From b8074a9b6af324bc14d22772c6445f60033d6256 Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Thu, 28 May 2015 12:15:57 -0700
Subject: [PATCH] stapler assembler
---
js/cam/assemblers/Assembler.js | 74 +++++++++++++++++++++++++++
js/cam/assemblers/StaplerAssembler.js | 1 +
js/cells/DMACell.js | 2 +-
js/lattice/GIKLattice.js | 74 +++++++++++++--------------
js/menus/CamMenuView.js | 2 +
js/models/AllAppPLists.js | 4 +-
6 files changed, 118 insertions(+), 39 deletions(-)
diff --git a/js/cam/assemblers/Assembler.js b/js/cam/assemblers/Assembler.js
index 2effb730..72c5be6a 100644
--- a/js/cam/assemblers/Assembler.js
+++ b/js/cam/assemblers/Assembler.js
@@ -39,6 +39,7 @@ Assembler.prototype._buildAssemblerMeshes = function(callback){
self[name] = new THREE.Mesh(geometry, assemblerMaterial);
if (allLoaded()) callback();
}
+
this._loadSTls(doAdd);
};
@@ -54,6 +55,79 @@ Assembler.prototype.setVisibility = function(visible){
globals.three.render();
};
+
+
+
+
+Assembler.prototype.postProcess = function(data, exporter){//override in subclasses
+
+ var rapidHeight = globals.cam.get("rapidHeight");
+ var safeHeight = globals.cam.get("safeHeight");
+ var wcs = globals.cam.get("originPosition");
+
+ var stockPosition = globals.cam.get("stockPosition");
+ var stockNum = 0;//position of stock in stock array
+ var multStockPositions = globals.cam.get("multipleStockPositions");
+ var stockSeparation = globals.cam.get("stockSeparation");
+ var stockArraySize = globals.cam.get("stockArraySize");
+ var self = this;
+
+ globals.lattice.rasterCells(globals.cam._getOrder(globals.cam.get("camStrategy")), function(cell){
+ if (!cell) return;
+ if (this.stockAttachedToEndEffector){
+ data += self._postGetStock(exporter);
+ } else {
+ var thisStockPosition = _.clone(stockPosition);
+ if (multStockPositions) {
+ thisStockPosition.x += stockNum % stockArraySize.y * stockSeparation;
+ thisStockPosition.y -= Math.floor(stockNum / stockArraySize.y) * stockSeparation;
+ stockNum += 1;
+ if (stockNum >= stockArraySize.x * stockArraySize.y) stockNum = 0;
+ }
+ data += self._postMoveXY(exporter, stockPosition.x-wcs.x, stockPosition.y-wcs.y);
+ data += self._postPickUpStock(exporter, thisStockPosition, rapidHeight, wcs, safeHeight);
+ }
+ var cellPosition = cell.getPosition();
+ data += self._postMoveXY(exporter, cellPosition.x-wcs.x, cellPosition.y-wcs.y);
+ data += self._postReleaseStock(cellPosition, cell, exporter, rapidHeight, wcs, safeHeight);
+ data += "\n";
+ });
+ return data;
+};
+
+Assembler.prototype._postMoveXY = function(exporter, x, y){
+ return exporter.rapidXY(x, y);
+};
+
+Assembler.prototype._postPickUpStock = function(exporter, stockPosition, rapidHeight, wcs, safeHeight){
+ var data = "";
+ data += exporter.rapidZ(stockPosition.z-wcs.z+safeHeight);
+ data += exporter.moveZ(stockPosition.z-wcs.z);
+ data += this._postGetStock(exporter);
+ data += exporter.moveZ(stockPosition.z-wcs.z+safeHeight);
+ data += exporter.rapidZ(rapidHeight);
+ return data;
+};
+
+Assembler.prototype._postGetStock = function(exporter){
+ return exporter.addComment("get stock");
+};
+
+Assembler.prototype._postReleaseStock = function(cellPosition, cell, exporter, rapidHeight, wcs, safeHeight){
+ var data = "";
+ 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;
+};
+
+
+
+
+
+
Assembler.prototype.destroy = function(){
this.stock.destroy();
this.zAxis.parent.remove(this.zAxis);
diff --git a/js/cam/assemblers/StaplerAssembler.js b/js/cam/assemblers/StaplerAssembler.js
index a7495ab4..6e7e5293 100644
--- a/js/cam/assemblers/StaplerAssembler.js
+++ b/js/cam/assemblers/StaplerAssembler.js
@@ -4,6 +4,7 @@
function StaplerAssembler(){
+ this.stockAttachedToEndEffector = true;//no need for "stock position"
Assembler.call(this);
}
StaplerAssembler.prototype = Object.create(Assembler.prototype);
diff --git a/js/cells/DMACell.js b/js/cells/DMACell.js
index 954e515e..a011aea6 100644
--- a/js/cells/DMACell.js
+++ b/js/cells/DMACell.js
@@ -102,7 +102,7 @@ DMACell.prototype.setSuperCell = function(superCell, index){
if (this.superCellIndex == this.superCell.getLength()) this.mesh.rotateZ(Math.PI);
if (globals.appState.get("cellMode")=="part") {
- this.parts = this.__initParts();
+ this.parts = this._initParts();
this.draw();
}
};
diff --git a/js/lattice/GIKLattice.js b/js/lattice/GIKLattice.js
index ec285c1c..e8847f5a 100644
--- a/js/lattice/GIKLattice.js
+++ b/js/lattice/GIKLattice.js
@@ -52,43 +52,43 @@ latticeSubclasses["GIKLattice"] = {
return new GIKSuperCell(length, range, cells);
},
- _rasterGikCells: function(order, callback, var1, var2, var3, cells){
- for (var i=this._getRasterLoopInit(var1);this._getRasterLoopCondition(i,var1);i+=this._getRasterLoopIterator(var1)){
- for (var j=this._getRasterLoopInit(var2);this._getRasterLoopCondition(j,var2);j+=this._getRasterLoopIterator(var2)){
- for (var k=this._getRasterLoopInit(var3);this._getRasterLoopCondition(k,var3);k+=this._getRasterLoopIterator(var3)){
- var numToSkip = {x:0,y:0};
- if (var1.order == 0){
- if (var2.order == 1) numToSkip = this._doSuperCellCallback(cells, i, j, k, callback);
- else if (var2.order == 2) numToSkip = this._doSuperCellCallback(cells, i, k, j, callback);
- } else if (var1.order == 1){
- if (var2.order == 0) numToSkip = this._doSuperCellCallback(cells, j, i, k, callback);
- else if (var2.order == 2) numToSkip = this._doSuperCellCallback(cells, k, i, j, callback);
- } else {
- if (var2.order == 0) {
- numToSkip = this._doSuperCellCallback(cells, j, k, i, callback);
- }
- else if (var2.order == 1) {
- numToSkip = this._doSuperCellCallback(cells, k, j, i, callback);
- }
- }
-
- }
- }
- }
- },
-
- _doSuperCellCallback: function(cells, x, y, z, callback){
- var cell = cells[x][y][z];
- if (z%2 != 0) cell = cells[y][x][z];
- if (!cell) {
- callback(null, x, y, z);
- return {x:0,y:0};
- }
- var superCell = cell.superCell;
- callback(superCell, x, y, z);
- if (z%2 != 0) return {x:0, y:superCell.getLength()};
- return {x:superCell.getLength(), y:0};
- },
+// _rasterGikCells: function(order, callback, var1, var2, var3, cells){
+// for (var i=this._getRasterLoopInit(var1);this._getRasterLoopCondition(i,var1);i+=this._getRasterLoopIterator(var1)){
+// for (var j=this._getRasterLoopInit(var2);this._getRasterLoopCondition(j,var2);j+=this._getRasterLoopIterator(var2)){
+// for (var k=this._getRasterLoopInit(var3);this._getRasterLoopCondition(k,var3);k+=this._getRasterLoopIterator(var3)){
+// var numToSkip = {x:0,y:0};
+// if (var1.order == 0){
+// if (var2.order == 1) numToSkip = this._doSuperCellCallback(cells, i, j, k, callback);
+// else if (var2.order == 2) numToSkip = this._doSuperCellCallback(cells, i, k, j, callback);
+// } else if (var1.order == 1){
+// if (var2.order == 0) numToSkip = this._doSuperCellCallback(cells, j, i, k, callback);
+// else if (var2.order == 2) numToSkip = this._doSuperCellCallback(cells, k, i, j, callback);
+// } else {
+// if (var2.order == 0) {
+// numToSkip = this._doSuperCellCallback(cells, j, k, i, callback);
+// }
+// else if (var2.order == 1) {
+// numToSkip = this._doSuperCellCallback(cells, k, j, i, callback);
+// }
+// }
+//
+// }
+// }
+// }
+// },
+//
+// _doSuperCellCallback: function(cells, x, y, z, callback){
+// var cell = cells[x][y][z];
+// if (z%2 != 0) cell = cells[y][x][z];
+// if (!cell) {
+// callback(null, x, y, z);
+// return {x:0,y:0};
+// }
+// var superCell = cell.superCell;
+// callback(superCell, x, y, z);
+// if (z%2 != 0) return {x:0, y:superCell.getLength()};
+// return {x:superCell.getLength(), y:0};
+// },
_undo: function(){//remove all the mixins, this will help with debugging later
var self = this;
diff --git a/js/menus/CamMenuView.js b/js/menus/CamMenuView.js
index 88023eb2..2d3ba1ee 100644
--- a/js/menus/CamMenuView.js
+++ b/js/menus/CamMenuView.js
@@ -77,6 +77,7 @@ CamMenuView = Backbone.View.extend({
<% if (!(machineName == "handOfGod")){ %>\
<br/><a id="manualSelectOrigin" class=" btn btn-lg btn-default btn-imageCustom<% if (manualSelectOrigin){ %> btn-selected<% } %>"><img src="assets/imgs/cursor.png"></a>\
<label> Manually select origin from existing cell</label><br/><br/>\
+ <% if (!assembler.stockAttachedToEndEffector){ %>\
Stock (xyz): <input data-property="stockPosition" data-key="x" value="<%= stockPosition.x %>" placeholder="X" class="form-control floatInput assembler" type="text">\
<input data-property="stockPosition" data-key="y" value="<%= stockPosition.y %>" placeholder="Y" class="form-control floatInput assembler" type="text">\
<input data-property="stockPosition" data-key="z" value="<%= stockPosition.z %>" placeholder="Z" class="form-control floatInput assembler" type="text"><br/>\
@@ -97,6 +98,7 @@ CamMenuView = Backbone.View.extend({
<input data-property="stockArraySize" data-key="y" value="<%= stockArraySize.y %>" placeholder="Y" class="form-control intInput assembler" type="text"><br/><br/>\
Stock separation: <input data-property="stockSeparation" value="<%= stockSeparation %>" placeholder="X" class="form-control floatInput assembler" type="text"><br/><br/>\
<% } %>\
+ <% } %>\
Clearance Height: <input data-property="rapidHeight" value="<%= rapidHeight %>" placeholder="Z" class="form-control floatInput assembler" type="text"><br/>\
<label class="checkbox" for="rapidPosRel">\
<input id="rapidPosRel" data-property="rapidHeightRelative" type="checkbox" <% if (rapidHeightRelative){ %> checked="checked"<% } %> value="" data-toggle="checkbox" class="assembler custom-checkbox">\
diff --git a/js/models/AllAppPLists.js b/js/models/AllAppPLists.js
index fbccb975..dca4e835 100644
--- a/js/models/AllAppPLists.js
+++ b/js/models/AllAppPLists.js
@@ -172,7 +172,9 @@ function AppPList(){
oneBitBot:{
gcode: "G-Code",
tinyG: "TinyG"
- }
+ },
+ stapler: {gcode: "G-Code"},
+ staplerDual: {gcode: "G-Code"}
},
allScripts: {
--
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