Subversion Repositories – MLAB

/Designs/ROBOTS/IRRAD01A/ @ HEAD   →   /Designs/ROBOTS/IRRAD01A @ 4481

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/Designs/ROBOTS/IRRAD01A/CAD/src/MLAB_logo.scad
0,0 → 1,90
$fn=50;
use <./../../../../../Library/Graphics/MLAB_logo.scad>
module short_logo(){
color("white")
minkowski()
{
cube([50,25,2]);
cylinder(r=2,h=1);
}
color("black")
union (){
translate ([25, 12.5, 3]) // ODROIDs passive components hole.
scale(v = [0.25, 0.25, 0.25])
MLAB_logo_short();
}
}
module long_logo(indented = 1){
if(indented == 0)
{
color("white")
minkowski()
{
cube([110,25,2]);
cylinder(r=2,h=1);
}
color("black")
union (){
translate ([55, 12.5, 1]) // ODROIDs passive components hole.
scale(v = [0.75, 0.75, 0.75])
MLAB_logo_long();
}
}
else
{
difference(){
color("white")
minkowski()
{
cube([110,25,2]);
cylinder(r=2,h=1);
}
union (){
translate ([55, 12.5, 1.5]) // ODROIDs passive components hole.
scale(v = [0.75, 0.75, 0.75])
MLAB_logo_long();
}
}
}
}
module short_logo(){
color("white")
minkowski()
{
cube([55,25,2]);
cylinder(r=2,h=1);
}
color("black")
union (){
translate ([28, 12.5, 3]) // ODROIDs passive components hole.
scale(v = [0.25, 0.25, 0.25])
MLAB_logo_short();
}
}
//short_logo();
long_logo(indented = 0);
module identification_logo(){
color("white")
minkowski()
{
cube([55,25,2]);
cylinder(r=2,h=1);
}
color("black")
union (){
translate ([28, 12.5, 3]) // ODROIDs passive components hole.
scale(v = [0.25, 0.25, 0.25])
text("IRRAD01A",20);
}
}
//identification_logo();

/Designs/ROBOTS/IRRAD01A/CAD/src/Slic3r_config/holder_print_config.ini
0,0 → 1,138
# generated by Slic3r 1.3.0-dev on Mon Jan 11 23:22:25 2016
avoid_crossing_perimeters = 0
bed_shape = 0x0,180x0,180x180,0x180
bed_temperature = 50
before_layer_gcode =
bottom_solid_layers = 3
bridge_acceleration = 1000
bridge_fan_speed = 100
bridge_flow_ratio = 1
bridge_speed = 5
brim_width = 0
complete_objects = 0
cooling = 1
default_acceleration = 500
disable_fan_first_layers = 1
dont_support_bridges = 1
duplicate_distance = 6
end_gcode = M104 S0 ; turn off nozzle\nM140 S0 ; turn off heatbed\nG28 X0 ; home X axis\nG1 Y170 F3000 ; move the print to the front\nM84 ; disable motors\n
external_fill_pattern = rectilinear
external_perimeter_extrusion_width = 0
external_perimeter_speed = 90%
external_perimeters_first = 0
extra_perimeters = 1
extruder_clearance_height = 20
extruder_clearance_radius = 20
extruder_offset = 0x0
extrusion_axis = E
extrusion_multiplier = 1
extrusion_width = 0
fan_always_on = 1
fan_below_layer_time = 60
filament_colour = #FFFFFF
filament_diameter = 1.75
filament_settings_id =
fill_angle = 45
fill_density = 10%
fill_pattern = honeycomb
first_layer_acceleration = 500
first_layer_bed_temperature = 60
first_layer_extrusion_width = 180%
first_layer_height = 0.3
first_layer_speed = 60%
first_layer_temperature = 212
gap_fill_speed = 10
gcode_arcs = 0
gcode_comments = 0
gcode_flavor = reprap
infill_acceleration = 500
infill_every_layers = 1
infill_extruder = 1
infill_extrusion_width = 0
infill_first = 0
infill_only_where_needed = 0
infill_overlap = 15%
infill_speed = 60
interface_shells = 0
layer_gcode =
layer_height = 0.2
max_fan_speed = 100
max_print_speed = 80
max_volumetric_speed = 0
min_fan_speed = 100
min_print_speed = 10
min_skirt_length = 0
notes =
nozzle_diameter = 0.4
octoprint_apikey = 330CC1C393FC4CD08C420E476D472A7E
octoprint_host = 192.168.1.23
only_retract_when_crossing_perimeters = 1
ooze_prevention = 0
output_filename_format = [input_filename_base].gcode
overhangs = 1
perimeter_acceleration = 500
perimeter_extruder = 1
perimeter_extrusion_width = 0
perimeter_speed = 45
perimeters = 2
post_process =
pressure_advance = 0
print_settings_id =
printer_settings_id =
raft_layers = 0
resolution = 0
retract_before_travel = 2
retract_layer_change = 1
retract_length = 1.3
retract_length_toolchange = 3
retract_lift = 0
retract_lift_above = 0
retract_lift_below = 0
retract_restart_extra = 0
retract_restart_extra_toolchange = 0
retract_speed = 60
seam_position = aligned
serial_port =
serial_speed = 250000
skirt_distance = 10
skirt_height = 1
skirts = 3
slowdown_below_layer_time = 30
small_perimeter_speed = 10
solid_infill_below_area = 70
solid_infill_every_layers = 0
solid_infill_extruder = 1
solid_infill_extrusion_width = 0
solid_infill_speed = 55
spiral_vase = 0
standby_temperature_delta = -5
start_gcode = G28 ; home all axes\nG92 E0.0 ; reset extruder
support_material = 0
support_material_angle = 0
support_material_contact_distance = 0.2
support_material_enforce_layers = 0
support_material_extruder = 1
support_material_extrusion_width = 0
support_material_interface_extruder = 1
support_material_interface_layers = 0
support_material_interface_spacing = 0
support_material_interface_speed = 100%
support_material_pattern = rectilinear
support_material_spacing = 2.5
support_material_speed = 60
support_material_threshold = 0
temperature = 212
thin_walls = 1
threads = 4
toolchange_gcode =
top_infill_extrusion_width = 0
top_solid_infill_speed = 50
top_solid_layers = 3
travel_speed = 130
use_firmware_retraction = 0
use_relative_e_distances = 1
use_volumetric_e = 0
vibration_limit = 0
wipe = 1
xy_size_compensation = 0
z_offset = 0

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/Designs/ROBOTS/IRRAD01A/CAD/src/Write.scad
0,0 → 1,388
/* Version 4
Added bold property bold=0 (not bold) bold=1(bolder by 1.1) bold=2(bolder by 1.2)
Added support for font selection (default is Letters.dxf)
Added WriteCube module
Added Rotate for text (rotates on the plane of the text)
Added writesphere
Added space= (spacing between characters in char widths) def=1
Added writecylinder()
By Harlan Martin
harlan@sutlog.com
January 2012
(The file TestWrite.scad gives More usage examples)
(This module requires the file Letters.dxf to reside in the same folder)
(The file Letters.dfx was created with inkscape..Each letter is in its own layer)
(This module seperates each letter in the string and imports it from Letters.dfx)
*/
pi=3.1415926535897932384626433832795028841971693993751058209;
pi2=pi*2;
// These control the default values for write() writesphere() writecube()
// if the parameters are not included in the call. Feel free to set your own
// defaults.
//default settings
bold=0;
center=false;
h = 4; //mm letter height
t = 1; //mm letter thickness
space =1; //extra space between characters in (character widths)
rotate=0; // text rotation (clockwise)
font = "Letters.dxf"; //default for aditional fonts
// write cube defaults
face = "front"; // default face (top,bottom,left,right,back,front)
up =0; //mm up from center on face of cube
down=0;
right =0; //mm left from center on face of cube
left=0;
// write sphere defaults
rounded=false; //default for rounded letters on writesphere
north=0; // intial text position (I suggest leave these 0 defaults)
south=0;
east=0;
west=0;
spin=0;
// writecylinder defaults
middle=0; //(mm toward middle of circle)
ccw=false; //write on top or bottom in a ccw direction
r1=0; //(not implimented yet)
r2=0; //(not implimented yet)
// Contact me if your interested in how to make your own font files
// Its tedious and time consuming, but not very hard
module writecylinder(text,where,radius,height){
wid=(.125* h *5.5 * space);
widall=wid*(len(text)-1)/2;
//angle that measures width of letters on sphere
function NAngle(radius)=(wid/(pi2*radius))*360;
//angle of half width of text
function mmangle(radius)=(widall/(pi2*radius)*360);
if ((face=="top")||(face=="bottom") ){
if (face=="top" ){
if (center==true){
writecircle(text,where+[0,0,height/2],radius-h,rotate=rotate,font=font,h=h,t=t,
space=space,east=east,west=west,middle=middle,ccw=ccw,bold=bold);
}else{
writecircle(text,where+[0,0,height],radius-h,rotate=rotate,font=font,h=h,t=t,
space=space,east=east,west=west,middle=middle,ccw=ccw,bold=bold);
}
}else{
rotate(180,[1,0,0])
if (center==true){
writecircle(text,where+[0,0,height/2],radius-h,rotate=rotate,font=font,h=h,t=t,
space=space,east=east,west=west,middle=middle,ccw=ccw,bold=bold);
}else{
writecircle(text,where+[0,0,0],radius-h,rotate=rotate,font=font,h=h,t=t,
space=space,east=east,west=west,middle=middle,ccw=ccw,bold=bold);
}
}
}else{
// if (radius>0){
if (center==true) {
rotate(-mmangle(radius)*(1-abs(rotate)/90),[0,0,1])
translate(where)
writethecylinder(text,where,radius,height,r1=radius,r2=radius,h=h,
rotate=rotate,t=t,font=font,face=face,up=up,down=down,
east=east,west=west,center=center,space=space,rounded=rounded,bold=bold);
} else{
rotate(-mmangle(radius)*(1-abs(rotate)/90),[0,0,1])
translate(where+[0,0,height/2])
writethecylinder(text,where,radius,height,r1=radius,r2=radius,h=h,
rotate=rotate,t=t,font=font,face=face,up=up,down=down,
east=east,west=west,center=center,space=space,rounded=rounded,bold=bold);
}
// the remarked out code is for cone shaped cylinders (not complete)
// }else{
// if (center==true) {
// rotate(-mmangle(radius)*(1-abs(rotate)/90),[0,0,1])
// translate(where)
// writethecylinder(text,where,radius,height,r1=r1,r2=r2,h=h,
// rotate=rotate,t=t,font=font,face=face,up=up,down=down,
// east=east,west=west,center=center,space=space,rounded=rounded);
// } else{
// rotate(-mmangle(radius)*(1-abs(rotate)/90),[0,0,1])
// translate(where+[0,0,height/2])
// writethecylinder(text,where,radius,height,r1=r1,r2=r2,h=h,
// rotate=rotate,t=t,font=font,face=face,up=up,down=down,
// east=east,west=west,center=center,space=space,rounded=rounded);
// }
// }
}
}
module writecircle(text,where,radius){
wid=(.125* h *5.5 * space);
widall=wid*(len(text)-1)/2;
//angle that measures width of letters on sphere
function NAngle(radius)=(wid/(pi2*radius))*360;
//angle of half width of text
function mmangle(radius)=(widall/(pi2*radius)*360);
if (ccw==true){
rotate(-rotate+east-west,[0,0,1]){
rotate(-mmangle(radius-middle),[0,0,1]){
translate(where)
for (r=[0:len(text)-1]){
rotate(-90+r*NAngle(radius-middle),[0,0,1]) // bottom out=-270+r
translate([radius-middle,0,0])
//rotate(90,[1,0,0])
//rotate(90,[0,1,0])
rotate(-270,[0,0,1]) // flip text (botom out = -270)
write(text[r],center=true,h=h,t=t,font=font,bold=bold);
}
}
}
}else{
rotate(-rotate-east+west,[0,0,1]){
rotate(mmangle(radius-middle),[0,0,1]){
translate(where)
for (r=[0:len(text)-1]){
rotate(90-r*NAngle(radius-middle),[0,0,1]) // bottom out=-270+r
translate([radius-middle,0,0])
//rotate(90,[1,0,0])
//rotate(90,[0,1,0])
rotate(270,[0,0,1]) // flip text (botom out = -270)
write(text[r],center=true,h=h,t=t,font=font,bold=bold);
}
}
}
}
}
module writethecylinder(text,where,radius,height,r1,r2){
wid=(.125* h *5.5 * space);
widall=wid*(len(text)-1)/2;
//angle that measures width of letters on sphere
function NAngle(radius)=(wid/(pi2*radius))*360*(1-abs(rotate)/90);
//angle of half width of text
function mmangle(radius)=(widall/(pi2*radius)*360);
translate([0,0,up-down])
rotate(east-west,[0,0,1])
for (r=[0:len(text)-1]){
rotate(-90+(r*NAngle(radius)),[0,0,1])
translate([radius,0,-r*((rotate)/90*wid)+(len(text)-1)/2*((rotate)/90*wid)])
rotate(90,[1,0,0])
rotate(90,[0,1,0])
write(text[r],center=true,h=h,rotate=rotate,t=t,font=font,bold=bold);
//echo("zloc=",height/2-r*((rotate)/90*wid)+(len(text)-1)/2*((rotate)/90*wid));
}
}
module writesphere(text,where,radius){
wid=(.125* h *5.5 * space);
widall=wid*(len(text)-1)/2;
echo("-----------------",widall,wid,mmangle(radius));
//angle that measures width of letters on sphere
function NAngle(radius)=(wid/(pi2*radius))*360;
//angle of half width of text
function mmangle(radius)=(widall/(pi2*radius)*360);
rotate(east-west,[0,0,1]){
rotate(south-north,[1,0,0]){
rotate(spin,[0,1,0]){
rotate(-mmangle(radius),[0,0,1]){
if ( rounded== false ){
translate(where)
for (r=[0:len(text)-1]){
rotate(-90+r*NAngle(radius),[0,0,1])
translate([radius,0,0])
rotate(90,[1,0,0])
rotate(90,[0,1,0])
write(text[r],center=true,h=h,rotate=rotate,t=t,font=font,bold=bold);
}
}else{
difference(){
translate(where)
for (r=[0:len(text)-1]){
rotate(-90+r*NAngle(radius),[0,0,1])
translate([radius,0,0])
rotate(90,[1,0,0])
rotate(90,[0,1,0])
write(text[r],center=true,h=h,rotate=rotate,t=t*2+h,font=font,bold=bold);
}
difference(){ //rounded outside
sphere(radius+(t*2+h)*2);
sphere(radius+t/2);
}
sphere(radius-t/2); // rounded inside for indented text
}
}
}
}}}
}
module writecube(text,where,size){
if (str(size)[0] != "["){
// its a square cube (size was not a matrix so make it one)
writethecube(text,where,[size,size,size],h=h,rotate=rotate,space=space,
t=t,font=font,face=face,up=up,down=down,right=right,left=left,bold=bold);
}else{
// its not square
writethecube(text,where,size,h=h,rotate=rotate,space=space,
t=t,font=font,face=face,up=up,down=down,right=right,left=left,bold=bold);
}
}
// I split the writecube module into 2 pieces.. easier to add features later
module writethecube(text,where,size){
if (face=="front") {
translate([where[0]+right-left,where[1]-size[1]/2,where[2]+up-down])
rotate(90,[1,0,0])
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
if (face=="back") {
translate([where[0]+right-left,where[1]+size[1]/2,where[2]+up-down])
rotate(90,[1,0,0]) // rotate around the x axis
rotate(180,[0,1,0]) // rotate around the y axis (z before rotation)
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
if (face=="left") {
translate([where[0]-size[0]/2,where[1]-right+left,where[2]+up-down ])
rotate(90,[1,0,0]) // rotate around the x axis
rotate(90,[0,-1,0]) // rotate around the y axis (z before rotation)
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
if (face=="right") {
translate([where[0]+size[0]/2,where[1]+right-left,where[2] +up-down])
rotate(90,[1,0,0]) // rotate around the x axis
rotate(90,[0,1,0]) // rotate around the y axis (z before rotation)
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
if (face=="top") {
translate([where[0]+right-left,where[1]+up-down,where[2]+size[2]/2 ])
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
if (face=="bottom") {
translate([where[0]+right-left,where[1]-up+down,where[2]-size[2]/2 ])
rotate(180,[1,0,0])
write(text,center=true,h=h,rotate=rotate,t=t,font=font,space=space,bold=bold);
}
}
module write(word){
echo (h);
echo (word);
echo ("There are " ,len(word) ," letters in this string");
// echo ("The second letter is ",word[1]);
// echo (str(word[0],"_"));
minkowski() {
rotate(rotate,[0,0,-1]){
for (r = [0:len(word)]){ // count off each character
// if the letter is lower case, add an underscore to the end for file lookup
if ((word[r] == "a" ) || (word[r]== "b") || (word[r]== "c")
|| (word[r]== "d") || (word[r]== "e") || (word[r]== "f")
|| (word[r]== "g") || (word[r]== "h") || (word[r]== "i")
|| (word[r]== "j") || (word[r]== "k") || (word[r]== "l")
|| (word[r]== "m") || (word[r]== "n") || (word[r]== "o")
|| (word[r]== "p") || (word[r]== "q") || (word[r]== "r")
|| (word[r]== "s") || (word[r]== "t") || (word[r]== "u")
|| (word[r]== "v") || (word[r]== "w") || (word[r]== "x")
|| (word[r]== "y" )|| (word[r]== "z")){
if (center == true) {
translate([0,-h/2,0]){
scale([.125*h,.125*h,t]){
translate([ (-len(word)*5.5*space/2) + (r*5.5*space),0,0])
//offset(delta = 20, join_type = "round") {
linear_extrude(height=1,convexity=10,center=true){
import(file = font,layer=str(word[r],"_"));
}//}
}
}
}else{
translate([0,0,t/2]){
scale([.125*h,.125*h,t]){
translate([r*5.5*space,0,0])
//offset(delta = 20, join_type = "round") {
linear_extrude(height=1,convexity=10,center=true){
import(file = font,layer=str(word[r],"_"));
}//}
}
}
}
}else{
if (center == true) {
translate([0,-h/2,0]){
scale([.125*h,.125*h,t]){
translate([ (-len(word)*5.5*space/2) + (r*5.5*space),0,0])
//offset(delta = 20, join_type = "round") {
linear_extrude(height=1,convexity=10,center=true){
import(file = font,layer=str(word[r]));
}//}
}
}
}else{
translate([0,0,t/2]){
scale([.125*h,.125*h,t]){
translate([r*5.5*space,0,0])
//offset(delta = 20, join_type = "round") {
linear_extrude(height=1,convexity=10,center=true){
import(file = font,layer=str(word[r]));
}//}
}
}
}
}
}
}
cube([bold*.1*h,bold*.1*h,.00001]);
}
}
/*writecylinder test
translate([0,0,0])
%cylinder(r=20,h=40,center=true);
color([1,0,0])
writecylinder("rotate=90",[0,0,0],20,40,center=true,down=0,rotate=90);
writecylinder("rotate = 30,east = 90",[0,0,0],20,40,center=true,down=0,rotate=30,east=90);
writecylinder("ccw = true",[0,0,0],20,40,center=true,down=0,face="top",ccw=true);
writecylinder("middle = 8",[0,0,0],20,40,h=3,center=true,down=0,face="top",middle=8);
writecylinder("face = top",[0,0,0],20,40,center=true,down=0,face="top");
writecylinder("east=90",[0,0,0],20,40,h=3,center=true,down=0,face="top",east=90);
writecylinder("west=90",[0,0,0],20,40,h=3,center=true,down=0,face="top",ccw=true,west=90);
writecylinder("face = bottom",[0,0,0],20,40,center=true,down=0,face="bottom");
*/
/*writesphere test
sphere(20);
color([1,0,0])
writesphere("Hello World",[0,0,0],20,t=1,h=6);
*/
/* writecube test
translate([30,30,30])
cube([10,15,30],center=true);
write("hello",center=true,rotate =30);
color([1,0,0])
writecube( "front",[30,30,30],[10,15,30],h=5,rotate=-90);
color([0,1,0])
writecube( "back",[30,30,30],size=[10,15,30],h=5,face="back",rotate=90,t=4);
color([0,0,1])
writecube( "left",[30,30,30],[10,15,30],h=5,face="left",up=5);
color([1,1,0])
writecube( "right",where=[30,30,30],size=[10,15,30],h=5,face="right",rotate=55);
color([1,0,1])
writecube( "top",where=[30,30,30],size=[10,15,30],h=5,face="top");
color([1,1,1])
writecube( "bttm",where=[30,30,30],size=[10,15,30],h=5,face="bottom",rotate=90);
*/

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0,0 → 1,18862
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<v3>1247</v3>
</triangle>
<triangle>
<v1>1120</v1>
<v2>1119</v2>
<v3>1247</v3>
</triangle>
<triangle>
<v1>1122</v1>
<v2>1249</v2>
<v3>1248</v3>
</triangle>
<triangle>
<v1>1119</v1>
<v2>1122</v2>
<v3>1248</v3>
</triangle>
<triangle>
<v1>1250</v1>
<v2>1249</v2>
<v3>1122</v3>
</triangle>
<triangle>
<v1>1121</v1>
<v2>1250</v2>
<v3>1122</v3>
</triangle>
<triangle>
<v1>1251</v1>
<v2>1250</v2>
<v3>1121</v3>
</triangle>
<triangle>
<v1>1127</v1>
<v2>1251</v2>
<v3>1121</v3>
</triangle>
<triangle>
<v1>1252</v1>
<v2>1251</v2>
<v3>1127</v3>
</triangle>
<triangle>
<v1>1129</v1>
<v2>1252</v2>
<v3>1127</v3>
</triangle>
<triangle>
<v1>1252</v1>
<v2>1129</v2>
<v3>1253</v3>
</triangle>
<triangle>
<v1>1253</v1>
<v2>1129</v2>
<v3>1128</v3>
</triangle>
<triangle>
<v1>1253</v1>
<v2>1128</v2>
<v3>1254</v3>
</triangle>
<triangle>
<v1>1254</v1>
<v2>1128</v2>
<v3>1124</v3>
</triangle>
<triangle>
<v1>1254</v1>
<v2>1124</v2>
<v3>1255</v3>
</triangle>
<triangle>
<v1>1255</v1>
<v2>1124</v2>
<v3>1123</v3>
</triangle>
<triangle>
<v1>1255</v1>
<v2>1123</v2>
<v3>1256</v3>
</triangle>
<triangle>
<v1>1256</v1>
<v2>1123</v2>
<v3>1130</v3>
</triangle>
<triangle>
<v1>1256</v1>
<v2>1130</v2>
<v3>1257</v3>
</triangle>
<triangle>
<v1>1257</v1>
<v2>1130</v2>
<v3>1126</v3>
</triangle>
<triangle>
<v1>1257</v1>
<v2>1126</v2>
<v3>1242</v3>
</triangle>
<triangle>
<v1>1242</v1>
<v2>1126</v2>
<v3>1125</v3>
</triangle>
<triangle>
<v1>1137</v1>
<v2>1135</v2>
<v3>1134</v3>
</triangle>
<triangle>
<v1>1136</v1>
<v2>1137</v2>
<v3>1134</v3>
</triangle>
<triangle>
<v1>1154</v1>
<v2>1139</v2>
<v3>1138</v3>
</triangle>
<triangle>
<v1>1141</v1>
<v2>1154</v2>
<v3>1140</v3>
</triangle>
<triangle>
<v1>1140</v1>
<v2>1154</v2>
<v3>1138</v3>
</triangle>
<triangle>
<v1>1142</v1>
<v2>1154</v2>
<v3>1141</v3>
</triangle>
<triangle>
<v1>1143</v1>
<v2>1154</v2>
<v3>1142</v3>
</triangle>
<triangle>
<v1>1144</v1>
<v2>1154</v2>
<v3>1143</v3>
</triangle>
<triangle>
<v1>1145</v1>
<v2>1154</v2>
<v3>1144</v3>
</triangle>
<triangle>
<v1>1146</v1>
<v2>1154</v2>
<v3>1145</v3>
</triangle>
<triangle>
<v1>1147</v1>
<v2>1154</v2>
<v3>1146</v3>
</triangle>
<triangle>
<v1>1148</v1>
<v2>1154</v2>
<v3>1147</v3>
</triangle>
<triangle>
<v1>1149</v1>
<v2>1154</v2>
<v3>1148</v3>
</triangle>
<triangle>
<v1>1150</v1>
<v2>1154</v2>
<v3>1149</v3>
</triangle>
<triangle>
<v1>1151</v1>
<v2>1154</v2>
<v3>1150</v3>
</triangle>
<triangle>
<v1>1152</v1>
<v2>1154</v2>
<v3>1151</v3>
</triangle>
<triangle>
<v1>1153</v1>
<v2>1154</v2>
<v3>1152</v3>
</triangle>
<triangle>
<v1>1155</v1>
<v2>1156</v2>
<v3>1157</v3>
</triangle>
<triangle>
<v1>1159</v1>
<v2>1155</v2>
<v3>1158</v3>
</triangle>
<triangle>
<v1>1158</v1>
<v2>1155</v2>
<v3>1157</v3>
</triangle>
<triangle>
<v1>1160</v1>
<v2>1155</v2>
<v3>1159</v3>
</triangle>
<triangle>
<v1>1161</v1>
<v2>1155</v2>
<v3>1160</v3>
</triangle>
<triangle>
<v1>1162</v1>
<v2>1155</v2>
<v3>1161</v3>
</triangle>
<triangle>
<v1>1163</v1>
<v2>1155</v2>
<v3>1162</v3>
</triangle>
<triangle>
<v1>1164</v1>
<v2>1155</v2>
<v3>1163</v3>
</triangle>
<triangle>
<v1>1165</v1>
<v2>1155</v2>
<v3>1164</v3>
</triangle>
<triangle>
<v1>1166</v1>
<v2>1155</v2>
<v3>1165</v3>
</triangle>
<triangle>
<v1>1167</v1>
<v2>1155</v2>
<v3>1166</v3>
</triangle>
<triangle>
<v1>1168</v1>
<v2>1155</v2>
<v3>1167</v3>
</triangle>
<triangle>
<v1>1169</v1>
<v2>1155</v2>
<v3>1168</v3>
</triangle>
<triangle>
<v1>1171</v1>
<v2>1172</v2>
<v3>1173</v3>
</triangle>
<triangle>
<v1>1175</v1>
<v2>1171</v2>
<v3>1174</v3>
</triangle>
<triangle>
<v1>1174</v1>
<v2>1171</v2>
<v3>1173</v3>
</triangle>
<triangle>
<v1>1176</v1>
<v2>1171</v2>
<v3>1175</v3>
</triangle>
<triangle>
<v1>1177</v1>
<v2>1171</v2>
<v3>1176</v3>
</triangle>
<triangle>
<v1>1178</v1>
<v2>1171</v2>
<v3>1177</v3>
</triangle>
<triangle>
<v1>1179</v1>
<v2>1171</v2>
<v3>1178</v3>
</triangle>
<triangle>
<v1>1180</v1>
<v2>1171</v2>
<v3>1179</v3>
</triangle>
<triangle>
<v1>1181</v1>
<v2>1171</v2>
<v3>1180</v3>
</triangle>
<triangle>
<v1>1182</v1>
<v2>1171</v2>
<v3>1181</v3>
</triangle>
<triangle>
<v1>1170</v1>
<v2>1171</v2>
<v3>1182</v3>
</triangle>
<triangle>
<v1>1184</v1>
<v2>1185</v2>
<v3>1186</v3>
</triangle>
<triangle>
<v1>1188</v1>
<v2>1184</v2>
<v3>1187</v3>
</triangle>
<triangle>
<v1>1187</v1>
<v2>1184</v2>
<v3>1186</v3>
</triangle>
<triangle>
<v1>1189</v1>
<v2>1184</v2>
<v3>1188</v3>
</triangle>
<triangle>
<v1>1190</v1>
<v2>1184</v2>
<v3>1189</v3>
</triangle>
<triangle>
<v1>1191</v1>
<v2>1184</v2>
<v3>1190</v3>
</triangle>
<triangle>
<v1>1192</v1>
<v2>1184</v2>
<v3>1191</v3>
</triangle>
<triangle>
<v1>1193</v1>
<v2>1184</v2>
<v3>1192</v3>
</triangle>
<triangle>
<v1>1194</v1>
<v2>1184</v2>
<v3>1193</v3>
</triangle>
<triangle>
<v1>1195</v1>
<v2>1184</v2>
<v3>1194</v3>
</triangle>
<triangle>
<v1>1183</v1>
<v2>1184</v2>
<v3>1195</v3>
</triangle>
<triangle>
<v1>1198</v1>
<v2>1197</v2>
<v3>1196</v3>
</triangle>
<triangle>
<v1>1200</v1>
<v2>1198</v2>
<v3>1199</v3>
</triangle>
<triangle>
<v1>1199</v1>
<v2>1198</v2>
<v3>1196</v3>
</triangle>
<triangle>
<v1>1201</v1>
<v2>1198</v2>
<v3>1200</v3>
</triangle>
<triangle>
<v1>1202</v1>
<v2>1198</v2>
<v3>1201</v3>
</triangle>
<triangle>
<v1>1203</v1>
<v2>1198</v2>
<v3>1202</v3>
</triangle>
<triangle>
<v1>1204</v1>
<v2>1198</v2>
<v3>1203</v3>
</triangle>
<triangle>
<v1>1205</v1>
<v2>1198</v2>
<v3>1204</v3>
</triangle>
<triangle>
<v1>1206</v1>
<v2>1198</v2>
<v3>1205</v3>
</triangle>
<triangle>
<v1>1207</v1>
<v2>1198</v2>
<v3>1206</v3>
</triangle>
<triangle>
<v1>1208</v1>
<v2>1198</v2>
<v3>1207</v3>
</triangle>
<triangle>
<v1>1209</v1>
<v2>1198</v2>
<v3>1208</v3>
</triangle>
<triangle>
<v1>1210</v1>
<v2>1198</v2>
<v3>1209</v3>
</triangle>
<triangle>
<v1>1227</v1>
<v2>1213</v2>
<v3>1212</v3>
</triangle>
<triangle>
<v1>1214</v1>
<v2>1227</v2>
<v3>1211</v3>
</triangle>
<triangle>
<v1>1211</v1>
<v2>1227</v2>
<v3>1212</v3>
</triangle>
<triangle>
<v1>1215</v1>
<v2>1227</v2>
<v3>1214</v3>
</triangle>
<triangle>
<v1>1216</v1>
<v2>1227</v2>
<v3>1215</v3>
</triangle>
<triangle>
<v1>1217</v1>
<v2>1227</v2>
<v3>1216</v3>
</triangle>
<triangle>
<v1>1218</v1>
<v2>1227</v2>
<v3>1217</v3>
</triangle>
<triangle>
<v1>1219</v1>
<v2>1227</v2>
<v3>1218</v3>
</triangle>
<triangle>
<v1>1220</v1>
<v2>1227</v2>
<v3>1219</v3>
</triangle>
<triangle>
<v1>1221</v1>
<v2>1227</v2>
<v3>1220</v3>
</triangle>
<triangle>
<v1>1222</v1>
<v2>1227</v2>
<v3>1221</v3>
</triangle>
<triangle>
<v1>1223</v1>
<v2>1227</v2>
<v3>1222</v3>
</triangle>
<triangle>
<v1>1224</v1>
<v2>1227</v2>
<v3>1223</v3>
</triangle>
<triangle>
<v1>1225</v1>
<v2>1227</v2>
<v3>1224</v3>
</triangle>
<triangle>
<v1>1226</v1>
<v2>1227</v2>
<v3>1225</v3>
</triangle>
<triangle>
<v1>1229</v1>
<v2>1230</v2>
<v3>1231</v3>
</triangle>
<triangle>
<v1>1233</v1>
<v2>1229</v2>
<v3>1232</v3>
</triangle>
<triangle>
<v1>1232</v1>
<v2>1229</v2>
<v3>1231</v3>
</triangle>
<triangle>
<v1>1234</v1>
<v2>1229</v2>
<v3>1233</v3>
</triangle>
<triangle>
<v1>1235</v1>
<v2>1229</v2>
<v3>1234</v3>
</triangle>
<triangle>
<v1>1236</v1>
<v2>1229</v2>
<v3>1235</v3>
</triangle>
<triangle>
<v1>1237</v1>
<v2>1229</v2>
<v3>1236</v3>
</triangle>
<triangle>
<v1>1238</v1>
<v2>1229</v2>
<v3>1237</v3>
</triangle>
<triangle>
<v1>1239</v1>
<v2>1229</v2>
<v3>1238</v3>
</triangle>
<triangle>
<v1>1240</v1>
<v2>1229</v2>
<v3>1239</v3>
</triangle>
<triangle>
<v1>1228</v1>
<v2>1229</v2>
<v3>1240</v3>
</triangle>
<triangle>
<v1>1257</v1>
<v2>1242</v2>
<v3>1241</v3>
</triangle>
<triangle>
<v1>1244</v1>
<v2>1257</v2>
<v3>1243</v3>
</triangle>
<triangle>
<v1>1243</v1>
<v2>1257</v2>
<v3>1241</v3>
</triangle>
<triangle>
<v1>1245</v1>
<v2>1257</v2>
<v3>1244</v3>
</triangle>
<triangle>
<v1>1246</v1>
<v2>1257</v2>
<v3>1245</v3>
</triangle>
<triangle>
<v1>1247</v1>
<v2>1257</v2>
<v3>1246</v3>
</triangle>
<triangle>
<v1>1248</v1>
<v2>1257</v2>
<v3>1247</v3>
</triangle>
<triangle>
<v1>1249</v1>
<v2>1257</v2>
<v3>1248</v3>
</triangle>
<triangle>
<v1>1250</v1>
<v2>1257</v2>
<v3>1249</v3>
</triangle>
<triangle>
<v1>1251</v1>
<v2>1257</v2>
<v3>1250</v3>
</triangle>
<triangle>
<v1>1252</v1>
<v2>1257</v2>
<v3>1251</v3>
</triangle>
<triangle>
<v1>1253</v1>
<v2>1257</v2>
<v3>1252</v3>
</triangle>
<triangle>
<v1>1254</v1>
<v2>1257</v2>
<v3>1253</v3>
</triangle>
<triangle>
<v1>1255</v1>
<v2>1257</v2>
<v3>1254</v3>
</triangle>
<triangle>
<v1>1256</v1>
<v2>1257</v2>
<v3>1255</v3>
</triangle>
</volume>
</mesh>
</object>
</amf>

/Designs/ROBOTS/IRRAD01A/SW/irrad.py
0,0 → 1,218
#!/usr/bin/python
#uncomment for debbug purposes
#import logging
#logging.basicConfig(level=logging.DEBUG)
import sys
import time
from pymlab import config
class axis:
def __init__(self, SPI_CS, Direction, StepsPerUnit):
' One axis of robot '
self.CS = SPI_CS
self.Dir = Direction
self.SPU = StepsPerUnit
self.Reset()
def Reset(self):
' Reset Axis and set default parameters for H-bridge '
spi.SPI_write_byte(self.CS, 0xC0) # reset
spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup
spi.SPI_write_byte(self.CS, 0x7F)
spi.SPI_write_byte(self.CS, 0x14) # Over Current Treshold setup
spi.SPI_write_byte(self.CS, 0x0F)
#spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
#spi.SPI_write_byte(self.CS, 0x00)
#spi.SPI_write_byte(self.CS, 0x30)
#spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN
#spi.SPI_write_byte(self.CS, 0x50)
def MaxSpeed(self, speed):
' Setup of maximum speed '
spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, speed)
def ReleaseSW(self):
' Go away from Limit Switch '
while self.ReadStatusBit(2) == 1: # is Limit Switch ON ?
spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW
while self.IsBusy():
pass
self.MoveWait(10) # move 10 units away
def GoZero(self, speed):
' Go to Zero position '
self.ReleaseSW()
spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, speed)
while self.IsBusy():
pass
time.sleep(0.3)
self.ReleaseSW()
def Move(self, units):
' Move some distance units from current position '
steps = units * self.SPU # translate units to steps
if steps > 0: # look for direction
spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1))
else:
spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1))
steps = int(abs(steps))
spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF)
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF)
spi.SPI_write_byte(self.CS, steps & 0xFF)
def MoveWait(self, units):
' Move some distance units from current position and wait for execution '
self.Move(units)
while self.IsBusy():
pass
def Float(self):
' switch H-bridge to High impedance state '
spi.SPI_write_byte(self.CS, 0xA0)
def ReadStatusBit(self, bit):
' Report given status bit '
spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS)
spi.SPI_write_byte(self.CS, 0x00)
data0 = spi.SPI_read_byte() # 1st byte
spi.SPI_write_byte(self.CS, 0x00)
data1 = spi.SPI_read_byte() # 2nd byte
#print hex(data0), hex(data1)
if bit > 7: # extract requested bit
OutputBit = (data0 >> (bit - 8)) & 1
else:
OutputBit = (data1 >> bit) & 1
return OutputBit
def IsBusy(self):
""" Return True if tehre are motion """
if self.ReadStatusBit(1) == 1:
return False
else:
return True
# End Class axis --------------------------------------------------
cfg = config.Config(
i2c = {
"port": 1,
},
bus =
[
{
"type": "i2chub",
"address": 0x70,
"children":
[
{ "name":"spi", "type":"i2cspi", "channel":7}
],
},
],
)
cfg.initialize()
print "Irradiation unit. \r\n"
spi = cfg.get_device("spi")
spi.route()
try:
while True:
print "SPI configuration.."
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
print "Robot inicialization"
X = axis(spi.I2CSPI_SS1, 0, 641)
Y = axis(spi.I2CSPI_SS0, 1, 642)
Z = axis(spi.I2CSPI_SS2, 1, 32256)
X.MaxSpeed(35) # max. 50
Y.MaxSpeed(35) # max. 50
Z.MaxSpeed(20) # max. 30
Z.GoZero(100)
Y.GoZero(20)
X.GoZero(20)
time.sleep(1)
X.Move(16)
Y.Move(150)
Z.MoveWait(39)
time.sleep(1)
Z.MoveWait(-5)
print "Robot is running"
xcorner = 72
xsteps = 9
ysteps = 6 # *2 + 1 line
yy = 0
space = 4
grid = 8
delay = 50
X.MoveWait(xcorner)
for y in range(ysteps):
for x in range(xsteps):
print x, yy
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(grid)
Y.MoveWait(-grid)
yy += 1
for x in range(xsteps):
print x, yy
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(-grid)
Y.MoveWait(-grid)
yy += 1
for x in range(xsteps):
print x, yy
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(grid)
Y.MoveWait(-20)
X.MoveWait(-(xcorner+(xsteps-1)*grid))
#Z.MoveWait(-10)
Y.MoveWait(ysteps*grid*2+20)
X.Float()
Y.Float()
Z.Float()
while True:
print X.ReadStatusBit(2), "end"
time.sleep(1)
finally:
print "stop"
Property changes:
Added: svn:executable
+*
\ No newline at end of property

/Designs/ROBOTS/IRRAD01A/SW/test_delay_irrad.py
0,0 → 1,222
#!/usr/bin/python
#uncomment for debbug purposes
#import logging
#logging.basicConfig(level=logging.DEBUG)
import sys
import time
from pymlab import config
class axis:
def __init__(self, SPI_CS, Direction, StepsPerUnit):
' One axis of robot '
self.CS = SPI_CS
self.Dir = Direction
self.SPU = StepsPerUnit
self.Reset()
def Reset(self):
' Reset Axis and set default parameters for H-bridge '
spi.SPI_write_byte(self.CS, 0xC0) # reset
spi.SPI_write_byte(self.CS, 0x14) # Stall Treshold setup
spi.SPI_write_byte(self.CS, 0x7F)
spi.SPI_write_byte(self.CS, 0x14) # Over Current Treshold setup
spi.SPI_write_byte(self.CS, 0x0F)
#spi.SPI_write_byte(self.CS, 0x15) # Full Step speed
#spi.SPI_write_byte(self.CS, 0x00)
#spi.SPI_write_byte(self.CS, 0x30)
#spi.SPI_write_byte(self.CS, 0x0A) # KVAL_RUN
#spi.SPI_write_byte(self.CS, 0x50)
def MaxSpeed(self, speed):
' Setup of maximum speed '
spi.SPI_write_byte(self.CS, 0x07) # Max Speed setup
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, speed)
def ReleaseSW(self):
' Go away from Limit Switch '
while self.ReadStatusBit(2) == 1: # is Limit Switch ON ?
spi.SPI_write_byte(self.CS, 0x92 | (~self.Dir & 1)) # release SW
while self.IsBusy():
pass
self.MoveWait(10) # move 10 units away
def GoZero(self, speed):
' Go to Zero position '
self.ReleaseSW()
spi.SPI_write_byte(self.CS, 0x82 | (self.Dir & 1)) # Go to Zero
spi.SPI_write_byte(self.CS, 0x00)
spi.SPI_write_byte(self.CS, speed)
while self.IsBusy():
pass
time.sleep(0.3)
self.ReleaseSW()
def Move(self, units):
' Move some distance units from current position '
steps = units * self.SPU # translate units to steps
if steps > 0: # look for direction
spi.SPI_write_byte(self.CS, 0x40 | (~self.Dir & 1))
else:
spi.SPI_write_byte(self.CS, 0x40 | (self.Dir & 1))
steps = int(abs(steps))
spi.SPI_write_byte(self.CS, (steps >> 16) & 0xFF)
spi.SPI_write_byte(self.CS, (steps >> 8) & 0xFF)
spi.SPI_write_byte(self.CS, steps & 0xFF)
def MoveWait(self, units):
' Move some distance units from current position and wait for execution '
self.Move(units)
while self.IsBusy():
pass
def Float(self):
' switch H-bridge to High impedance state '
spi.SPI_write_byte(self.CS, 0xA0)
def ReadStatusBit(self, bit):
' Report given status bit '
spi.SPI_write_byte(self.CS, 0x39) # Read from address 0x19 (STATUS)
spi.SPI_write_byte(self.CS, 0x00)
data0 = spi.SPI_read_byte() # 1st byte
spi.SPI_write_byte(self.CS, 0x00)
data1 = spi.SPI_read_byte() # 2nd byte
#print hex(data0), hex(data1)
if bit > 7: # extract requested bit
OutputBit = (data0 >> (bit - 8)) & 1
else:
OutputBit = (data1 >> bit) & 1
return OutputBit
def IsBusy(self):
""" Return True if tehre are motion """
if self.ReadStatusBit(1) == 1:
return False
else:
return True
# End Class axis --------------------------------------------------
cfg = config.Config(
i2c = {
"port": 1,
},
bus =
[
{
"type": "i2chub",
"address": 0x70,
"children":
[
{ "name":"spi", "type":"i2cspi", "channel":7}
],
},
],
)
cfg.initialize()
print "Irradiation unit. \r\n"
spi = cfg.get_device("spi")
spi.route()
try:
while True:
print "SPI configuration.."
spi.SPI_config(spi.I2CSPI_MSB_FIRST| spi.I2CSPI_MODE_CLK_IDLE_HIGH_DATA_EDGE_TRAILING| spi.I2CSPI_CLK_461kHz)
print "Robot inicialization"
X = axis(spi.I2CSPI_SS1, 0, 641)
Y = axis(spi.I2CSPI_SS0, 1, 642)
Z = axis(spi.I2CSPI_SS2, 1, 32256)
#X.MaxSpeed(50)
#Y.MaxSpeed(50)
#Z.MaxSpeed(30)
X.MaxSpeed(35)
Y.MaxSpeed(35)
Z.MaxSpeed(20)
Z.GoZero(100)
Y.GoZero(20)
X.GoZero(20)
time.sleep(1)
X.Move(16)
Y.Move(150)
Z.MoveWait(39)
time.sleep(1)
Z.MoveWait(-5)
print "Robot is running"
xcorner = 72
xsteps = 9
ysteps = 6 # *2 + 1 line
space = 4
grid = 8
delay = 120
#Y.Move(-4)
X.MoveWait(xcorner)
for y in range(ysteps):
for x in range(xsteps):
print x, y
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(grid)
Y.MoveWait(-grid)
#!!!!delay = delay - 20
for x in range(xsteps):
print x, y
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(-grid)
Y.MoveWait(-grid)
delay = delay - 20
delay = 20 #!!!!!!!!!!!!!!
for x in range(xsteps):
print x, y
Z.MoveWait(space)
time.sleep(delay)
Z.MoveWait(-space)
if x < (xsteps - 1):
X.MoveWait(grid)
Y.MoveWait(-20)
X.MoveWait(-(xcorner+(xsteps-1)*grid))
#Z.MoveWait(-10)
Y.MoveWait(ysteps*grid*2+20)
X.Float()
Y.Float()
Z.Float()
while True:
print X.ReadStatusBit(2)
time.sleep(1)
finally:
print "stop"

/Designs/ROBOTS/IRRAD01A/SW/led_off.sh
0,0 → 1,2
#!/bin/bash
echo none > /sys/class/leds/blue:heartbeat/trigger

/Designs/ROBOTS/IRRAD01A/PrjInfo.txt
0,0 → 1,20

//
// This is a project description file.
//
[InfoShortDescription.en]
Irradiation robot
[InfoShortDescription.cs]
Ozarovaci robot
[InfoLongDescription.en]
This is a robot for irradiation of gel emulsion by natural ionising rays source.
[InfoLongDescription.cs]
Robot pro automaticke ozarovani gelovych emulzi prirodnim zaricem.
[End]

/Designs/ROBOTS/IRRAD01A/irrad_Small.jpg
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svn:mime-type = application/octet-stream
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