector_height_offset
top_print_height = spacer_print_height + (ClosedLoopActuator_ActuatorOnly.spacer_layers -1 ) * ClosedLoopActuator_ActuatorOnly.spacer_layer_increment + top_height_offset
fancy_sensor_inlet_print_height = top_print_height - 3
contact_layer_bottom = contact_sensor_print_height_offset
# CURVATURE SENSOR AT TOP OF ACTUATOR
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()
# INLET FOR CURVATURE SENSOR
def print_curvature_sensor_inlet():
## move these variables up to the top of the script:
pre_inlet_print_speed = 2
emb3DMatrixPrinting.print_mode(print_height_abs = curvature_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = 4)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -1*inlet_length_sensor, y = sensor_width)
emb3DMatrixPrinting.print_mode(print_height_abs = curvature_layer_bottom, print_speed = 20)
emb3DPGlobals.g.feed(pre_inlet_print_speed)
emb3DPGlobals.g.move(z = 4)
emb3DPGlobals.g.feed(sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_sensor)
emb3DMatrixPrinting.travel_mode()
# COMPONENT OF FANCY SENSOR BELOW BLADDERS
def print_connectors():
emb3DMatrixPrinting.travel_mode()
emb3DMatrixPrinting.move_x(-1*ClosedLoopActuator_ActuatorOnly.spacer_spacing*(ClosedLoopActuator_ActuatorOnly.num_spacers-1)-1*ClosedLoopActuator_ActuatorOnly.bladder_spacing/2.0)
emb3DPGlobals.g.move(x = -connector_offset, y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
for connector in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = connector_print_speed)
emb3DPGlobals.g.move(x = 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - 2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width, y = ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset)
for connector in range(num_bladders):
emb3DMatrixPrinting.print_mode(print_height_abs = connector_print_height, print_speed = top_print_speed)
emb3DPGlobals.g.move(x = -2* connector_offset + -ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
# COMPONENT OF FANCY SENSOR THAT CONNECTS CONNECTORS AND TOPS
def print_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)
#emb3DPGlobals.g.dwell()
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)
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)
# created on 2015.10.22 to repair errors in print_spokes()
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)
#INLET COMPONENT OF FANCY SENSOR
def print_fancy_sensor_inlet():
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.print_mode(print_height_abs = fancy_sensor_inlet_print_height, print_speed = fancy_sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_fancy_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -inlet_length_fancy_sensor)
emb3DPGlobals.g.move(y = 2*(-ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset))
emb3DMatrixPrinting.print_mode(print_height_abs = fancy_sensor_inlet_print_height, print_speed = fancy_sensor_inlet_print_speed)
emb3DPGlobals.g.move(x = inlet_length_fancy_sensor)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -inlet_length_fancy_sensor)
emb3DPGlobals.g.move(y = ClosedLoopActuator_ActuatorOnly.spacer_length/2 - top_y_offset)
emb3DMatrixPrinting.travel_mode()
# COMPONENT OF FANCY SENSOR THAT GOES ABOVE SPACERS
def print_tops():
emb3DPGlobals.g.move(x= -2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width, y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset )
for top in range(ClosedLoopActuator_ActuatorOnly.num_spacers):
emb3DMatrixPrinting.print_mode(print_height_abs = top_print_height, print_speed = top_print_speed)
emb3DPGlobals.g.move(x = -ClosedLoopActuator_ActuatorOnly.spacer_spacing + 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = -2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(x = 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(y = ClosedLoopActuator_ActuatorOnly.spacer_length - 2*top_y_offset)
for top in range(ClosedLoopActuator_ActuatorOnly.num_spacers):
emb3DMatrixPrinting.print_mode(print_height_abs = top_print_height, print_speed = top_print_speed)
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - 2* connector_offset - ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DMatrixPrinting.travel_mode()
emb3DPGlobals.g.move(x = 2* connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width)
emb3DPGlobals.g.move(y = -ClosedLoopActuator_ActuatorOnly.spacer_length/2 + top_y_offset)
emb3DPGlobals.g.move(x = -2* connector_offset)
emb3DPGlobals.g.move(x = ClosedLoopActuator_ActuatorOnly.spacer_spacing - connector_offset + ClosedLoopActuator_ActuatorOnly.bladder_width )
emb3DMatrixPrinting.travel_mode()
# INLET FOR CONTACT SENSOR
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()
# CONTACT SENSOR AT TOP OF ACTUATOR
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()