Examples of org.openpnp.spi.Head

org.openpnp.spi.Head
A Head is a movable group of components attached to a Machine. Components which can be attached consist of Nozzles, Actuators and Cameras. A Head itself is not directly movable, but can be moved by moving any one of it's components. When any attached component is moved in (at least) X or Y, it is expected that all components attached to the Head also move in the same axes.

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


            Head head = getSelectedHead();


            configurationPanel.removeAll();
            if (head != null) {
              Wizard wizard = head.getConfigurationWizard();
              if (wizard != null) {
                wizard.setWizardContainer(HeadsPanel.this);
                JPanel panel = wizard.getWizardPanel();
                configurationPanel.add(panel);
              }

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        jobProcessor.addListener(new BasicJobTestProcessorListener(notifier));
        jobProcessor.setDelegate(new BasicJobTestJobProcessorDelegate());


        Job job = createSimpleJob();


        Head h1 = machine.getHead("H1");
        Nozzle n1 = h1.getNozzle("N1");
        Nozzle n2 = h1.getNozzle("N2");


        delegate.expectMove("Move N1 to F1", n1, new Location(LengthUnit.Millimeters, -10, 0, 0, 0), 1.0);
        delegate.expectPick(n1);
        
        delegate.expectMove("Move N2 to F1", n2, new Location(LengthUnit.Millimeters, -20, 0, 0, 0), 1.0);

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     * @param location
     * @param speed
     * @throws Exception
     */
    public static void moveToLocationAtSafeZ(HeadMountable hm, Location location, double speed) throws Exception {
        Head head = hm.getHead();
        head.moveToSafeZ(speed);
        hm.moveTo(location.derive(null, null, Double.NaN, null), speed);
        hm.moveTo(location, speed);
    }

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  public HeadCellValue(Head head) {
    this.head = head;
  }


  public HeadCellValue(String value) {
    Head head = configuration.getMachine().getHead(value);
    if (head == null) {
      throw new NullPointerException();
    }
    this.head = head;
  }

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  }
  
  private boolean step5() {
    MainFrame.machineControlsPanel.submitMachineTask(new Runnable() {
      public void run() {
        Head head = Configuration.get().getMachine().getHeads().get(0);
        try {
          Camera camera = MainFrame.cameraPanel
              .getSelectedCamera();
          Location location = jobPanel.getSelectedBoardLocation()
              .getLocation();

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  }
  
  private boolean step5() {
    MainFrame.machineControlsPanel.submitMachineTask(new Runnable() {
      public void run() {
        Head head = Configuration.get().getMachine().getHeads().get(0);
        try {
          Camera camera = MainFrame.cameraPanel
              .getSelectedCamera();
          Location location = jobPanel.getSelectedBoardLocation()
              .getLocation();

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        return;
      }
    }
    
    JobPlanner jobPlanner = machine.getJobPlanner();
    Head head = machine.getHeads().get(0);
    
    jobPlanner.setJob(job);


        Set<PlacementSolution> solutions;
    while ((solutions = jobPlanner.getNextPlacementSolutions(head)) != null) {

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   *     Highest placement location.
   *     Highest pick location.
   */
  protected void preProcessJob(Machine machine) {
        JobPlanner jobPlanner = machine.getJobPlanner();
        Head head = machine.getHeads().get(0);
        
        jobPlanner.setJob(job);


        Set<PlacementSolution> solutions;
        while ((solutions = jobPlanner.getNextPlacementSolutions(head)) != null) {

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    protected Set<PlacementSolution> solutions = new LinkedHashSet<PlacementSolution>();
    
    @Override
    public void setJob(Job job) {
        super.setJob(job);
        Head head = Configuration.get().getMachine().getHeads().get(0);
        for (BoardLocation boardLocation : job.getBoardLocations()) {
            for (Placement placement : boardLocation.getBoard().getPlacements()) {
                if (!placement.isPlace()) {
                    System.out.println("Skipping " + placement);
                    continue;

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    if (actuatorId == null) {
      throw new Exception("No actuator ID set.");
    }
    
    
    Head head = nozzle.getHead();
    
    /*
     * TODO: We can optimize the feed process:
     * If we are already higher than the Z we will move to to index plus
     * 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;

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Related Classes of org.openpnp.spi.Head

BasicJobTest

org.openpnp.gui.HeadsPanel

org.openpnp.gui.processes.FourPlacementBoardLocationProcess

org.openpnp.gui.processes.TwoPlacementBoardLocationProcess

org.openpnp.gui.support.HeadCellValue

org.openpnp.gui.tablemodel.HeadsTableModel

org.openpnp.machine.reference.feeder.ReferenceTapeFeeder

org.openpnp.machine.reference.ReferenceJobProcessor

org.openpnp.machine.zippy.ZippyJobProcessor

org.openpnp.machine.zippy.ZippyNozzleTip

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