From 66c59ee8d7f8b1e5b22833c1690a65a644c9483f Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Tue, 24 Mar 2015 14:36:50 -0400
Subject: [PATCH] pass move commands to cell
---
js/cam/Machine.js | 48 +++++++++++++++++++++++++----------------------
js/fea/DmaCell.js | 9 +++++++++
2 files changed, 35 insertions(+), 22 deletions(-)
diff --git a/js/cam/Machine.js b/js/cam/Machine.js
index 90e9fdec..5ef5d755 100644
--- a/js/cam/Machine.js
+++ b/js/cam/Machine.js
@@ -70,7 +70,7 @@ Machine.prototype._reorganizeSpeed = function(speed){
return newSpeed;
}
-Machine.prototype._normalizeSpeed = function(startingPos, x, y, speed){
+Machine.prototype._normalizeSpeed = function(startingPos, x, y, speed){//xy moves need speed normalization
var normSpeed = {};
if (x == "" || y == "") return speed;
var deltaX = x-startingPos.x;
@@ -83,29 +83,37 @@ Machine.prototype._normalizeSpeed = function(startingPos, x, y, speed){
return normSpeed;
};
-Machine.prototype._animateMesh = function(mesh, axis, speed, target, callback){
- var increment = speed/10;//based on 1/10th of sec
+Machine.prototype._animateObjects = function(objects, axis, speed, target, callback){
+ var increment = speed/5;//based on 1/10th of sec
if (increment == 0) {
if (callback) callback();
return;
}
var direction = 1;
- if (target-mesh.position[axis] < 0) direction = -1;
- increment = Math.max(Math.abs(increment), 0.00001)*direction;//need to put a min on the increment - other wise this stall out with floating pt tol
- var simSpeed = 100/dmaGlobals.assembler.get("simSpeed");//1/10th of sec
- this._incrementalMove(mesh, axis, increment, target, direction, callback, simSpeed);
+ if (target-objects[0].position[axis] < 0) direction = -1;
+ increment = Math.max(increment, 0.00001)*direction;//need to put a min on the increment - other wise this stall out with floating pt tol
+ var simSpeed = 50/dmaGlobals.assembler.get("simSpeed");//1/10th of sec
+ this._incrementalMove(objects, axis, increment, target, direction, callback, simSpeed);
};
-Machine.prototype._incrementalMove = function(mesh, axis, increment, target, direction, callback, simSpeed){
+Machine.prototype._incrementalMove = function(objects, axis, increment, target, direction, callback, simSpeed){
var self = this;
setTimeout(function(){
- if ((target-mesh.position[axis])*direction <= 0) {
+ if ((target-objects[0].position[axis])*direction <= 0) {
if (callback) callback();
return;
}
- if (Math.abs(target-mesh.position[axis]) < Math.abs(increment)) mesh.position[axis] = target;//don't overshoot
- else mesh.position[axis] += increment;
- self._incrementalMove(mesh, axis, increment, target, direction, callback, simSpeed)
+ _.each(objects, function(object){
+ if (object instanceof DMACell){
+ var currentPosition = object.currentPosition();
+ if (Math.abs(target-currentPosition[axis]) < Math.abs(increment)) object.moveTo(target, axis);//don't overshoot
+ else object.moveTo(currentPosition[axis]+increment, axis);
+ } else {
+ if (Math.abs(target-object.position[axis]) < Math.abs(increment)) object.position[axis] = target;//don't overshoot
+ else object.position[axis] += increment;
+ }
+ });
+ self._incrementalMove(objects, axis, increment, target, direction, callback, simSpeed)
},simSpeed);
};
@@ -144,7 +152,6 @@ Shopbot.prototype._buildMeshes = function(callback){
};
Shopbot.prototype.moveTo = function(x, y, z, speed, wcs, callback){
- var endEffector = this.meshes[0];
var totalThreads = 3;
function sketchyCallback(){
totalThreads -= 1;
@@ -154,10 +161,10 @@ Shopbot.prototype.moveTo = function(x, y, z, speed, wcs, callback){
x = this._makeAbsPosition(x, wcs.x);
y = this._makeAbsPosition(y, wcs.y);
z = this._makeAbsPosition(z, wcs.z);
- speed = this._normalizeSpeed(endEffector.position, x, y, this._reorganizeSpeed(speed));
- this._moveAxis(endEffector, x, "x", speed.x, sketchyCallback);
- this._moveAxis(endEffector, y, "y", speed.y, sketchyCallback);
- this._moveAxis(endEffector, z, "z", speed.z, sketchyCallback);
+ speed = this._normalizeSpeed(this.meshes[0].position, x, y, this._reorganizeSpeed(speed));
+ this._moveAxis(x, "x", speed.x, sketchyCallback);
+ this._moveAxis(y, "y", speed.y, sketchyCallback);
+ this._moveAxis(z, "z", speed.z, sketchyCallback);
this.cell.updateForScale();//todo why is this here?
};
@@ -166,17 +173,14 @@ Shopbot.prototype._makeAbsPosition = function(target, wcs){
return parseFloat(target)+wcs;
};
-Shopbot.prototype._moveAxis = function(mesh, target, axis, speed, callback){
+Shopbot.prototype._moveAxis = function(target, axis, speed, callback){
if (target == null || target === undefined) {
callback();
return;
}
- this._animateMesh(mesh, axis, speed, target, callback);
- this._animateMesh(this.cell.cellMesh, axis, speed, target, null);//todo reaching a little deep here, might want to find a better solution
+ this._animateObjects(this.meshes.concat(this.cell), axis, speed, target, callback);
};
-
-
///////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////ONE BIT///////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/js/fea/DmaCell.js b/js/fea/DmaCell.js
index 2d24cb3d..9dd61d38 100644
--- a/js/fea/DmaCell.js
+++ b/js/fea/DmaCell.js
@@ -96,6 +96,15 @@ DMACell.prototype._setMeshPosition = function(mesh, position){
mesh.position.z = position.z;
};
+DMACell.prototype.moveTo = function(position, axis){//used for stock simulations
+ this.cellMesh.position[axis] = position;
+ //todo update parts too
+};
+
+DMACell.prototype.currentPosition = function(){//used for stock simulations
+ return this.cellMesh.position.clone();
+};
+
DMACell.prototype.getType = function(){
return null;//only used in freeform layout
};
--
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