Package org.openpnp.spi

Examples of org.openpnp.spi.Actuator.moveTo()

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    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
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    // 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
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    // 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);
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            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
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    // 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);
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    // 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);
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