Clay Printing Controller

This a repository for the Clay Printing Controller.

Requirements

• TwinCAT 3

Development

• TwinCAT: v3.1 build4024
• UV: A Blazing fast Python package management (in Rust)

Getting Started

TwinCAT setup

Please find the document HERE.

Also, Check more information for reference from previous project DCS Controller

Development environment

Create a virtual environment

uv venv --python 3.12

# activate the virtual environment
## WSL
source venv/bin/activate
# #Windows
.\venv\Scripts\activate

uv pip install -e .

Run the main script

uv run /src/clay_printing/main.py

We also can change to venv, but recommend to use uv.

python3 -m venv .venv
source .venv/bin/activate
pip install -e .

Package Information

Important

This is an initial repo structure, feel free to change it.

• plc: the TwinCAT project for the PLC controller.
• robot: the folder for the robot control.
• script: the example script for controlling Beckhoff controller via Python script.

Folder structure

Note

The controller program class diagram is coming soon.

Credits

Author: Wei-Ting Chen

This package was created by Wei-Ting Chen at USI-FMAA.