1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
|
package org.reprap.machines;
import java.io.IOException;
import org.reprap.comms.Communicator;
import org.reprap.comms.snap.SNAPAddress;
import org.reprap.comms.snap.SNAPCommunicator;
import org.reprap.devices.SNAPExtruder;
import org.reprap.devices.GenericStepperMotor;
import org.reprap.devices.pseudo.LinePrinter;
import org.reprap.gui.CalibrateZAxis;
import org.reprap.Attributes;
import org.reprap.CartesianPrinter;
import org.reprap.Preferences;
import org.reprap.ReprapException;
import org.reprap.gui.Previewer;
import org.reprap.Extruder;
import org.reprap.utilities.Debug;
/**
*
* A Reprap printer is a 3-D cartesian printer with one or more
* extruders
*
*/
public class CartesianSNAP extends GenericCartesianPrinter {
/**
*
*/
private final int localNodeNumber = 0;
/**
* comms speed
*/
/**
*
*/
private Communicator communicator;
/**
* Stepper motors for the 3 axis
*/
private GenericStepperMotor motorX;
private GenericStepperMotor motorY;
private GenericStepperMotor motorZ;
/**
*
*/
private LinePrinter layerPrinter;
/**
* Initial default speed
*/
private int currentSpeedXY = 200;
/**
*
*/
private int fastSpeedXY = 230;
/**
* Initial default speed
*/
private int speedZ = 230;
/**
* Don't perform Z operations.
* FIXME: Should be removed later.
*/
private boolean excludeZ = false;
/**
* @param prefs
* @throws Exception
*/
public CartesianSNAP(Preferences prefs) throws Exception {
super(prefs);
String commPortName = prefs.loadString("Port(name)");
SNAPAddress myAddress = new SNAPAddress(localNodeNumber);
communicator = new SNAPCommunicator(commPortName, myAddress);
motorX = new GenericStepperMotor(communicator,
new SNAPAddress(prefs.loadInt("XAxisAddress")), prefs, 1);
motorY = new GenericStepperMotor(communicator,
new SNAPAddress(prefs.loadInt("YAxisAddress")), prefs, 2);
motorZ = new GenericStepperMotor(communicator,
new SNAPAddress(prefs.loadInt("ZAxisAddress")), prefs, 3);
layerPrinter = new LinePrinter(motorX, motorY, extruders[extruder]);
idleZ = prefs.loadBool("IdleZAxis");
fastSpeedXY = prefs.loadInt("FastSpeed(0..255)");
try {
currentX = convertToPositionZ(motorX.getPosition());
currentY = convertToPositionZ(motorY.getPosition());
} catch (Exception ex) {
throw new Exception("Warning: X and/or Y controller not responding, cannot continue");
}
try {
currentZ = convertToPositionZ(motorZ.getPosition());
} catch (Exception ex) {
System.err.println("Z axis not responding and will be ignored");
excludeZ = true;
}
}
public void loadExtruders(Preferences config)
{
extruders = new SNAPExtruder[extruderCount];
super.loadExtruders(config);
}
/* (non-Javadoc)
* @see org.reprap.Printer#moveTo(double, double, double, boolean, boolean)
*/
public void moveTo(double x, double y, double z, boolean startUp, boolean endUp) throws ReprapException, IOException {
if (isCancelled()) return;
int stepperX = convertToStepX(x);
int stepperY = convertToStepY(y);
int stepperZ = convertToStepZ(z);
int currentStepperX = convertToStepX(currentX);
int currentStepperY = convertToStepY(currentY);
int currentStepperZ = convertToStepZ(currentZ);
if (currentStepperX == stepperX &&
currentStepperY ==stepperY &&
currentStepperZ == stepperZ &&
!startUp)
return;
// We don't need to lift a whole layer up. Half a layer should do
// and will dribble less. Remember the Z axis is kinda slow...
double liftedZ = z + (extruders[extruder].getExtrusionHeight()/2);
int stepperLiftedZ = convertToStepZ(liftedZ);
int targetZ;
// Raise head slightly before move?
if(startUp)
{
targetZ = stepperLiftedZ;
currentZ = liftedZ;
} else
{
targetZ = stepperZ;
currentZ = z;
}
if (targetZ != currentStepperZ) {
totalDistanceMoved += Math.abs(currentZ - liftedZ);
if (!excludeZ) motorZ.seekBlocking(speedZ, targetZ);
if (idleZ) motorZ.setIdle();
currentStepperZ = targetZ;
}
layerPrinter.moveTo(stepperX, stepperY, currentSpeedXY);
totalDistanceMoved += segmentLength(x - currentX, y - currentY);
currentX = x;
currentY = y;
if(endUp)
{
targetZ = stepperLiftedZ;
currentZ = liftedZ;
} else
{
targetZ = stepperZ;
currentZ = z;
}
// Move head back down to surface?
if(targetZ != currentStepperZ)
{
totalDistanceMoved += Math.abs(currentZ - z);
if (!excludeZ) motorZ.seekBlocking(speedZ, targetZ);
if (idleZ) motorZ.setIdle();
currentStepperZ = targetZ;
}
}
/* (non-Javadoc)
* @see org.reprap.Printer#printTo(double, double, double, boolean)
*/
public void printTo(double x, double y, double z, boolean turnOff)
throws ReprapException, IOException {
if (isCancelled()) return;
EnsureNotEmpty();
if (isCancelled()) return;
EnsureHot();
if (isCancelled()) return;
int stepperX = convertToStepX(x);
int stepperY = convertToStepY(y);
int stepperZ = convertToStepZ(z);
if ((stepperX != layerPrinter.getCurrentX() || stepperY != layerPrinter.getCurrentY()) && z != currentZ)
throw new ReprapException("Reprap cannot print a line across 3 axes simultaneously");
if (previewer != null)
previewer.addSegment(convertToPositionX(layerPrinter.getCurrentX()),
convertToPositionY(layerPrinter.getCurrentY()), currentZ,
x, y, z);
if (isCancelled()) return;
if (z != currentZ)
{
// Print a simple vertical extrusion
double distance = Math.abs(currentZ - z);
totalDistanceExtruded += distance;
totalDistanceMoved += distance;
extruders[extruder].setExtrusion(extruders[extruder].getExtruderSpeed());
if (!excludeZ) motorZ.seekBlocking(speedZ, stepperZ);
extruders[extruder].setExtrusion(0);
currentZ = z;
return;
}
// Otherwise printing only in X/Y plane
double deltaX = x - currentX;
double deltaY = y - currentY;
double distance = segmentLength(deltaX, deltaY);
totalDistanceExtruded += distance;
totalDistanceMoved += distance;
layerPrinter.printTo(stepperX, stepperY, currentSpeedXY, extruders[extruder].getExtruderSpeed(), turnOff);
currentX = x;
currentY = y;
}
public void stopExtruding() throws IOException
{
layerPrinter.stopExtruding();
}
public void delay(long millis)
{
try{
Thread.sleep(millis);
} catch (Exception e) {
}
}
/* Move to zero stop on X axis.
* (non-Javadoc)
* @see org.reprap.Printer#homeToZeroX()
*/
public void homeToZeroX() throws ReprapException, IOException {
motorX.homeReset(fastSpeedXY);
currentX=0;
}
/* Move to zero stop on Y axis.
* (non-Javadoc)
* @see org.reprap.Printer#homeToZeroY()
*/
public void homeToZeroY() throws ReprapException, IOException {
motorY.homeReset(fastSpeedXY);
currentY=0;
}
/* (non-Javadoc)
* @see org.reprap.Printer#terminate()
*/
public void terminate() throws Exception {
motorX.setIdle();
motorY.setIdle();
if (!excludeZ)
motorZ.setIdle();
extruders[extruder].setExtrusion(0);
extruders[extruder].setTemperature(0);
}
/* (non-Javadoc)
* @see org.reprap.Printer#dispose()
*/
public void dispose()
{
motorX.dispose();
motorY.dispose();
motorZ.dispose();
//todo: move to cartesian bot
for(int i = 0; i < extruderCount; i++)
extruders[i].dispose();
communicator.close();
communicator.dispose();
}
/**
* @return Returns the speed for the X & Y axes.
*/
// public int getSpeed() {
// return currentSpeedXY;
// }
/**
* @return Returns the maximum speed for the X & Y axes in air movement.
*/
public int getFastSpeed() {
return fastSpeedXY;
}
/**
* @param speed The speed to set for the X and Y axes.
*/
public void setSpeed(int speed) {
currentSpeedXY = speed;
}
/**
* @param speed The speed to set for the X and Y axes moving in air.
*/
public void setFastSpeed(int speed) {
this.fastSpeedXY = speed;
}
/**
* @return Returns the speed for the Z axis.
*/
public int getSpeedZ() {
return speedZ;
}
/**
* @param speed The speed to set for the Z axis.
*/
public void setSpeedZ(int speed) {
this.speedZ = speed;
}
/**
* Returns the speedExtruder.
*/
// public int getExtruderSpeed() {
// return speedExtruder;
// }
/**
* The speedExtruder to set.
*/
// public void setExtruderSpeed(int speedExtruder) {
// this.speedExtruder = speedExtruder;
// }
// public void setTemperature(int temperature) throws Exception {
// extruder.setTemperature(temperature);
// }
/**
* outline speed and the infill speed
*/
// public double getOutlineSpeed()
// {
// return extruder.getOutlineSpeed();
// }
// public double getInfillSpeed()
// {
// return extruder.getInfillSpeed();
// }
/**
* The length in mm to speed up when going round corners
*/
// public double getAngleSpeedUpLength()
// {
// return extruder.getAngleSpeedUpLength();
// }
/**
* The factor by which to speed up when going round a corner.
* The formula is speed = baseSpeed*[1 + 0.5*(1 - ca)*getAngleSpeedFactor()]
* where ca is the cos of the angle between the lines. So it goes fastest when
* the line doubles back on itself, and slowest when it continues straight.
*/
// public double getAngleSpeedFactor()
// {
// return extruder.getAngleSpeedFactor();
// }
/**
*
*/
private void EnsureNotEmpty() {
if (!extruders[extruder].isEmpty()) return;
while (extruders[extruder].isEmpty() && !isCancelled()) {
if (previewer != null)
previewer.setMessage("Extruder is out of feedstock. Waiting for refill.");
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
}
}
if (previewer != null) previewer.setMessage(null);
}
/**
* @throws ReprapException
* @throws IOException
*/
private void EnsureHot() throws ReprapException, IOException {
if(extruders[extruder].getTemperatureTarget() <= Preferences.absoluteZero() + 1)
return;
double threshold = extruders[extruder].getTemperatureTarget() * 0.90; // Changed from 0.95 by Vik.
if (extruders[extruder].getTemperature() >= threshold)
return;
double x = currentX;
double y = currentY;
int tempReminder=0;
temperatureReminder();
Debug.d("Moving to heating zone");
int oldSpeed = currentSpeedXY;
// Ensure the extruder is off
extruders[extruder].setExtrusion(0);
moveToHeatingZone();
while(extruders[extruder].getTemperature() < threshold && !isCancelled()) {
if (previewer != null) previewer.setMessage("Waiting for extruder to reach working temperature (" +
Math.round(extruders[extruder].getTemperature()) + ")");
try {
Thread.sleep(1000);
// If it stays cold for 10s, remind it of its purpose.
if (tempReminder++ >10) {
tempReminder=0;
temperatureReminder();
}
} catch (InterruptedException e) {
}
}
Debug.d("Returning to previous position");
moveTo(x, y, currentZ, true, false);
setSpeed(oldSpeed);
if (previewer != null) previewer.setMessage(null);
}
/** A bodge to fix the extruder's current tendency to forget what temperature
* it is supposed to be reaching.
*
* Vik
*/
private void temperatureReminder() {
if(extruders[extruder].getTemperatureTarget() < Preferences.absoluteZero())
return;
Debug.d("Reminding it of the temperature");
try {
extruders[extruder].setTemperature(extruders[extruder].getTemperatureTarget());
//setTemperature(Preferences.loadGlobalInt("ExtrusionTemp"));
} catch (Exception e) {
System.err.println("Error resetting temperature.");
}
}
/**
* Moves the head to the predefined heating area
* @throws IOException
* @throws ReprapException
*/
private void moveToHeatingZone() throws ReprapException, IOException {
setSpeed(fastSpeedXY);
moveTo(5, 5, currentZ, true, false);
}
/* (non-Javadoc)
* @see org.reprap.Printer#isCancelled()
*/
public boolean isCancelled() {
if (previewer == null)
return false;
return previewer.isCancelled();
}
/* (non-Javadoc)
* @see org.reprap.Printer#initialise()
*/
public void initialise() throws Exception {
super.initialise();
}
public void home()
{
try
{
motorX.homeReset(fastSpeedXY);
motorY.homeReset(fastSpeedXY);
if (!excludeZ)
motorZ.homeReset(speedZ);
super.home();
} catch (Exception e) {
Debug.d("Error homing");
}
}
/* (non-Javadoc)
* @see org.reprap.Printer#setZManual()
*/
public void setZManual() throws IOException {
setZManual(0.0);
}
/* (non-Javadoc)
* @see org.reprap.Printer#setZManual(double)
*/
public void setZManual(double zeroPoint) throws IOException {
CalibrateZAxis msg =
new CalibrateZAxis(null, motorZ, scaleZ, speedZ);
msg.setVisible(true);
try {
synchronized(msg) {
msg.wait();
}
} catch (Exception ex) {
}
msg.dispose();
motorZ.setPosition(convertToStepZ(zeroPoint));
}
}
|