OpenPnP: Advanced Vacuum Sensing Part-On/Part-Off Detect

Made a new Pull Request to OpenPnP. Vacuum sensing part-on/part-off detection was significantly expanded to allow for differential vacuum level assessment and adaptive dwell times. Adds graphical diagnostics.

1. Easier setup with Measurement Method combo box. Detection can be switched off without having to overwrite your values.
2. The method combo box controls the visible fields in the Wizard, so it can be easy or it can be advanced, as users like it.
3. New “Difference” method allows you to specify the permissible change in the vacuum level, in addition to the absolute level.
4. Therefore, much finer nuances in changes of the vacuum level can be discriminated, which is essential for the very small nozzle tips with high air flow resistance and/or strong pumps and/or vacuum reservoir systems and/or multi-nozzle systems with crosstalk.
5. The vacuum level can be monitored/polled while picking or placing a part, so OpenPNP can go on, as soon as the desired buildup/decay level is reached. The former dwell time becomes a timeout.
6. Much faster picks and places result in the majority of cases, while gaining robustness for the few exceptions. The timeout/dwell time can now be increased without general speed penalty. The wait will only be incurred in the rare worst case.
7. Graphical diagnostics allow a much more informed approach. How fast do the vacuum levels build up or decay? How fast is your sensor? How fast is OpenPNP in querying the controller? No more guesswork! No more browsing in the endless log.
8. I wanted to hook up the oscilloscope, but then thought, why not use OpenPNP instead?

More info:

• Read the Pull Request (now merged in OpenPnP 2.0)
• Read the Wiki page.
• Join the discussion.
• About the vacuum sensor electronics.