- Adds Actuator.actuate(String) which gives the ability to easily sen…

…d custom commands from machine object implementations.

- Adds initial stab at a feeder for the RapidFeeder system as a guide.

src/main/java/org/openpnp/machine/rapidplacer/README.md

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+# RapidFeeder
+
+This is an experimental implementation RapidFeeder meant to provide a skeleton for full
+implementation of the feeder class.
+
+# Description
+
+The feeder is a simple auto feeder with two configurable values: address and pitch. Address
+sets the bus address of the feeder, and pitch is an arbitrary number that will be passed
+to feed operations to tell the feeder how far to advance.
+
+The feeder implementation also includes QR code scanning for finding feeders on the system,
+along with automatic registration of located feeders.
+
+# Requirements
+
+The RapidFeeder class requires an actuator with the name "RAPIDFEEDER" to be created on
+the machine. The feeder will send actuate(String) commands to this actuator to perform
+bus actions.
+
+# Setup and Scanning
+
+To perform an initial scan for feeders, go to the Feeders tab and create a new RapidFeeder. You
+should name it something that describes the bank of feeders that it will scan for, such as
+RapidFeeder-West.
+
+In the settings for the feeder, locate the Scanning section and define the Scan Start, Scan End and
+Scan Increment values:
+
+- Scan Start: When scanning for QR codes, the camera will be moved to this position to start
+  scanning. Move the camera to the location of the first possible QR code and save the location.
+- Scan End: When scanning for QR codes, the camera will finish the scan at this location. Move
+  the camera to the location of the last possible QR code and save the location.
+- Scan Increment: When scanning for QR codes, the camera will move by this distance between
+  each image capture. This value should be approximately half the size of the camera image
+  frame. This ensures that the scan will never advance past a QR code and miss it.
+
+When the above values are set, press the Scan button. The machine will move the camera along the
+line formed by the start and end points and capture QR codes. When it finishes it will create
+or update feeders in the feeder tab for each QR code it finds.
+
+# Usage
+
+Once scanning is complete, pressing the feed button for any of the new feeders will send
+the FEED command to the RAPIDFEEDER actuator in the form of `{{ADDRESS}} FEED {{PITCH}}`.
+

src/main/java/org/openpnp/machine/rapidplacer/RapidFeeder.java

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+/*
+ * Copyright (C) 2011 Jason von Nieda <jason@vonnieda.org>
+ * 
+ * This file is part of OpenPnP.
+ * 
+ * OpenPnP is free software: you can redistribute it and/or modify it under the terms of the GNU
+ * General Public License as published by the Free Software Foundation, either version 3 of the
+ * License, or (at your option) any later version.
+ * 
+ * OpenPnP is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
+ * the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along with OpenPnP. If not, see
+ * <http://www.gnu.org/licenses/>.
+ * 
+ * For more information about OpenPnP visit http://openpnp.org
+ */
+
+package org.openpnp.machine.rapidplacer;
+
+import javax.swing.Action;
+
+import org.openpnp.gui.support.Wizard;
+import org.openpnp.machine.reference.ReferenceFeeder;
+import org.openpnp.model.Configuration;
+import org.openpnp.model.Length;
+import org.openpnp.model.LengthUnit;
+import org.openpnp.model.Location;
+import org.openpnp.spi.Actuator;
+import org.openpnp.spi.Nozzle;
+import org.openpnp.spi.PropertySheetHolder;
+import org.simpleframework.xml.Attribute;
+import org.simpleframework.xml.Element;
+
+public class RapidFeeder extends ReferenceFeeder {
+    static String actuatorName = "RAPIDFEEDER";
+
+    @Element(required = false)
+    protected Location scanStartLocation = new Location(LengthUnit.Millimeters);
+
+    @Element(required = false)
+    protected Location scanEndLocation = new Location(LengthUnit.Millimeters);
+
+    @Element(required = false)
+    protected Length scanIncrement = new Length(4, LengthUnit.Millimeters);
+
+    @Attribute(required = false)
+    protected String address;
+
+    @Attribute(required = false)
+    protected int pitch = 4;
+
+    @Override
+    public Location getPickLocation() throws Exception {
+        return location;
+    }
+
+    @Override
+    public void feed(Nozzle nozzle) throws Exception {
+        Actuator actuator = nozzle.getHead().getActuatorByName(actuatorName);
+        if (actuator == null) {
+            actuator = Configuration.get().getMachine().getActuatorByName(actuatorName);
+        }
+        if (actuator == null) {
+            throw new Exception("Feed failed. Unable to find an actuator named " + actuatorName);
+        }
+        actuator.actuate(String.format("%s FEED %d", address, pitch));
+    }
+
+	@Override
+    public Wizard getConfigurationWizard() {
+        return new RapidFeederConfigurationWizard(this);
+    }
+
+    @Override
+    public String getPropertySheetHolderTitle() {
+        return getClass().getSimpleName() + " " + getName();
+    }
+
+    @Override
+    public PropertySheetHolder[] getChildPropertySheetHolders() {
+        return null;
+    }
+
+    @Override
+    public Action[] getPropertySheetHolderActions() {
+        return null;
+    }
+
+    public Location getScanStartLocation() {
+        return scanStartLocation;
+    }
+
+    public void setScanStartLocation(Location scanStartLocation) {
+        this.scanStartLocation = scanStartLocation;
+        firePropertyChange("scanStartLocation", null, scanStartLocation);
+    }
+
+    public Location getScanEndLocation() {
+        return scanEndLocation;
+    }
+
+    public void setScanEndLocation(Location scanEndLocation) {
+        this.scanEndLocation = scanEndLocation;
+        firePropertyChange("scanEndLocation", null, scanEndLocation);
+    }
+
+    public Length getScanIncrement() {
+        return scanIncrement;
+    }
+
+    public void setScanIncrement(Length scanIncrement) {
+        this.scanIncrement = scanIncrement;
+        firePropertyChange("scanIncrements", null, scanIncrement);
+    }
+
+    public String getAddress() {
+        return address;
+    }
+
+    public void setAddress(String address) {
+        this.address = address;
+        firePropertyChange("address", null, address);
+    }
+
+    public int getPitch() {
+        return pitch;
+    }
+
+    public void setPitch(int pitch) {
+        this.pitch = pitch;
+        firePropertyChange("pitch", null, pitch);
+    }
+}