Package org.openpnp.spi

Examples of org.openpnp.spi.Actuator


          public void valueChanged(ListSelectionEvent e) {
            if (e.getValueIsAdjusting()) {
              return;
            }

            Actuator actuator = getSelectedActuator();

            configurationPanel.removeAll();
            if (actuator != null) {
              Wizard wizard = actuator.getConfigurationWizard();
              if (wizard != null) {
                wizard.setWizardContainer(ActuatorsPanel.this);
                JPanel panel = wizard.getWizardPanel();
                configurationPanel.add(panel);
              }
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     * the height of the tape, we don't need to Safe Z first.
     * There is also probably no reason to Safe Z after extracting the
     * pin since if the tool was going to hit it would have already hit.
     */

    Actuator actuator = head.getActuator(actuatorId);
   
    if (actuator == null) {
      throw new Exception(String.format("No Actuator found with ID %s on feed Head %s", actuatorId, head.getId()));
    }
   
    nozzle.moveToSafeZ(1.0);
   
    Location feedStartLocation = this.feedStartLocation;
    Location feedEndLocation = this.feedEndLocation;
    pickLocation = this.location;
   
    // Move the actuator to the feed start location at safeZ
    actuator.moveTo(feedStartLocation.derive(null, null, Double.NaN, Double.NaN), 1.0);

    // move to start of movement position
    actuator.moveTo(feedStartLocation.derive(null, null, null, Double.NaN), 1.0);

    // move to final laser activation position
    actuator.moveTo(feedEndLocation.derive(null, null, null, Double.NaN), feedSpeed);

    // flash the laser
    actuator.actuate(true);
    Thread.sleep(200);
    actuator.actuate(false);

    //move back to safeZ
    nozzle.moveToSafeZ(1.0);


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     * the height of the tape, we don't need to Safe Z first.
     * There is also probably no reason to Safe Z after extracting the
     * pin since if the tool was going to hit it would have already hit.
     */

    Actuator actuator = head.getActuator(actuatorId);
   
    if (actuator == null) {
      throw new Exception(String.format("No Actuator found with ID %s on feed Head %s", actuatorId, head.getId()));
    }
   
    head.moveToSafeZ(1.0);
   
    if (vision.isEnabled()) {
      if (visionOffset == null) {
        // This is the first feed with vision, or the offset has
        // been invalidated for some reason. We need to get an offset,
        // complete the feed operation and then get a new offset
        // for the next operation. By front loading this we make sure
        // that all future calls can go directly to the feed operation
        // and skip checking the vision first.
        logger.debug("First feed, running vision pre-flight.");
       
        visionOffset = getVisionOffsets(head, location);
      }
      logger.debug("visionOffsets " + visionOffset);
    }

    // Now we have visionOffsets (if we're using them) so we
    // need to create a local, offset version of the feedStartLocation,
    // feedEndLocation and pickLocation. pickLocation will be saved
    // for the pick operation while feed start and end are used
    // here and then discarded.
    Location feedStartLocation = this.feedStartLocation;
    Location feedEndLocation = this.feedEndLocation;
    pickLocation = this.location;
    if (visionOffset != null) {
            feedStartLocation = feedStartLocation.subtract(visionOffset);
            feedEndLocation = feedEndLocation.subtract(visionOffset);
            pickLocation = pickLocation.subtract(visionOffset);
    }
   
    // Move the actuator to the feed start location.
    actuator.moveTo(feedStartLocation.derive(null, null, Double.NaN, Double.NaN), 1.0);

    // extend the pin
    actuator.actuate(true);

    // insert the pin
    actuator.moveTo(feedStartLocation, 1.0);

    // drag the tape
    actuator.moveTo(feedEndLocation, feedSpeed);

    head.moveToSafeZ(1.0);

    // retract the pin
    actuator.actuate(false);
   
    if (vision.isEnabled()) {
      visionOffset = getVisionOffsets(head, location);
     
      logger.debug("final visionOffsets " + visionOffset);
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