From 83627ec287ff10b501b0286d6fd7428f6343fff1 Mon Sep 17 00:00:00 2001
From: Jayant Khatkar <jayant.khatkar@student.uts.edu.au>
Date: Thu, 11 Feb 2021 15:51:37 +1100
Subject: [PATCH] create plan for first print, change home position
(https://code.research.uts.edu.au/bigprint/twins-controller/-/issues/19)
---
src/decmcts.py | 7 +-
src/gcode/CuteOcto_x2.gcode | 21478 ++++++++++++++++++++++++++++++++++
src/gen_cal_test.py | 2 +-
src/greedy.py | 6 +-
4 files changed, 21485 insertions(+), 8 deletions(-)
create mode 100644 src/gcode/CuteOcto_x2.gcode
diff --git a/src/decmcts.py b/src/decmcts.py
index 53ab408..413d82a 100644
--- a/src/decmcts.py
+++ b/src/decmcts.py
@@ -511,7 +511,7 @@ def decmcts(contour_tracker,
if __name__ == "__main__":
# Read gcode file
- model = "flexirex_big"
+ model = "CuteOcto_x2"
tracker = tu.get_tracker(model)
# 3arms simulation
@@ -523,14 +523,13 @@ if __name__ == "__main__":
# 2arms real calibration
env_desc2 = tu.read_env('calibrations/r1_tforms.yaml',
'calibrations/r2_tforms.yaml')
- env = tu.SimEnv(env_desc=env_desc3, gui=False, home=home)
+ env = tu.SimEnv(env_desc=env_desc2, gui=True, home=home)
# decmcts plan first n contours
- c_traj_file = "gcode/" + model + ".c_traj"
cs, plan = decmcts(tracker,
env,
n_layers=2,
- mcts_nodes=1000
+ mcts_nodes=200
)
visualiseCombinedSchedule(cs)
plan.visualise()
diff --git a/src/gcode/CuteOcto_x2.gcode b/src/gcode/CuteOcto_x2.gcode
new file mode 100644
index 0000000..9361495
--- /dev/null
+++ b/src/gcode/CuteOcto_x2.gcode
@@ -0,0 +1,21478 @@
+; generated by Slic3r 1.3.0 on 2021-02-11 at 15:17:12
+
+; external perimeters extrusion width = 1.32mm (33.16mm^3/s)
+; perimeters extrusion width = 1.35mm (67.86mm^3/s)
+; infill extrusion width = 1.35mm (90.48mm^3/s)
+; solid infill extrusion width = 1.35mm (22.62mm^3/s)
+; top infill extrusion width = 1.35mm (16.96mm^3/s)
+
+M107
+M190 S75 ; set bed temperature and wait for it to be reached
+M104 S190 ; set temperature
+G28 ; home all axes
+G1 Z5 F5000 ; lift nozzle
+
+; Filament gcode
+
+M109 S190 ; set temperature and wait for it to be reached
+G21 ; set units to millimeters
+G90 ; use absolute coordinates
+M82 ; use absolute distances for extrusion
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+M107
+; Filament-specific end gcode
+;END gcode for filament
+
+M104 S0 ; turn off temperature
+G28 X0 ; home X axis
+M84 ; disable motors
+
+M140 S0 ; set bed temperature
+; filament used = 3142.9mm (22.2cm3)
+; total filament cost = 0.0
+
+; avoid_crossing_perimeters = 0
+; bed_shape = -322x-322,322x-322,322x322,-322x322
+; bed_temperature = 75
+; before_layer_gcode =
+; between_objects_gcode =
+; bridge_acceleration = 0
+; bridge_fan_speed = 100
+; brim_connections_width = 0
+; brim_width = 0
+; complete_objects = 0
+; cooling = 1
+; default_acceleration = 0
+; disable_fan_first_layers = 3
+; duplicate_distance = 6
+; end_filament_gcode = "; Filament-specific end gcode \n;END gcode for filament\n"
+; end_gcode = M104 S0 ; turn off temperature\nG28 X0 ; home X axis\nM84 ; disable motors\n
+; extruder_clearance_height = 20
+; extruder_clearance_radius = 20
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; fan_always_on = 0
+; fan_below_layer_time = 60
+; filament_colour = #FFFFFF
+; filament_cost = 0
+; filament_density = 0
+; filament_diameter = 3
+; filament_max_volumetric_speed = 0
+; filament_notes = ""
+; first_layer_acceleration = 0
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 200%
+; first_layer_speed = 30
+; first_layer_temperature = 190
+; gcode_arcs = 0
+; gcode_comments = 0
+; gcode_flavor = reprap
+; has_heatbed = 1
+; infill_acceleration = 0
+; infill_first = 0
+; interior_brim_width = 0
+; layer_gcode =
+; max_fan_speed = 100
+; max_layer_height = 0.3
+; max_print_speed = 80
+; max_volumetric_speed = 0
+; min_fan_speed = 35
+; min_layer_height = 0.15
+; min_print_speed = 10
+; min_skirt_length = 0
+; notes =
+; nozzle_diameter = 1.2
+; only_retract_when_crossing_perimeters = 1
+; ooze_prevention = 0
+; output_filename_format = [input_filename_base].gcode
+; perimeter_acceleration = 0
+; post_process =
+; pressure_advance = 0
+; printer_notes =
+; resolution = 0
+; retract_before_travel = 2
+; retract_layer_change = 0
+; retract_length = 2
+; retract_length_toolchange = 10
+; retract_lift = 0
+; retract_lift_above = 0
+; retract_lift_below = 0
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 40
+; skirt_distance = 6
+; skirt_height = 1
+; skirts = 1
+; slowdown_below_layer_time = 5
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "; Filament gcode\n"
+; start_gcode = G28 ; home all axes\nG1 Z5 F5000 ; lift nozzle\n
+; temperature = 190
+; threads = 12
+; toolchange_gcode =
+; travel_speed = 130
+; use_firmware_retraction = 0
+; use_relative_e_distances = 0
+; use_set_and_wait_bed = 0
+; use_set_and_wait_extruder = 0
+; use_volumetric_e = 0
+; vibration_limit = 0
+; wipe = 0
+; z_offset = 0
+; z_steps_per_mm = 0
+; adaptive_slicing = 0
+; adaptive_slicing_quality = 75%
+; dont_support_bridges = 1
+; extrusion_width = 0
+; first_layer_height = 1.2
+; infill_only_where_needed = 0
+; interface_shells = 0
+; layer_height = 1.1
+; match_horizontal_surfaces = 0
+; raft_layers = 0
+; regions_overlap = 0
+; seam_position = aligned
+; sequential_print_priority = 0
+; support_material = 0
+; support_material_angle = 0
+; support_material_buildplate_only = 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_extrusion_width = 0
+; support_material_interface_layers = 3
+; support_material_interface_spacing = 0
+; support_material_interface_speed = 100%
+; support_material_max_layers = 0
+; support_material_pattern = pillars
+; support_material_spacing = 2.5
+; support_material_speed = 60
+; support_material_threshold = 60%
+; xy_size_compensation = 0
+; bottom_infill_pattern = rectilinear
+; bottom_solid_layers = 3
+; bridge_flow_ratio = 1
+; bridge_speed = 60
+; external_perimeter_extrusion_width = 0
+; external_perimeter_speed = 50%
+; external_perimeters_first = 0
+; extra_perimeters = 1
+; fill_angle = 45
+; fill_density = 20%
+; fill_gaps = 1
+; fill_pattern = stars
+; gap_fill_speed = 20
+; infill_every_layers = 1
+; infill_extruder = 1
+; infill_extrusion_width = 0
+; infill_overlap = 55%
+; infill_speed = 80
+; overhangs = 1
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0
+; perimeter_speed = 60
+; perimeters = 3
+; small_perimeter_speed = 15
+; solid_infill_below_area = 70
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0
+; solid_infill_speed = 20
+; thin_walls = 1
+; top_infill_extrusion_width = 0
+; top_infill_pattern = rectilinear
+; top_solid_infill_speed = 15
+; top_solid_layers = 3
diff --git a/src/gen_cal_test.py b/src/gen_cal_test.py
index fde952b..3005cb5 100644
--- a/src/gen_cal_test.py
+++ b/src/gen_cal_test.py
@@ -13,7 +13,7 @@ import pickle
import copy
-home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
+home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
def plan(points, env, gui=False):
diff --git a/src/greedy.py b/src/greedy.py
index 2df61d8..67753c2 100644
--- a/src/greedy.py
+++ b/src/greedy.py
@@ -7,7 +7,7 @@ import warnings
import pickle
-home = [-pi/2, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
+home = [0, -pi/2, pi/4, -pi/4, -pi/2, -pi/4]
def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
@@ -151,7 +151,7 @@ def greedy(contour_tracker, env_desc, n_contours=None, gui=False):
if __name__ == "__main__":
# Read gcode file
- model = "flexirex_big"
+ model = "CuteOcto_x2"
tracker = tu.get_tracker(model)
# 3arms simulation
@@ -165,4 +165,4 @@ if __name__ == "__main__":
'calibrations/r2_tforms.yaml')
# Greedily plan first n contours
- plan = greedy(tracker, env_desc3, n_contours=10, gui=True)
+ plan = greedy(tracker, env_desc2, n_contours=10, gui=True)
--
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