org.openpnp.spi

Interface Head

All Superinterfaces:

Identifiable, Named, PropertySheetHolder, Solutions.Subject, WizardConfigurable

All Known Implementing Classes:

AbstractHead, ReferenceHead

public interface Head
extends Identifiable, Named, WizardConfigurable, PropertySheetHolder, Solutions.Subject

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.

Nested Class Summary

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Method Summary

Modifier and Type	Method and Description
void	actuatePumpRequest(Nozzle nozzle, boolean on) Request a pump actuation.
void	addActuator(Actuator actuator)
void	addCamera(Camera camera)
void	addNozzle(Nozzle nozzle)
Actuator	getActuator(java.lang.String id) Get the Actuator attached to this Head that has the specified id.
Actuator	getActuatorByName(java.lang.String name) Get the Actuator attached to this Head that has the specified name.
java.util.List<Actuator>	getActuators() Get a list of Actuators that are attached to this Head.
Camera	getCamera(java.lang.String id) Get the Camera attached to this Head that has the specified id.
java.util.List<Camera>	getCameras() Get a list of Cameras that are attached to this Head.
Camera	getDefaultCamera()
HeadMountable	getDefaultHeadMountable()
Nozzle	getDefaultNozzle()
java.util.List<HeadMountable>	getHeadMountables() Get a list of all the HeadMountables attached to this Head.
Machine	getMachine()
double	getMaxPartSpeed() Returns the maximum speed percentage allowed by any parts being carried by the Nozzles on the Head.
Nozzle	getNozzle(java.lang.String id) Get the Nozzle attached to this Head that has the specified id.
Nozzle	getNozzleByName(java.lang.String name)
java.util.List<Nozzle>	getNozzles() Get a list of Nozzles that are attached to this head.
Location	getParkLocation()
Actuator	getPumpActuator()
Actuator	getzProbeActuator()
void	home() Directs the Head to move to it's home position and to move any attached devices to their home positions.
boolean	isCarryingPart() Returns true if any nozzle on the Head is currently carrying a part.
void	moveTo(HeadMountable hm, Location location, double speed, Motion.MotionOption... options) All HeadMountable motion must go through the head to map to the right drivers.
void	moveToSafeZ()
void	moveToSafeZ(double speed)
void	permutateActuator(Actuator actuator, int direction)
void	permutateCamera(Camera camera, int direction)
void	permutateNozzle(Nozzle nozzle, int direction)
void	removeActuator(Actuator actuator)
void	removeCamera(Camera camera)
void	removeNozzle(Nozzle nozzle)
void	setMachine(Machine machine)

Methods inherited from interface org.openpnp.model.Identifiable

getId

Methods inherited from interface org.openpnp.model.Named

getName, setName

Methods inherited from interface org.openpnp.spi.WizardConfigurable

getConfigurationWizard

Methods inherited from interface org.openpnp.spi.PropertySheetHolder

getChildPropertySheetHolders, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets

Methods inherited from interface org.openpnp.model.Solutions.Subject

findIssues, getSubjectIcon, getSubjectText

Method Detail

getNozzles

java.util.List<Nozzle> getNozzles()

Get a list of Nozzles that are attached to this head.

Returns:

getNozzle

Nozzle getNozzle(java.lang.String id)

Get the Nozzle attached to this Head that has the specified id.

Parameters:

id -

Returns:

getNozzleByName

Nozzle getNozzleByName(java.lang.String name)

getActuators

java.util.List<Actuator> getActuators()

Get a list of Actuators that are attached to this Head.

Returns:

getActuator

Actuator getActuator(java.lang.String id)

Get the Actuator attached to this Head that has the specified id.

Parameters:

id -

Returns:

getActuatorByName

Actuator getActuatorByName(java.lang.String name)

Get the Actuator attached to this Head that has the specified name. Returns null if the name is null or empty.

Parameters:

id -

Returns:

getCameras

java.util.List<Camera> getCameras()

Get a list of Cameras that are attached to this Head.

Returns:

getCamera

Camera getCamera(java.lang.String id)

Get the Camera attached to this Head that has the specified id.

Parameters:

id -

Returns:

getHeadMountables

java.util.List<HeadMountable> getHeadMountables()

Get a list of all the HeadMountables attached to this Head.

Returns:

home

void home()
   throws java.lang.Exception

Directs the Head to move to it's home position and to move any attached devices to their home positions.

Throws:

java.lang.Exception

addCamera

void addCamera(Camera camera)
        throws java.lang.Exception

Throws:

java.lang.Exception

removeCamera

void removeCamera(Camera camera)

permutateCamera

void permutateCamera(Camera camera,
                     int direction)

addNozzle

void addNozzle(Nozzle nozzle)
        throws java.lang.Exception

Throws:

java.lang.Exception

permutateNozzle

void permutateNozzle(Nozzle nozzle,
                     int direction)

removeNozzle

void removeNozzle(Nozzle nozzle)

addActuator

void addActuator(Actuator actuator)
          throws java.lang.Exception

Throws:

java.lang.Exception

removeActuator

void removeActuator(Actuator actuator)

permutateActuator

void permutateActuator(Actuator actuator,
                       int direction)

moveToSafeZ

void moveToSafeZ(double speed)
          throws java.lang.Exception

Throws:

java.lang.Exception

moveToSafeZ

void moveToSafeZ()
          throws java.lang.Exception

Throws:

java.lang.Exception

getDefaultCamera

Camera getDefaultCamera()
                 throws java.lang.Exception

Throws:

java.lang.Exception

getDefaultNozzle

Nozzle getDefaultNozzle()
                 throws java.lang.Exception

Throws:

java.lang.Exception

getDefaultHeadMountable

HeadMountable getDefaultHeadMountable()
                               throws java.lang.Exception

Returns:

The default HeadMountable on a Head. A Camera takes precedence, but if none is present, the first HeadMountable will do.

Throws:

java.lang.Exception

setMachine

void setMachine(Machine machine)

getMachine

Machine getMachine()

getParkLocation

Location getParkLocation()

moveTo

void moveTo(HeadMountable hm,
            Location location,
            double speed,
            Motion.MotionOption... options)
     throws java.lang.Exception

All HeadMountable motion must go through the head to map to the right drivers.

Parameters:

hm -

location -

speed -

Throws:

java.lang.Exception

isCarryingPart

boolean isCarryingPart()

Returns true if any nozzle on the Head is currently carrying a part.

Returns:

getMaxPartSpeed

double getMaxPartSpeed()

Returns the maximum speed percentage allowed by any parts being carried by the Nozzles on the Head. The slowest part will dictate the max.

Returns:

getzProbeActuator

Actuator getzProbeActuator()

getPumpActuator

Actuator getPumpActuator()

actuatePumpRequest

void actuatePumpRequest(Nozzle nozzle,
                        boolean on)
                 throws java.lang.Exception

Request a pump actuation. It will be subject to pump control method, the presence of parts on other nozzles etc., whether the pump will actually be actuated.

Parameters:

nozzle -

on -

Throws:

java.lang.Exception