Source code for hop.hexabundle_allocation.hector.magnets.circular

from ...general_operations.geometry_shapes.circle import circle
from ...hector.constants import circular_magnet_radius,robot_arm_width
from math import sin, cos, pi
from ...hector.magnets.pickup_areas import tangential_right,tangential_left,radial_inward,radial_outward

[docs]class circular_magnet(circle):

    # initializing a circular magnet with all respective parameters
    def __init__(self,center,orientation,index,galaxyORstar,Re,mu_1re,Mstar,magnet_label,hexabundle,rads,rotation_pickup,rotation_putdown,azAngs,rectangular_magnet_input_orientation,IDs):

        radius = circular_magnet_radius
        super().__init__(center,radius,orientation)
        self.index = index
        self.placement_index = 0
        self.galaxyORstar = galaxyORstar
        self.Re = Re
        self.mu_1re = mu_1re
        self.Mstar = Mstar
        self.magnet_label = magnet_label
        self.hexabundle = hexabundle
        self.rads = rads
        self.rotation_pickup = rotation_pickup
        self.rotation_putdown = rotation_putdown
        self.azAngs = azAngs
        self.rectangular_magnet_input_orientation = rectangular_magnet_input_orientation
        self.IDs = IDs

    # calculating the distance between magnet center to pickup area center
[docs]    def calculate_center_magnet_to_center_pickup_area_length(self):

        center_magnet_to_center_pickup_area_length = 0.5 * (0.5 * robot_arm_width + self.radius)

        return center_magnet_to_center_pickup_area_length

    # calculating the center coordinate of pickup area- Tangential Right
[docs]    def calculate_center_coordinate_tangential_right_pickuparea(self):

        center_coordinates = \
        [self.center[0] + self.calculate_center_magnet_to_center_pickup_area_length() * sin((pi / 180) * (- self.orientation)),
         self.center[1] + self.calculate_center_magnet_to_center_pickup_area_length() * cos((pi / 180) * (- self.orientation))]

        return center_coordinates

    # calculating the center coordinate of pickup area- Tangential Left
[docs]    def calculate_center_coordinate_tangential_left_pickuparea(self):

        center_coordinates = \
        [self.center[0] - self.calculate_center_magnet_to_center_pickup_area_length() * sin((pi / 180) * (- self.orientation)),
         self.center[1] - self.calculate_center_magnet_to_center_pickup_area_length() * cos((pi / 180) * (- self.orientation))]

        return center_coordinates

    # calculating the center coordinate of pickup area- Radial Inward
[docs]    def calculate_center_coordinates_radial_inward_pickuparea(self):

        center_coordinates = \
        [self.center[0] + self.calculate_center_magnet_to_center_pickup_area_length() * sin((pi / 180) * (90 - self.orientation)),
         self.center[1] + self.calculate_center_magnet_to_center_pickup_area_length() * cos((pi / 180) * (90 - self.orientation))]

        return center_coordinates

    # calculating the center coordinate of pickup area- Radial Outward
[docs]    def calculate_center_coordinates_radial_outwards_pickuparea(self):

        center_coordinates = \
        [self.center[0] - self.calculate_center_magnet_to_center_pickup_area_length() * sin((pi / 180) * (90 - self.orientation)),
         self.center[1] - self.calculate_center_magnet_to_center_pickup_area_length() * cos((pi / 180) * (90 - self.orientation))]

        return center_coordinates

    # calculating pickup areas using their respective center coordinates
[docs]    def create_pickup_areas(self):

        self.pickup_areas = \
            [tangential_right(self.calculate_center_coordinate_tangential_right_pickuparea(), -self.orientation),
             tangential_left( self.calculate_center_coordinate_tangential_left_pickuparea(),  -self.orientation),
             radial_inward(   self.calculate_center_coordinates_radial_inward_pickuparea(),   270 - self.orientation), # (270 -) added for adjustment of the 10mm RAW
             radial_outward(  self.calculate_center_coordinates_radial_outwards_pickuparea(), 270 - self.orientation)] # (270 -) added for adjustment of the 10mm RAW

        return self.pickup_areas

# check for the magnet being circular type
[docs]def is_circular_magnet(magnet):
    return isinstance(magnet, circular_magnet)