`science_jubilee.Machine`#

Driver for Controlling Jubilee

Module Contents#

Classes#

Machine

A class representation of Jubilee used to send motion commands and polling the machine state.

Functions#

`get_root_dir`()	Return the path to the duckbot directory.
`machine_homed`(func)	Decorator used to check if the machine is homed before performing certain actions.
`requires_deck`(func)	Decorator used ot check if a deck has been configured before performing certain actions.
`requires_safe_z`(func)	Decorator used to ensure the deck is at a safe height before performing certain actions.

science_jubilee.Machine.get_root_dir()#: Return the path to the duckbot directory.

exception science_jubilee.Machine.MachineConfigurationError#

Bases: Exception

Raise this error if there is something wrong with how the machine is configured

exception science_jubilee.Machine.MachineStateError#

Bases: Exception

Raise this error if the machine is in the wrong state to perform the requested action.

science_jubilee.Machine.machine_homed(func)#: Decorator used to check if the machine is homed before performing certain actions.

science_jubilee.Machine.requires_deck(func)#: Decorator used ot check if a deck has been configured before performing certain actions.

science_jubilee.Machine.requires_safe_z(func)#: Decorator used to ensure the deck is at a safe height before performing certain actions.

class science_jubilee.Machine.Machine(port: str = None, baudrate: int = 115200, address: str = None, deck_config: str = None, simulated: bool = False)#

A class representation of Jubilee used to send motion commands and polling the machine state.

property configured_axes#

Return the configured axes of the machine. This is a list of all configured axis on the machine. Usually these are [‘X’, ‘Y’, ‘Z’, ‘U’]. If a tool has a an associated driver, it will be appended at the end of the axis list.

Returns:: A list of configured axes.
Return type:: list

property configured_tools#

Returns a list of configured tools.

Returns:: A list of configured tools.The tool name is queried from the config.g file on the machine.
Return type:: list

Note: This list is obtained directly from the tools added to the machine’s config.g file.

property active_tool_index#

Return the index of the current active tool.

Returns:: The index of the current active tool. If no tool is active, returns -1.
Return type:: int

property tool_z_offsets#

Return (in tool order) a list of tool’s z offsets.

Note: This list is obtained directly from the tools added to the machine’s config.g file.

Returns:: A list of tool z offsets, in the order of the tool index
Return type:: list

property axis_limits#

Return (in XYZU order) a list of tuples specifying (min, max) axis limit

Returns:: A list of tuples specifying (min, max) axis limit
Return type:: list

Note: This list is obtained directly from the tools added to the machine’s config.g file.

property position#

Returns the current machine control point in mm.

Returns:: A dictionary of the machine control point in mm. The keys are the axis name, e.g. ‘X’
Return type:: dict

LOCALHOST = '192.168.1.2'#

connect()#

Connects to Jubilee over http.

Raises:: MachineStateError – If the connection to the machine is unsuccessful.

load_deck(deck_filename: str, path: str = os.path.join(os.path.dirname(__file__), 'decks', 'deck_definition'))#

Load a deck configuration file onto the machine.

Parameters:

deck_filename (str) – The name of the deck configuration file.
path (str, optional) – The path to the deck configuration .json files for the labware, defaults to the ‘deck_definition/’ in the science_jubilee/decks directory.

Returns:

A Deck object

Return type:

Deck

gcode(cmd: str = '', timeout=None, response_wait: float = 30)#

Send a G-Code command to the Machine and return the response.

Parameters:

cmd (str, optional) – The G-Code command to send, defaults to “”
timeout (float, optional) – The time to wait for a response from the machine, defaults to None
response_wait (float, optional) – The time to wait for a response from the machine, defaults to 30

Returns:

The response message from the machine. If too long, the message might not display in the terminal.

Return type:

str

_set_absolute_positioning()#: Set absolute positioning for all axes except extrusion

_set_relative_positioning()#: Set relative positioning for all axes except extrusion

_set_absolute_extrusion()#: Set absolute positioning for extrusion

_set_relative_extrusion()#: Set relative positioning for extrusion

push_machine_state()#: Push machine state onto a stack

pop_machine_state()#: Recover previous machine state

download_file(filepath: str = None, timeout: float = None)#

Download a file into a file object. Full machine filepath must be specified. Example: /sys/tfree0.g

Parameters:

filepath (str, optional) – The full filepath of the file to download, defaults to None
timeout (float, optional) – The time to wait for a response from the machine, defaults to None

Returns:

The file contents

Return type:

file object

reset()#: Issue a software reset.

home_all()#: Home all axes.

home_xyu()#: Home the XYU axes. Home Y before X to prevent possibility of crashing into the tool rack.

home_x()#: Home the X axis

home_y()#: Home the Y axis

home_u()#: Home the U (tool) axis

home_v()#: Home the V axis

home_z()#: Home the Z axis. Note: The deck must be clear first. Will ask for user input to verify.

home_e()#: Home the extruder axis (syringe)

home_in_place(*args: str)#: Set the current location of a machine axis or axes to 0.

set_tool_offset(tool_idx=None, x=None, y=None, z=None)#

_move_xyzev(x: float = None, y: float = None, z: float = None, e: float = None, v: float = None, s: float = 6000, param: str = None, wait: bool = False)#

Move X/Y/Z/E/V axes. Set absolute/relative mode externally.

Parameters:

x (float, optional) – x position on the bed, in whatever units have been set (default mm)
y (float, optional) – y position on the bed, in whatever units have been set (default mm)
z (float, optional) – z position on the bed, in whatever units have been set (default mm)
e (float, optional) – extruder position, in whatever units have been set (default mm)
v (float, optional) – v axis position, in whatever units have been set (default mm)
s (float, optional) – speed at which to move (default 6000 mm/min)

move_to(x: float = None, y: float = None, z: float = None, e: float = None, v: float = None, s: float = 6000, param: str = None, wait: bool = False)#

Move to an absolute X/Y/Z/E/V position.

Parameters:

x (float, optional) – x position on the bed, in whatever units have been set (default mm)
y (float, optional) – y position on the bed, in whatever units have been set (default mm)
z (float, optional) – z position on the bed, in whatever units have been set (default mm)
e (float, optional) – extruder position, in whatever units have been set (default mm)
v (float, optional) – v axis position, in whatever units have been set (default mm)
s (float, optional) – speed at which to move (default 6000 mm/min)

move(dx: float = 0, dy: float = 0, dz: float = 0, de: float = 0, dv: float = 0, s: float = 6000, param: str = None, wait: bool = False)#

Move relative to the current position

Parameters:

dx (float, optional) – change in x position, in whatever units have been set (default mm)
dy (float, optional) – change in y position, in whatever units have been set (default mm)
dz (float, optional) – change in z position, in whatever units have been set (default mm)
de (float, optional) – change in e position, in whatever units have been set (default mm)
dv (float, optional) – change in v position, in whatever units have been set (default mm)
s (float, optional) – speed at which to move (default 6000 mm/min)

dwell(t: float, millis: bool = True)#

Pauses the machine for a period of time.

Parameters:

t (float) – time to pause, in milliseconds by default
millis (bool, optional) – boolean, set to false to use seconds. default unit is milliseconds.

safe_z_movement()#: Move the Z axis to a safe height to avoid crashing into labware.

_get_tool_index(tool_item: int | science_jubilee.tools.Tool.Tool | str)#

Return the tool index from the provided tool item.

This method is allows the user to call a toll by its index, its name, or to use a Tool object directly.

Parameters:: tool_item (Union[int, Tool, str]) – The tool index, name, or Tool object
Returns:: The tool index
Return type:: int

load_tool(tool: science_jubilee.tools.Tool.Tool = None)#: Add a new tool for use on the machine.

reload_tool(tool: science_jubilee.tools.Tool.Tool = None)#: Update a tool which has already been loaded.

pickup_tool(tool_id: int | str | science_jubilee.tools.Tool.Tool)#

Pick up the tool specified by a tool index, name or Tool object.

Parameters:

tool_id (Union[int, str, Tool]) – The tool index, name, or Tool object

Raises:

MachineConfigurationError – If the tool is not loaded on the machine.
ValueError – If the indicated tool_id is not of type Union[int, str, Tool].

park_tool()#: Park the current tool adn cahnges active tool index to -1.

get_position()#

Get the current position of the machine control point in mm.

Returns:: A dictionary of the machine control point in mm. The keys are the axis name, e.g. ‘X’
Return type:: dict

load_labware(labware_filename: str, slot: int, path: str = None, order: str = 'rows')#

Function that loads a labware and associates it with a specific slot on the deck.: The slot offset is also applied to the labware asocaite with it.

Parameters:

labware_filename (str) – The name of the labware configuration file.
slot (int) – The index of the slot to load the labware into.
path (str, optional) – The path to the labware configuration .json files for the labware.
order (str, optional) – The order in which the labware is arranged on the deck. Can be ‘rows’ or ‘columns’, defaults to ‘rows’.

Returns:

The Labware object that has been loaded into the slot.

Return type:

Labware

tool_lock()#: Runs Jubilee tool lock macro. Assumes tool_lock.g macro exists.

tool_unlock()#: Runs Jubilee tool unlock macro. Assumes tool_unlock.g macro exists.

disconnect()#: Close the connection.

__enter__()#

__exit__(*args)#

science_jubilee.Machine#

Module Contents#

Classes#

Functions#

`science_jubilee.Machine`#