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Feature / Global Axes and Framework for Enhanced Motion Control #1035

Merged
merged 54 commits into from
Aug 13, 2020
Merged

Feature / Global Axes and Framework for Enhanced Motion Control #1035

merged 54 commits into from
Aug 13, 2020

Commits on May 2, 2020

  1. First implementation round. GCodeDriver Axis management is still redu… 

    …ndantly in there.
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  2. Reworked Drivers to flat list.

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Commits on May 3, 2020

  1. Machine Setup Panel Tabs per class restoring and out of bounds bugfix.

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  2. Work in progress, backup commit.

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  3. Add

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Commits on May 4, 2020

  1. Axes and Transformations' Wizards implemented. Reorganized into own a… 

    …xis package. Wrestle with WindowBuilder.
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Commits on May 9, 2020

  1. First time tests run successful. GcodeDriver still partially running … 

    …on its own (redundant) Axis mapping.
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Commits on May 10, 2020

  1. Testing and refining migration with examples.

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  2. Merge branch 'develop' into feature/global-axes 

    # Conflicts resolved:
*	src/main/java/org/openpnp/machine/marek/MarekNozzle.java
*	src/main/java/org/openpnp/machine/neoden4/NeoDen4Driver.java
*	src/main/java/org/openpnp/machine/reference/ReferenceActuator.java
*	src/main/java/org/openpnp/machine/reference/ReferenceCamera.java
*	src/main/java/org/openpnp/machine/reference/ReferenceDriver.java
*	src/main/java/org/openpnp/machine/reference/ReferenceHead.java
*	src/main/java/org/openpnp/machine/reference/ReferenceNozzle.java
*	src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java
*	src/main/java/org/openpnp/machine/reference/driver/NullDriver.java
*	src/main/java/org/openpnp/spi/Movable.java
*	src/main/java/org/openpnp/spi/base/AbstractActuator.java
*	src/main/java/org/openpnp/spi/base/AbstractCamera.java
*	src/test/java/BasicJobTest.java
*	src/test/java/VisionUtilsTest.java
*	src/test/java/org/openpnp/machine/reference/driver/test/TestDriver.java
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  3. Resolved openpnp#998 merging issues.

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  4. Cosmetics.

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Commits on May 12, 2020

  1. Created new AxesLocation for Controller side. Reworked all Transforma… 

    …tions.
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  2. Merge branch 'develop' into feature/global-axes

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  3. Made tests run with AxesLocation.

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  4. Testing: First steps towards "simulated imperfection".

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  5. Tested using NullDriver. 

    * Added simulated Homing Error corrected by Visual Homing
* Added simulated non-squareness corrected by Linear Axis Non-Squareness Transformation
* Added simulated vibration to test Camera Settle
* Added simulated camera noise to test Camera Settle
* Added simulated nozzle runout to test Runout Compensation
No Unit yet.
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Commits on May 13, 2020

  1. Merge branch 'develop' into feature/global-axes

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  2. Restrict image transfer to the area of the source image, to fix some … 

    …wrapping-around when going beyond the image margin.
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Commits on May 14, 2020

  1. Backup commit.

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Commits on May 15, 2020

  1. Factored OpenCvUtils.createFootprintTemplate() out for use outside of… 

    … stages.
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  2. SimulationModeMachine can now check pick and place Locations by inspe… 

    …cting the ImageCamera view at the location.
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  3. Sub-pixel rendering etc.

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Commits on May 18, 2020

  1. Refined the NullMotionPlanner and various stuff.

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  2. Fix the camera view rotation jog to work with and respect mapped axes.

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Commits on May 20, 2020

  1. MotionPlanner first implementation. Before MappedAxes refactoring.

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Commits on May 21, 2020

  1. Reworked: no MappedAxes. Axis limits. Rotation wrap-around.

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Commits on May 25, 2020

  1. Added solver.

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Commits on May 26, 2020

  1. Better description and simpler formula. Getting the hang of this.

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  2. More cosmetics

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Commits on May 30, 2020

  1. Backup commit.

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Commits on May 31, 2020

  1. Backup commit.

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Commits on Jun 5, 2020

  1. Added motion solver test. Does not work (yet).

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Commits on Jun 11, 2020

  1. Backup commit

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Commits on Jun 13, 2020

  1. Backup commit before solver remove.

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Commits on Jun 15, 2020

  1. Removed tnc solver. Almost completed profile solver cases.

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Commits on Jun 26, 2020

  1. Backup commit

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Commits on Jun 27, 2020

  1. Changed profile solver to rudimentary secant method.

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  2. Solver seems to work now.

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Commits on Jul 4, 2020

  1. Backup commit

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Commits on Jul 5, 2020

  1. New region solver.

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Commits on Jul 6, 2020

  1. Tests augmented.

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  2. Merge branch 'develop' into feature/global-axes 

    Conflicts resolved:
*	src/main/java/org/openpnp/machine/reference/ReferenceMachine.java
*	src/main/java/org/openpnp/machine/reference/ReferenceNozzleTipCalibration.java
*	src/main/java/org/openpnp/machine/reference/driver/GcodeDriver.java
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Commits on Jul 8, 2020

  1. Before reworking path solver.

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Commits on Jul 27, 2020

  1. Backup before reworking path solving/half sided profiles.

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Commits on Aug 5, 2020

  1. Finish without trying to implement advanced motion planning. Cleanup … 

    …and better comments.
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  2. Merge branch 'develop' into feature/global-axes 

    Resolved Conflicts:
*	src/main/java/org/openpnp/machine/reference/ReferenceMachine.java
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Commits on Aug 6, 2020

  1. Better comments.

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  2. Removed unnecessary (whitespace) changes etc. Better comments.

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Commits on Aug 7, 2020

  1. Merge branch 'develop' into feature/global-axes 

    Conflicts resolved:
*	src/test/java/VisionUtilsTest.java
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Commits on Aug 8, 2020

  1. Self code review bugfixes.

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  2. Constant acceleration profiles. 

    Optionally test an imperfect machine in the SampleJobTest.
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Commits on Aug 9, 2020

  1. Simplify Motion and MotionOption. 

    Implement analytical constant acceleration profile solving for symmetric cases.
Lots of cosmetics.
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  2. Testing on the machine with GcodeDriver: refinements and bugfixes.

    @markmaker
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  3. Test bugfix.

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