From 91a878a1ff568c66f3ff23bab1ab342a75d794fa Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Wed, 25 Mar 2015 11:25:12 -0400
Subject: [PATCH] hand of god has no pauses
---
js/cam/Machine.js | 62 ++++++++++++++++++++++++++---------------------
1 file changed, 35 insertions(+), 27 deletions(-)
diff --git a/js/cam/Machine.js b/js/cam/Machine.js
index 9b0096fc..31bd4ceb 100644
--- a/js/cam/Machine.js
+++ b/js/cam/Machine.js
@@ -74,6 +74,20 @@ Machine.prototype.moveTo = function(x, y, z, speed, wcs, callback){
this._moveTo(x, y, z, speed, wcs, callback);
};
+Machine.prototype._moveTo = function(x, y, z, speed, wcs, callback){
+ var totalThreads = 3;
+ function sketchyCallback(){
+ totalThreads -= 1;
+ if (totalThreads > 0) return;
+ callback();
+ }
+ var startingPos = this.cell.getPosition();
+ speed = this._normalizeSpeed(startingPos, x, y, this._reorganizeSpeed(speed));
+ this._moveAxis(startingPos.x, x, "x", speed.x, sketchyCallback);
+ this._moveAxis(startingPos.y, y, "y", speed.y, sketchyCallback);
+ this._moveAxis(startingPos.z, z, "z", speed.z, sketchyCallback);
+};
+
Machine.prototype._makeAbsPosition = function(target, wcs){
if (target == "" || target == null || target === undefined) return null;
return parseFloat(target)+wcs;
@@ -122,14 +136,18 @@ Machine.prototype._incrementalMove = function(objects, axis, increment, currentP
}
var nextPos = currentPos + increment;
if (Math.abs(target-currentPos) < Math.abs(increment)) nextPos = target;//don't overshoot
- _.each(objects, function(object){
- if (object instanceof DMACell) object.moveTo(nextPos, axis);
- else object.position[axis] = nextPos;
- });
+ self._setPosition(objects, nextPos, axis);
self._incrementalMove(objects, axis, increment, nextPos, target, direction, callback, simSpeed)
},simSpeed);
};
+Machine.prototype._setPosition = function(objects, nextPos, axis){
+ _.each(objects, function(object){
+ if (object instanceof DMACell) object.moveTo(nextPos, axis);
+ else object.position[axis] = nextPos;
+ });
+};
+
///////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////POST PROCESS//////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////
@@ -225,20 +243,6 @@ Shopbot.prototype._buildMeshes = function(callback){
});
};
-Shopbot.prototype._moveTo = function(x, y, z, speed, wcs, callback){
- var totalThreads = 3;
- function sketchyCallback(){
- totalThreads -= 1;
- if (totalThreads > 0) return;
- callback();
- }
- var startingPos = this.meshes.endEffector.position.clone();
- speed = this._normalizeSpeed(startingPos, x, y, this._reorganizeSpeed(speed));
- this._moveAxis(startingPos.x, x, "x", speed.x, sketchyCallback);
- this._moveAxis(startingPos.y, y, "y", speed.y, sketchyCallback);
- this._moveAxis(startingPos.z, z, "z", speed.z, sketchyCallback);
-};
-
Shopbot.prototype._moveAxis = function(startingPos, target, axis, speed, callback){
if (target == null || target === undefined) {
callback();
@@ -262,17 +266,21 @@ God.prototype._buildMeshes = function(callback){
};
God.prototype._moveTo = function(x, y, z, speed, wcs, callback){
- var totalThreads = 3;
- function sketchyCallback(){
- totalThreads -= 1;
- if (totalThreads > 0) return;
+ var startingPos = this.cell.getPosition();
+ if (z != "" && z != null && z !== undefined){
+ if (z>startingPos.z){//ignore z up moves
+ this._setPosition(_.values(this.meshes).concat(this.cell), z, "z");
+ callback();
+ return;
+ }
+ } else {
+ this._setPosition(_.values(this.meshes).concat(this.cell), x, "x");
+ this._setPosition(_.values(this.meshes).concat(this.cell), y, "y");
callback();
+ return;
}
- var startingPos = this.cell.getPosition();
- speed = this._normalizeSpeed(startingPos, x, y, this._reorganizeSpeed(speed));
- this._moveAxis(startingPos.x, x, "x", speed.x, sketchyCallback);
- this._moveAxis(startingPos.y, y, "y", speed.y, sketchyCallback);
- this._moveAxis(startingPos.z, z, "z", speed.z, sketchyCallback);
+
+ Machine.prototype._moveTo.call(this, x, y, z, speed, wcs, callback);
};
God.prototype._moveAxis = function(startingPos, target, axis, speed, callback){
--
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