Software Questions

[mcgyvr]

maybe some of these would be good in a FAQ. I'd love to help as much
as I can because I have the physical machine all ready to go.. But I'm
not a programmer by any means really..
#1-How do I tell openpnp what port the arduino is on? Or does it just
know..
#2-How to jog each axis?
#3-How to turn on camera crosshairs?
#4-It seems really buggy setting up cameras on windows (vista 32
bit)..Many times it will just freeze when I press the apply button
trying to set it up.. Or I get a "solarized" look like in this
picture. https://dl.dropbox.com/u/9726802/openpnp720%20camera.PNG Or I
just get a gray screen.. And isn't directshow better than/replaced
vfw? IDK
#5-I installed opencv 2.4.2 but do I have to do something else to set
it up?
#6-Whats the opencv camera for?
#7-delete button for cameras doesn't work.. It would be nice.
#8-Is any of the vision really working at this point?
more to come....

[mcgyvr]

#9-Are these the correct pins?
#10-What are Spindle enab/dir and Flood coolant used for.. I assume
one is for the tip vacuum right? Which?


Mega328P Arduino Pin Mapping
Digital 0 PD0 (RX)
Digital 1 PD1 (TX)
Digital 2 PD2 (X Step Pin)
Digital 3 PD3 (Y Step Pin)
Digital 4 PD4 (Z Step Pin)
Digital 5 PD5 (C Step Pin)
Digital 6 PD6 (Spindle Enable)
Digital 7 PD7 (Spindle Direction)
Digital 8 PB0 (X Limit)
Digital 9 PB1 (Y Limit)
Digital 10 PB2 (Z Limit)
Digital 11 PB3 (MOSI)(C Limit)
Digital 12 PB4 (MISO) (Flood Coolant)
Digital 13 PB5 (SCK)

Analog 0 PC0 (X Direction Pin)
Analog 1 PC1 (Y Direction Pin)
Analog 2 PC2 (Z Direction Pin)
Analog 3 PC3 (C Direction Pin)
Analog 4 PC4 (Steppers Enable)

[Jason von Nieda]

These questions are great, and I completely agree that they should be
in the FAQ - or user manual for a lot of it. This type of questioning
is very helpful to me because it lets me understand what is not clear.

I am neck deep in code today, so I am not going to respond to all of
this right now but I will write up a full response this evening and
send it out. Hopefully that will answer your questions and maybe some
that others have. In the mean time, please keep the questions coming.
I might not always be able to respond right away but at the very least
it gives a record of things that need to be in the manual or FAQ.

Thanks,
Jason

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[Jason von Nieda]

On Sun, Jul 22, 2012 at 12:28 PM, mcgyvr <mcgyv...@gmail.com> wrote:
> maybe some of these would be good in a FAQ. I'd love to help as much
> as I can because I have the physical machine all ready to go.. But I'm
> not a programmer by any means really..
> #1-How do I tell openpnp what port the arduino is on? Or does it just
> know..

By default, the first time you start OpenPnP it creates a set of
template configuration files in your home directory under a
subdirectory called .openpnp/. In Windows (Vista+) and Mac this would
be /Users/You/.openpnp/, in Linux it would be /home/you/.openpnp/.

The main file of interest for this question is machine.xml. This
contains the configuration for your entire machine. In general you
don't need to edit this file manually but setting up the port and
driver information is one part of the program that has not had a GUI
created for it. It'll be another few weeks.

In any case, edit machine.xml with your favorite text editor and replace:

===
<driver class="org.openpnp.machine.reference.driver.NullDriver"/>
===

with

===
<driver class="org.openpnp.machine.reference.driver.SprinterDriver"
port-name="/dev/tty.usbmodem241141" baud="115200" vacuum-pin="31"
actuator-pin="33"/>
===

for Sprinter, or for Grbl:

===
<driver class="org.openpnp.machine.reference.driver.GrblDriver"
port-name="/dev/tty.usbmodem241141" baud="38400" />
===

Replace the port-name with the serial port name for your system. In
Windows it would be something like COM3, COM4, etc.

> #2-How to jog each axis?

Control-Tab opens the Jog Controls, and you can also use the following
shortcuts:
Ctrl- arrow keys for X and Y
Ctrl- page up and down for Z
Ctrl- comma and period for C
Ctrl- plus and minus to change the jog increment

> #3-How to turn on camera crosshairs?

Click anywhere in the camera view and it will open a menu. Browse
around under the Reticle menu. There are several options and your
settings are saved when you exit. I am in the process of adding angle
information to these. Right now only Crosshair has it.

> #4-It seems really buggy setting up cameras on windows (vista 32
> bit)..Many times it will just freeze when I press the apply button
> trying to set it up.. Or I get a "solarized" look like in this
> picture. https://dl.dropbox.com/u/9726802/openpnp720%20camera.PNG Or I
> just get a gray screen.. And isn't directshow better than/replaced
> vfw? IDK

This is an area where I'd really love to have someone step up and do
some work. I do all my development on a Mac and I only test in Windows
now and then. DirectShow is indeed better than VFW, but I had written
some VFW code for Java years and years ago and it happened to work, so
I went with it. You might consider trying the OpenCVCamera instead as
it should be at least as stable as OpenCV itself.

> #5-I installed opencv 2.4.2 but do I have to do something else to set
> it up?

Make sure it's in your path. OpenPnP should complain if it's not when
it tries to do vision or if you use the OpenCVCamera.

> #6-Whats the opencv camera for?

OpenCV is a computer vision library that is very powerful and very
popular. It has support for capturing video on many different
platforms. OpenCVCamera is a camera driver that translates OpenCV's
video capture into an OpenPnP camera. This allows us to leverage the
power of OpenCV's capture system without having to deal with things
like QuickTime on Mac and VFW on Windows. Most people will probably
end up using this camera.

> #7-delete button for cameras doesn't work.. It would be nice.

Very few of the delete button in the app work right now. I know it's
annoying, but it's going to require a significant refactoring of the
configuration system so I have been pushing it off until other, more
important things are done. You can always edit the configuration files
manually.

> #8-Is any of the vision really working at this point?

Yep, the ReferenceTapeFeeder now has full vision support. See this
video for a demonstration: http://www.youtube.com/watch?v=VviPLNRWDFk

The vision support is pretty new, so I don't promise that it is bug
free, but I don't know of any issues at the moment.

> #9-Are these the correct pins?

The pin mapping depends on whether you are using Grbl or Sprinter. As
of today I am recommending Sprinter. Let me know which you intend to
use and I'll double check your pin settings for you.

For reference, I have attached my Sprinter Configuration.h file. And
also for reference, I am using the "experimental" branch of Sprinter
at https://github.com/kliment/Sprinter/tree/experimental

> #10-What are Spindle enab/dir and Flood coolant used for.. I assume
> one is for the tip vacuum right? Which?

Spindle enable is used to turn on and off vacuum and flood coolant on
and off is used to actuate the feeder drag pin. This pin is an
"Actuator" in OpenPnP parlance and is identified in the configuration
as "PIN".

In the GrblDriver we use Gcode command M4 to turn on vacuum and M5 to
turn it off. Since we don't care about direction, we just use the
enable pin. M4 turns it on (vacuum on) and M5 turns it off. M8 (flood
coolant on) is for PIN down, M9 (flood coolant off) is for PIN up.

In the new SprinterDriver, since it supports turning on and off random
pins, we're just using pin 31 for vacuum and 33 for actuator. These
can be changed in the machine.xml.


Hope that helps to get you going. I would like to remind you (and
everyone else) that OpenPnP is still alpha level software. This means
that it could contain massive, horrible bugs and since it is being
used to control a physical robot, that robot might try to destroy you.
Please be very careful.

Jason

[mcgyvr]

Excellent thanks Jason..That helped a lot
Got a few more.
#1-Did you mean that only crosshairs recticle really works.. I can switch to the others but nothing changes visually.
#2-I just got sprinter loaded on my mega. Have you modified sprinter in anyway or should I just use the one off Kliments git?
#3-does the current snapshot (7-20) of openpnp work with it yet?

I did get grbl working with openpnp (just tested the actuator pin jogging) with it just sitting on my desk so I can go with that for now if sprinter isn't yet supported.. (I'm trying to stay as "fresh" as I can with openpnp's directions and it seems today that sprinter is it..for now anyways :) )

I'm really hoping to have a mostly working (jogging/pin/vacuum at least) this weekend


On Monday, July 23, 2012 4:21:20 AM UTC-4, Jason von Nieda wrote:

[Jason von Nieda]

> #1-Did you mean that only crosshairs recticle really works.. I can switch to
> the others but nothing changes visually.

For Ruler and Fiducial you have to have your Camera Units Per Pixel
values set to correct, or at least sane, values. These values are how
the reticle determines how big things are and since these two are
based on physical units, it needs that data.

Mine, for instance, are set to 0.031mm, 0.031mm. It would probably be
different for your camera, but if you set it to those values you
should at least see something.

> #2-I just got sprinter loaded on my mega. Have you modified sprinter in
> anyway or should I just use the one off Kliments git?

No modifications, just make sure you are using the experimental branch
and not master.

> #3-does the current snapshot (7-20) of openpnp work with it yet?

I don't remember if the 7-20 did. Get the 7-23, which definitely does:

http://openpnp.org/downloads/snapshots/OpenPnP-Snapshot-2012-07-23-09-23-01.zip

I will also be releasing a new one tonight with some more bug fixes.

> I did get grbl working with openpnp (just tested the actuator pin jogging)
> with it just sitting on my desk so I can go with that for now if sprinter
> isn't yet supported.. (I'm trying to stay as "fresh" as I can with openpnp's
> directions and it seems today that sprinter is it..for now anyways :) )

I recommend going with Sprinter. Grbl is rapidly becoming unsupported.

> I'm really hoping to have a mostly working (jogging/pin/vacuum at least)
> this weekend

Great! Let us know how it goes.

Jason

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[mcgyvr]

Ok.. I'll go with Sprinter. Got the experimental branch compiled and loaded on the mega..
Can you tell me which pins you are using for the vacuum and actuator pin now with sprinter?
Actually a complete list for all pins used by openpnp/sprinter would be the best.. For the FAQ.

[Jason von Nieda]

31 for vacuum, 33 for actuator. Configurable in your machine.xml. (Wizard coming soon)

Here is the drive line from my machine.xml:

<driver class="org.openpnp.machine.reference.driver.SprinterDriver" port-name="/dev/tty.usbmodem1a12141" baud="115200" vacuum-pin="31" actuator-pin="33" home-x="true" home-y="true" home-z="false" home-c="false"/>

The home-x attributes tell the driver which axes you have home switches installed on and it will only try to home those axes.

The full list of pins is available in Sprinter's pins.h, if you search for "Arduino Mega pin assignment". 

Here is the relevant section:

===#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default

#define X_STEP_PIN         26

#define X_DIR_PIN          28

#define X_ENABLE_PIN       24

#define X_MIN_PIN           3

#define X_MAX_PIN          -1    //2

#define Y_STEP_PIN         38

#define Y_DIR_PIN          40

#define Y_ENABLE_PIN       36

#define Y_MIN_PIN          16

#define Y_MAX_PIN          -1    //17

#define Z_STEP_PIN         44

#define Z_DIR_PIN          46

#define Z_ENABLE_PIN       42

#define Z_MIN_PIN          18

#define Z_MAX_PIN          -1    //19

#define E_STEP_PIN         32

#define E_DIR_PIN          34

#define E_ENABLE_PIN       30

#define SDPOWER            48

#define SDSS               53

#define LED_PIN            13

#define PS_ON_PIN          -1

#define KILL_PIN           -1

#define ALARM_PIN          -1

===

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[mcgyvr]

Since I'm a non-programmer :( sorry..
can you tell me what I need to do (in Windows) to make sure opencv is actually working?
All I did was download the 2.4.2.exe file and install it so far..
You mention this in the readme...
"Binaries should be installed and accessible to Java. This usually means making sure the libraries
are in your path."
huh? How do I do that..

Oh and btw how come the snapshots went from 13M to 86M??

[mcgyvr]

in addition to my question above..
I got this error
C:\Users\mcgyvr\Desktop\PnP>openpnp.bat

C:\Users\mcgyvr\Desktop\PnP>java -Djava.library.path=lib\native\win32 -jar targe
t\openpnp-gui-0.0.1-alpha-SNAPSHOT.jar
20:27:37,062 [main] DEBUG org.openpnp.Main  - OpenPnP 0.0.1-alpha-SNAPSHOT build
 null Started.
20:27:38,112 [AWT-EventQueue-0] DEBUG org.openpnp.JobProcessor  - stop()
20:27:38,115 [AWT-EventQueue-0] DEBUG org.openpnp.JobProcessor  - fireJobStateCh
anged(Stopped)
20:27:38,116 [AWT-EventQueue-0] DEBUG org.openpnp.JobProcessor  - fireJobLoaded(
)
Exception in thread "AWT-EventQueue-1" java.lang.UnsupportedOperationException:
Unwritable
        at org.jdesktop.beansbinding.BeanProperty.setValue(BeanProperty.java:566
)
        at org.openpnp.gui.support.JBindings$WrappedBinding.save(JBindings.java:
132)
        at org.openpnp.machine.reference.wizards.ReferenceHeadConfigurationWizar
d.saveToModel(ReferenceHeadConfigurationWizard.java:443)
        at org.openpnp.machine.reference.wizards.ReferenceHeadConfigurationWizar
d.access$000(ReferenceHeadConfigurationWizard.java:59)
        at org.openpnp.machine.reference.wizards.ReferenceHeadConfigurationWizar
d$1.actionPerformed(ReferenceHeadConfigurationWizard.java:468)
        at javax.swing.AbstractButton.fireActionPerformed(Unknown Source)
        at javax.swing.AbstractButton$Handler.actionPerformed(Unknown Source)
        at javax.swing.DefaultButtonModel.fireActionPerformed(Unknown Source)
        at javax.swing.DefaultButtonModel.setPressed(Unknown Source)
        at javax.swing.plaf.basic.BasicButtonListener.mouseReleased(Unknown Sour
ce)
        at java.awt.Component.processMouseEvent(Unknown Source)
        at javax.swing.JComponent.processMouseEvent(Unknown Source)
        at java.awt.Component.processEvent(Unknown Source)
        at java.awt.Container.processEvent(Unknown Source)
        at java.awt.Component.dispatchEventImpl(Unknown Source)
        at java.awt.Container.dispatchEventImpl(Unknown Source)
        at java.awt.Component.dispatchEvent(Unknown Source)
        at java.awt.LightweightDispatcher.retargetMouseEvent(Unknown Source)
        at java.awt.LightweightDispatcher.processMouseEvent(Unknown Source)
        at java.awt.LightweightDispatcher.dispatchEvent(Unknown Source)
        at java.awt.Container.dispatchEventImpl(Unknown Source)
        at java.awt.Window.dispatchEventImpl(Unknown Source)
        at java.awt.Component.dispatchEvent(Unknown Source)
        at java.awt.EventQueue.dispatchEventImpl(Unknown Source)
        at java.awt.EventQueue.access$000(Unknown Source)
        at java.awt.EventQueue$1.run(Unknown Source)
        at java.awt.EventQueue$1.run(Unknown Source)
        at java.security.AccessController.doPrivileged(Native Method)
        at java.security.AccessControlContext$1.doIntersectionPrivilege(Unknown
Source)
        at java.security.AccessControlContext$1.doIntersectionPrivilege(Unknown
Source)
        at java.awt.EventQueue$2.run(Unknown Source)
        at java.awt.EventQueue$2.run(Unknown Source)
        at java.security.AccessController.doPrivileged(Native Method)
        at java.security.AccessControlContext$1.doIntersectionPrivilege(Unknown
Source)
        at java.awt.EventQueue.dispatchEvent(Unknown Source)
        at org.openpnp.gui.MainFrame$2.dispatchEvent(MainFrame.java:322)
        at java.awt.EventDispatchThread.pumpOneEventForFilters(Unknown Source)
        at java.awt.EventDispatchThread.pumpEventsForFilter(Unknown Source)
        at java.awt.EventDispatchThread.pumpEventsForHierarchy(Unknown Source)
        at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
        at java.awt.EventDispatchThread.pumpEvents(Unknown Source)
        at java.awt.EventDispatchThread.run(Unknown Source)
20:29:02,872 [AWT-EventQueue-1] INFO  org.openpnp.machine.reference.driver.NullD
river  - setEnabled(false)
20:29:02,874 [AWT-EventQueue-1] DEBUG org.openpnp.JobProcessor  - stop()
20:29:02,874 [AWT-EventQueue-1] DEBUG org.openpnp.JobProcessor  - fireJobStateCh
anged(Stopped)

C:\Users\mcgyvr\Desktop\PnP>

[Jason von Nieda]

Since I'm a non-programmer :( sorry..
can you tell me what I need to do (in Windows) to make sure opencv is actually working?
All I did was download the 2.4.2.exe file and install it so far..
You mention this in the readme...
"Binaries should be installed and accessible to Java. This usually means making sure the libraries
are in your path."
huh? How do I do that..

Here are some instructions for Windows I came up with last night:

Make sure you have OpenCV 2.4.2 (not 2.4.0) installed in C:\opencv

http://sourceforge.net/projects/opencvlibrary/files/opencv-win/2.4.2/OpenCV-2.4.2.exe/download

Install the Visual C++ Runtime Redistributables v10:

http://www.microsoft.com/en-us/download/details.aspx?id=5555

Set up your path to include:

C:\opencv\build\x86\vc10\bin;C:\opencv\build\common\tbb\ia32\vc10

Instructions for modifying your path are here:

http://www.computerhope.com/issues/ch000549.htm

Be sure to use a semicolon between the end of the existing path and what you add.

And get the latest snapshot:

http://openpnp.org/downloads/snapshots/?C=M;O=D

And you should be good to go. I just tested this in a WinXP 32 bit VM and it worked great. Best way to test if it's working is get a feeder fully set up and click the Feed button.

 

Oh and btw how come the snapshots went from 13M to 86M??

I accidentally included documentation and sources in them and didn't have time to fix the bug before I released the snapshot. They'll be going back down to normal size soon. Although, I am thinking about starting to just include OpenCV with them... and that will make it go way back up :)

On Mon, Jul 30, 2012 at 5:32 PM, mcgyvr <mcgyv...@gmail.com> wrote:

in addition to my question above..
I got this error

        at org.openpnp.machine.reference.wizards.ReferenceHeadConfigurationWizar
d.saveToModel(ReferenceHeadConfigurationWizard.java:443)
        at org.openpnp.machine.reference.wizards.ReferenceHeadConfigurationWizar

That's a bug introduced last night. Nice catch. It'll be fixed in tonight's snapshot. It should only happen when trying to save the settings for a head.

Jason

[Nuri Erginer]

can you help me with this error please

Regards,
Nuri Erginer

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[David Armstrong]

Nuri,
 
delete your config directory under ./openpnp  ( you do not say which os you are using )
if using windows  this is located under c:\users

on restarting openpnp it will re construct the files
 

> Date: Tue, 31 Jul 2012 22:52:47 +0300
> Subject: Re: [OpenPnP] Software Questions
> From: nerg...@gmail.com
> To: ope...@googlegroups.com

[Nuri Erginer]

It worked! thanks. But we need more information may be a video on how
to use it from the beginning

Regards
Nuri Erginer

[mcgyvr]

Jason.. can you set it so openpnp sets the actuator and vacuum pins high instead of low. (S255 instead of S0) or at least make it an option a user can set.. My relay board gets pulled high to energize them.

[Jason von Nieda]

Yep, will be in tonight's snapshot

Sent from my mobile phone.

On Jul 31, 2012, at 5:01 PM, mcgyvr <mcgyv...@gmail.com> wrote:

Jason.. can you set it so openpnp sets the actuator and vacuum pins high instead of low. (S255 instead of S0) or at least make it an option a user can set.. My relay board gets pulled high to energize them.

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[Jason von Nieda]

Agreed, but not yet. I have tried to write a manual a few times but since development is proceeding so fast it quickly gets out of date.

That said, I am approaching the point where I will release the first beta and at that point I will definitely be producing a short manual and some tutorial videos.

In the mean time I am still looking for volunteers to work on documentation, manuals, videos and to field user questions. Anyone interested in getting involved?

Jason

Sent from my mobile phone.

[Jason von Nieda]

Wait, perhaps I am confused, are you asking that it sends a 255 for OFF and 0 for ON? What I had been doing was setting 255 for ON (actuator on, vacuum on) and 0 for OFF (actuator off, vacuum off). Are you looking for the opposite? I'm not quite sure what you mean by "My relay board gets pulled high to energize them."

I implemented the ability to invert the logic here, but I am wondering if that's a good idea. If your outputs are on when not being driven then they snap on when the board is reset, or power to the board is lost, or in a variety of other situations. Sounds dangerous.

Jason

On Tue, Jul 31, 2012 at 5:01 PM, mcgyvr <mcgyv...@gmail.com> wrote:

Jason.. can you set it so openpnp sets the actuator and vacuum pins high instead of low. (S255 instead of S0) or at least make it an option a user can set.. My relay board gets pulled high to energize them.

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[mcgyvr]

No I don't want 255 off, 0 on..
I'm pretty sure you were sending S0 when you press the pin jog button the first time. It should be sending S255 first then S0 when you press it again.
It should be actuator on (or down to feed I guess)=255, actuator off=0
When I tried last night my relay wasn't turning on at all using the pin jog button like it was before (well with grbl) it was working fine.. Now with sprinter its not.

pulled high means 5V at that pin to energize (turn on) the relays, pulled low to de-energize (turn off)

[mcgyvr]

oh Wait.. I just tried it again and it seems to be correct as is.. Press pin jog button first.. S255.. Press again S0..
Not sure whats going on with my setup.. gotta go to work.. I'll try it again when I get home..

[mcgyvr]

maybe this is my problem?

WARNING: RXTX Version mismatch
Jar version = RXTX-2.2pre1
native lib Version = RXTX-2.2pre2

[Jeremiah]

There is a bug in sprinter that keeps the pins from working.

 

In Sprinter.pde

Search for sizeof(sensitive_pins)

And change it to sizeof(sensitive_pins) / sizeof(int)

 

But there is also another but that keeps the E/C Axis from turning, I believe Jason is in the process of trying to add homing into the latest version of grbl since there are a few issues with sprinter.

 

 

 

 

 

 

 

 

From: ope...@googlegroups.com [mailto:ope...@googlegroups.com] On Behalf Of mcgyvr
Sent: Wednesday, August 01, 2012 8:23 AM
To: ope...@googlegroups.com
Subject: Re: [OpenPnP] Software Questions

 

maybe this is my problem?

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[Jason von Nieda]

Yep, sorry about that. I completely forgot. That is likely what your issue was. The RXTX version mismatch is not a problem. I owe Kliment a pull request for that bug, which I will submit tonight.

Jason

[mcgyvr]

ok.. So.... Back to grbl? Stay with Sprinter?
Using the MEGA could be very nice.. We could actually use all the extra pins to trigger some sort of automatic feeders in the future.. Set that pin high..part feeds out.. No silly actuator to worry about.

[Jason von Nieda]

I would suggest just waiting a day or two at this point. I am in the process of porting Grbl to the MEGA with C axis and homing support. If it works bug free I will be recommending that. 

Jason

On Wed, Aug 1, 2012 at 9:21 AM, mcgyvr <mcgyv...@gmail.com> wrote:

ok.. So.... Back to grbl? Stay with Sprinter?
Using the MEGA could be very nice.. We could actually use all the extra pins to trigger some sort of automatic feeders in the future.. Set that pin high..part feeds out.. No silly actuator to worry about.

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[mcgyvr]

Cool.. just let us know when its ready..

[Karl Backström]

Hi Jason,

what is the status of your porting of Grbl to Mega?

Best regards,
Karl

On Thu, Aug 2, 2012 at 7:30 AM, mcgyvr <mcgyv...@gmail.com> wrote:
> Cool.. just let us know when its ready..
>
>

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[Jason von Nieda]

Hi Karl,

I think I finished it last night. I have to do more testing this evening to make sure all the parts are working correctly, but I think it's done. In addition to making it work on MEGA2560, I re-added the C axis support and vastly improved limit switch handling. It seems to be working very well with OpenPnP, with no lost steps or slowdowns as I was experiencing before. 

Jason

[Karl Backström]

Cool! Would love try it out, now that I have stepper drivers for a second y-motor and c-axis. Also got a spare mega1280 board here :)

Will you create a new git repository for this?

/Karl

[Jason von Nieda]

I think I probably will. Since there some parts that may be useful to the grbl community in whole, I will probably put it up on Github. I'm soldering up my fourth axis right now so I can do some final testing and then I will push it up.

Jason