Printer Overview

Printer Class is the main class which will handle initialization of stages and controller. Images captured by camera interface will be pass to printer class. The location of this file is src -> system -> printer.py and the configuration file is config -> printer.yaml parameters to which are as follow:

# File -> printer.yaml

axes:
    - x_axis:
        - id: 0
        - speed: 5
        - speed_fast: 50
    - y_axis:
        - id: 1
        - speed: 5
        - speed_fast: 50
    - z_axis:
        - id: 2
        - speed: 50
        - speed_slow: 0.5

camera_offset:
    - -98.3159
    - 1.1260
    - 5.2599

moving_height: 18

 recipe:
    - 0
    - 0
    - 0

Printer Test

Printer Class could be tested in two ways, one is to test movement without pressure and one with pressure.

1. Movement Test

In order to test the movement of the stages, three scripts corresponding to each stage is provided in tests -> move directory.

Note: Use +/- ve with --displacement flag to change direction of movement

Move stages in x axis:

python tests/move/x.py --displacement 10 --speed 1

Move stages in y axis:

python tests/move/y.py --displacement 10 --speed 1

Move stages in z axis:

python tests/move/z.py --displacement 2 --speed 0.5

2. Print Test

In order to test the printing, two scripts are provided one of which prints vertically and other horizontally in tests -> print directory.

Print line horizontally:

python tests/print/horizontal_line.py --displacement 15 --speed 0.4 --pressure 10

Print line vertically:

python tests/print/vertical_line.py --displacement 15 --speed 0.4 --pressure 10