diff --git a/data/shopbotEndEffector.stl b/data/shopbotEndEffector.stl
new file mode 100644
index 0000000000000000000000000000000000000000..53bcf0aaa1d5955030c634bdf8fc77f3e545d740
Binary files /dev/null and b/data/shopbotEndEffector.stl differ
diff --git a/js/cam/Assembler.js b/js/cam/Assembler.js
index a96832e1057ba24e7227bd7fd4b49be6af257423..1ef826c3d1656fb1778e71089702508ad7064c0f 100644
--- a/js/cam/Assembler.js
+++ b/js/cam/Assembler.js
@@ -27,7 +27,7 @@ Assembler = Backbone.Model.extend({
rapidSpeeds:{xy: 3, z: 2},//rapids at clearance height
feedRate:{xy: 0.1, z: 0.1},//speed when heading towards assembly
- simLineNumber: 1,//used for stock simulation, reading through gcode
+ simLineNumber: 0,//used for stock simulation, reading through gcode
simSpeed: 4//#X times real speed
},
@@ -65,23 +65,7 @@ Assembler = Backbone.Model.extend({
this.listenTo(options.lattice, "change:partType", this._updatePartType);
this.listenTo(options.appState, "change:cellMode", this._updateCellMode);
-
-
-
- //init origin mesh
- var origin = new THREE.Mesh(new THREE.SphereGeometry(1),
- new THREE.MeshBasicMaterial({color:0xff0000}));
- dmaGlobals.three.sceneAdd(origin);
- this.set("origin", origin);
- this._moveOrigin();
- //init stock mesh
- var stock = new THREE.Mesh(new THREE.SphereGeometry(1),
- new THREE.MeshBasicMaterial({color:0xff00ff}));
- dmaGlobals.three.sceneAdd(stock);
- this.set("stock", stock);
- this._moveStock();
- this._setCAMScale(options.lattice.get("scale"));
- this._setCAMVisibility();
+ this._initOriginAndStock(options.lattice);
},
makeProgramEdits: function(data){
@@ -121,6 +105,22 @@ Assembler = Backbone.Model.extend({
dmaGlobals.three.render();
},
+ _initOriginAndStock: function(lattice){//todo this is ugly
+ var origin = new THREE.Mesh(new THREE.SphereGeometry(1),
+ new THREE.MeshBasicMaterial({color:0xff0000}));
+ dmaGlobals.three.sceneAdd(origin);
+ this.set("origin", origin);
+ this._moveOrigin();
+ //init stock mesh
+ var stock = new THREE.Mesh(new THREE.SphereGeometry(1),
+ new THREE.MeshBasicMaterial({color:0xff00ff}));
+ dmaGlobals.three.sceneAdd(stock);
+ this.set("stock", stock);
+ this._moveStock();
+ this._setCAMScale(lattice.get("scale"));
+ this._setCAMVisibility();
+ },
+
_moveOrigin: function(){
var position = this.get("originPosition");
this.get("origin").position.set(position.x, position.y, position.z);
@@ -140,6 +140,7 @@ Assembler = Backbone.Model.extend({
_stockSimulation: function(){
if (dmaGlobals.appState.get("stockSimulationPlaying")){
var currentLine = this.get("simLineNumber");
+ if (currentLine == 0) dmaGlobals.lattice.hideCells();
var allLines = this.get("dataOut").split("\n");
if(currentLine<allLines.length){
var self = this;
@@ -151,7 +152,7 @@ Assembler = Backbone.Model.extend({
});
} else {
//finished simulation
- this.set("simLineNumber", 1);
+ this.set("simLineNumber", 0);
dmaGlobals.appState.set("stockSimulationPlaying", false);
}
} else {
@@ -168,7 +169,7 @@ Assembler = Backbone.Model.extend({
this.set("needsPostProcessing", true);
},
- postProcess: function(){
+ postProcess: function(){
this.set("needsPostProcessing", false);
var exporter = this._getExporter();
@@ -201,7 +202,7 @@ Assembler = Backbone.Model.extend({
this.set("dataOut", data);
this.set("exporter", exporter);
- this.set("simLineNumber", 1);
+ this.set("simLineNumber", 0);
return {data:data, exporter:exporter};
},
@@ -233,6 +234,7 @@ Assembler = Backbone.Model.extend({
data += exporter.rapidXY(stockPosition.x, stockPosition.y);
data += exporter.rapidZ(stockPosition.z+safeHeight);
data += exporter.moveZ(stockPosition.z);
+ data += exporter.addComment("get stock");
data += exporter.moveZ(stockPosition.z+safeHeight);
data += exporter.rapidZ(rapidHeight);
return data;
@@ -244,6 +246,7 @@ Assembler = Backbone.Model.extend({
data += exporter.rapidXY(cellPosition.x-wcs.x, cellPosition.y-wcs.y);
data += exporter.rapidZ(cellPosition.z-wcs.z+safeHeight);
data += exporter.moveZ(cellPosition.z-wcs.z);
+ data += exporter.addComment(JSON.stringify(cell.indices));
data += exporter.moveZ(cellPosition.z-wcs.z+safeHeight);
data += exporter.rapidZ(rapidHeight);
return data;
diff --git a/js/cam/Machine.js b/js/cam/Machine.js
index 71d9990b6d6ef59ec20af548b7d6f169692d0af3..6a0c47219f57947b21219beffb108a2d48935157 100644
--- a/js/cam/Machine.js
+++ b/js/cam/Machine.js
@@ -5,6 +5,23 @@
function Machine() {
+ this.hasStock = false;
+
+ //load end effector geo
+ var loader = new THREE.STLLoader();
+ var self = this;
+ loader.load("data/shopbotEndEffector.stl", function(geometry){
+
+ geometry.computeBoundingBox();
+ var unitScale = 1.5/geometry.boundingBox.max.y;
+ geometry.applyMatrix(new THREE.Matrix4().makeScale(unitScale, unitScale, unitScale));
+ geometry.applyMatrix(new THREE.Matrix4().makeTranslation(0,0, Math.sqrt(2)/2));
+ var mesh = new THREE.Mesh(geometry, new THREE.MeshLambertMaterial({color:0xaaaaaa, shading: THREE.FlatShading}));
+ self.endEffector = mesh;
+ dmaGlobals.three.sceneAdd(mesh);
+ mesh.visible = false;
+ });
+
this.cell = new DMARotatedEdgeCell(null);
this.setVisibility(false);
@@ -12,9 +29,11 @@ function Machine() {
Machine.prototype.setVisibility = function(visible){
if (visible){
- this.cell.draw();
+ if (this.hasStock) this.cell.draw();
+ if (this.endEffector) this.endEffector.visible = true;
} else {
this.cell.hide();
+ if (this.endEffector) this.endEffector.visible = false;
}
};
@@ -23,10 +42,16 @@ Machine.prototype.updatePartType = function(){
this.cell.draw();
};
+Machine.prototype.pickUpStock = function(){
+ this.hasStock = true;
+ this.cell.draw();
+};
-
-
-
+Machine.prototype.releaseStock = function(index){
+ this.hasStock = false;
+ dmaGlobals.lattice.showCellAtIndex(JSON.parse(index));
+ this.cell.hide();
+};
Machine.prototype.pause = function(){
};
@@ -35,9 +60,21 @@ Machine.prototype.moveTo = function(x, y, z, speed, wcs, callback){
var self = this;
setTimeout( function() {
//reaching a little deep here, might want to find a better solution
- if (x != "") self.cell.cellMesh.position.x = parseFloat(x)+wcs.x;
- if (y != "") self.cell.cellMesh.position.y = parseFloat(y)+wcs.y;
- if (z != "") self.cell.cellMesh.position.z = parseFloat(z)+wcs.z;
+ if (x != "") {
+ var nextX = parseFloat(x)+wcs.x;
+ self.endEffector.position.x = nextX;
+ self.cell.cellMesh.position.x = nextX;
+ }
+ if (y != "") {
+ var nextY = parseFloat(y)+wcs.y;
+ self.endEffector.position.y = nextY;
+ self.cell.cellMesh.position.y = nextY;
+ }
+ if (z != "") {
+ var nextZ = parseFloat(z)+wcs.z;
+ self.endEffector.position.z = nextZ;
+ self.cell.cellMesh.position.z = nextZ;
+ }
self.cell.updateForScale();
dmaGlobals.three.render();
return callback();
diff --git a/js/cam/ShopbotExporter.js b/js/cam/ShopbotExporter.js
index 43c315a33e21b8f884c8ae4795790146b2d5371f..196ea8d61b07b6ae60c9d58d276f681721a55b34 100644
--- a/js/cam/ShopbotExporter.js
+++ b/js/cam/ShopbotExporter.js
@@ -28,7 +28,7 @@ ShopbotExporter.prototype.addLine = function(command, params, comment){
return;
}
if (dmaGlobals.lattice.get("units") == "mm") param = self.convertToInches(param);//all shopbot stuff must be in inches
- data += param.toFixed(3) + ", ";
+ data += parseFloat(param).toFixed(3) + ", ";
});
if (comment) data += "'" +comment;
data += "\n";
@@ -84,20 +84,28 @@ ShopbotExporter.prototype.convertToInches = function(mm){
ShopbotExporter.prototype.simulate = function(line, machine, wcs, callback){
+ if (line == "'get stock"){
+ machine.pickUpStock();
+ return callback();
+ }
+ if (line[1] == "{"){
+ machine.releaseStock(line.substr(1));
+ return callback();
+ }
if (line == "" || line[0] == "'" || (line[0] != "J" && line[0] != "M")) {
return callback();
}
if (line[0] == "J"){
- return this.simulateGetPosition(line, dmaGlobals.assembler.get("rapidSpeeds"), machine, wcs, callback);
+ return this._simulateGetPosition(line, dmaGlobals.assembler.get("rapidSpeeds"), machine, wcs, callback);
} else if (line[0] == "M"){
- return this.simulateGetPosition(line, dmaGlobals.assembler.get("feedRate"), machine, wcs, callback);
+ return this._simulateGetPosition(line, dmaGlobals.assembler.get("feedRate"), machine, wcs, callback);
} else {
console.warn("problem parsing sbp");
return callback();
}
};
-ShopbotExporter.prototype.simulateGetPosition = function(line, speed, machine, wcs, callback){
+ShopbotExporter.prototype._simulateGetPosition = function(line, speed, machine, wcs, callback){
if (line[1] == 3 || line[1] == 2) {
var data = line.split(" ");
for (var i=0;i<data.length;i++){
diff --git a/js/fea/DmaPart.js b/js/fea/DmaPart.js
index 17b0869f31aaaa1feee6a48a1b85969f5352a189..8c9267c4df95cda59b2606a59f4c5aff107c67e3 100644
--- a/js/fea/DmaPart.js
+++ b/js/fea/DmaPart.js
@@ -97,7 +97,7 @@ var partMaterial = new THREE.MeshLambertMaterial({ color:0xffffff, shading: THRE
var loader = new THREE.STLLoader();
loader.load("data/trianglePart.stl", function(geometry){
- unitPartGeo1 = geometry
+ unitPartGeo1 = geometry;
unitPartGeo1.computeBoundingBox();
var unitScale = 1.2/unitPartGeo1.boundingBox.max.y;
unitPartGeo1.applyMatrix(new THREE.Matrix4().makeScale(unitScale, unitScale, unitScale));
diff --git a/js/menus/AnimationMenuView.js b/js/menus/AnimationMenuView.js
index b5a553150a98300f8ca5bf0273cd4f9da5709486..89f5b748a4ba1bf1033a7b759055f86eb5d5229c 100644
--- a/js/menus/AnimationMenuView.js
+++ b/js/menus/AnimationMenuView.js
@@ -55,7 +55,7 @@ AnimationMenuView = Backbone.View.extend({
_resetStockSim: function(e){
e.preventDefault();
- dmaGlobals.assembler.set("simLineNumber", 1);
+ dmaGlobals.assembler.set("simLineNumber", 0);
},
_changeSpeedSlider: function(e){
@@ -78,7 +78,7 @@ AnimationMenuView = Backbone.View.extend({
<% if (stockSimulationPlaying){ %>\
<a href="#" id="pauseStockSim" class=" btn btn-block btn-lg btn-warning">Pause</a>\
<% } else { %>\
- <% if (simLineNumber != 1){ %>\
+ <% if (simLineNumber != 0){ %>\
<a href="#" id="playStockSim" class=" btn btn-lg btn-halfWidth btn-success">Play</a>\
<a href="#" id="resetStockSim" class=" btn btn-lg btn-halfWidth pull-right btn-default">Reset</a><br/>\
<% } else { %>\
diff --git a/js/models/Lattice.js b/js/models/Lattice.js
index 4b57ea3c527d955dbffa5c343010da2c92a86253..f248b9da5d694ee065e4c621c822de0f5ae88a34 100644
--- a/js/models/Lattice.js
+++ b/js/models/Lattice.js
@@ -352,6 +352,26 @@ Lattice = Backbone.Model.extend({
this.get("basePlane").updateScale(scale);
},
+ //hide show cells during stock simulation
+ hideCells: function(){
+ this._iterCells(this.get("cells"), function(cell){
+ if (cell) cell.hide();
+ })
+ },
+
+ showCells: function(){
+ this._iterCells(this.get("cells"), function(cell){
+ if (cell) cell.draw();
+ })
+ },
+
+ showCellAtIndex: function(index){
+ var latticeIndex = this._subtract(index, this.get("cellsMin"));
+ var cell = this.get("cells")[latticeIndex.x][latticeIndex.y][latticeIndex.z];
+ if (cell) cell.draw();
+ else console.warn("placing a cell that does not exist");
+ },
+
////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////CONNECTION TYPE//////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////