From 45b53205866742b5f4be117c58cc2b87b3dfe240 Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Fri, 14 Aug 2015 16:22:41 -0400
Subject: [PATCH] rotation between layers starting to work
---
js/cam/assemblers/Assembler.js | 14 +++++---
js/cam/assemblers/Component.js | 51 ++++++++++++++++++++++++++++-
js/cam/processes/GCodeExporter.js | 11 ++++---
js/menus/templates/CamMenuView.html | 2 +-
js/plists/CamPList.js | 4 +--
5 files changed, 69 insertions(+), 13 deletions(-)
diff --git a/js/cam/assemblers/Assembler.js b/js/cam/assemblers/Assembler.js
index 78dbf6cc..3322393a 100644
--- a/js/cam/assemblers/Assembler.js
+++ b/js/cam/assemblers/Assembler.js
@@ -223,16 +223,20 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
});
};
- Assembler.prototype.pickUpStock = function(settings){
+ Assembler.prototype.pickUpStock = function(index, position, speed, settings, callback){
+ if (index.z%2 != 0) {//rotate on odd rows
+ this.components.frame.rotateTo(new THREE.Vector3(0, 0, Math.PI/2), speed, callback);
+ } else {
+ this.components.frame.rotateTo(new THREE.Vector3(0, 0, 0), speed, callback);
+ }
_.each(this.stock, function(stock){
stock.show();
});
+ callback();
};
- Assembler.prototype.releaseStock = function(json, settings){
- json = JSON.parse(json);
- console.log(json.index);
- lattice.showCellAtIndex(json.index);
+ Assembler.prototype.releaseStock = function(index, position, settings){
+ lattice.showCellAtIndex(index);
_.each(this.stock, function(stock){
stock.hide();
});
diff --git a/js/cam/assemblers/Component.js b/js/cam/assemblers/Component.js
index 56c2902d..b8f9319a 100644
--- a/js/cam/assemblers/Component.js
+++ b/js/cam/assemblers/Component.js
@@ -73,17 +73,66 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
return this.object3D.position.clone();
};
+ Component.prototype.getRotation = function(){
+ return this.object3D.rotation.toVector3();
+ };
+
Component.prototype.getObject3D = function(){
return this.object3D;
};
+ Component.prototype.rotateTo = function(target, speed, callback){
+ if (target === null){
+ if (callback) callback();
+ return;
+ }
+ var currentPosition = this.getRotation();
+ var increment = 0.15;//speed/1500.0*cam.get("simSpeed");
+ var incrVector = target.clone().sub(currentPosition);
+
+ if (increment == 0 || incrVector.length() == 0) {
+ if (callback) callback();
+ return;
+ }
+ increment = Math.max(increment, 0.00001);//need to put a min on the increment - otherwise this stalls out with floating pt tol
+
+ incrVector.normalize().multiplyScalar(increment);
+ this._incrementalRotation(incrVector, target, callback);
+ };
+
+ Component.prototype._incrementalRotation = function(increment, target, callback){
+ var self = this;
+ setTimeout(function(){
+ var remainingDist = (target.clone().sub(self.getRotation())).length();
+ var nextPos;
+ if (remainingDist == 0) {
+ if (callback) callback();
+ return;
+ } else if (remainingDist < increment.length()){
+ nextPos = target;//don't overshoot
+ self.object3D.rotation.x = target.x;
+ self.object3D.rotation.y = target.y;
+ self.object3D.rotation.z = target.z;
+ if (callback) callback();
+ return;
+ } else {
+ nextPos = self.getRotation().add(increment);
+ }
+
+// console.log(target.clone().normalize());
+ console.log(increment);
+ self.object3D.rotateOnAxis(target.clone().normalize(), nextPos.z);
+ self._incrementalRotation(increment, target, callback);
+ }, 10);
+ };
+
Component.prototype.moveTo = function(target, speed, callback){
if (target === null){
if (callback) callback();
return;
}
var currentPosition = this.getPosition();
- var increment = speed/25*cam.get("simSpeed");
+ var increment = speed/1500.0*cam.get("simSpeed");
var incrVector = target.clone().sub(currentPosition);
if (increment == 0 || incrVector.length() == 0) {
diff --git a/js/cam/processes/GCodeExporter.js b/js/cam/processes/GCodeExporter.js
index 9b173600..f2e0f915 100644
--- a/js/cam/processes/GCodeExporter.js
+++ b/js/cam/processes/GCodeExporter.js
@@ -97,12 +97,15 @@ define(['underscore', 'cam', 'lattice'], function(_, cam, lattice){
};
GCodeExporter.prototype.simulate = function(line, machine, settings, callback){
- if (line.substr(0,11) == "(get stock)"){
- machine.pickUpStock(settings);
- return callback();
+ if (line.substr(0,10) == "(get stock"){
+ var json = line.substr(11,line.length-12);
+ json = JSON.parse(json);
+ return machine.pickUpStock(json.index, json.position, this.animationSpeed, settings, callback);
}
if (line.substr(0,2) == "({"){
- machine.releaseStock(line.substr(1,line.length-2), settings);
+ var json = line.substr(1,line.length-2);
+ json = JSON.parse(json);
+ machine.releaseStock(json.index, json.position, settings);
return callback();
}
if (line[0] == "F"){//speed
diff --git a/js/menus/templates/CamMenuView.html b/js/menus/templates/CamMenuView.html
index abf7b09f..28e38d16 100644
--- a/js/menus/templates/CamMenuView.html
+++ b/js/menus/templates/CamMenuView.html
@@ -56,7 +56,7 @@ Origin (xyz):
Stock Height: <input data-property="stockPosition" data-key="z" value="<%= stockPosition.z %>" placeholder="Z" class="form-control floatInput assembler" type="text"><br/><br/>
<% } %>
Approach Height (<%= units %>): <input data-property="safeHeight" value="<%= safeHeight %>" placeholder="Z" class="form-control floatInput assembler" type="text"><br/><br/>
-Speeds (<%= units %> per second):<br/><br/>
+Speeds (<%= units %> per min):<br/><br/>
Rapids (xy, z): <input data-property="rapidSpeeds" data-key="xy" value="<%= rapidSpeeds.xy %>" placeholder="XY" class="form-control floatInput assembler" type="text">
<input data-property="rapidSpeeds" data-key="z" value="<%= rapidSpeeds.z %>" placeholder="Z" class="form-control floatInput assembler" type="text"><br/><br/>
Feed Rate (xy, z): <input data-property="feedRate" data-key="xy" value="<%= feedRate.xy %>" placeholder="XY" class="form-control floatInput assembler" type="text">
diff --git a/js/plists/CamPList.js b/js/plists/CamPList.js
index 8c3c587c..eb1e6262 100644
--- a/js/plists/CamPList.js
+++ b/js/plists/CamPList.js
@@ -142,8 +142,8 @@ define(['three'], function(THREE){
rapidHeightRelative: true,
safeHeight: 0.5,
originPosition: new THREE.Vector3(0,0,0),
- rapidSpeeds:{xy: 3, z: 2},
- feedRate:{xy: 0.1, z: 0.1}
+ rapidSpeeds:{xy: 240, z: 120},
+ feedRate:{xy: 6, z: 6}
}
}
},
--
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