From bffabbb228a8631e57444d9164b6b3803377d4cc Mon Sep 17 00:00:00 2001
From: Amanda Ghassaei <amandaghassaei@gmail.com>
Date: Tue, 18 Aug 2015 23:45:01 -0400
Subject: [PATCH] adding in will's gcode
---
js/cam/assemblers/Assembler.js | 48 ++++++++++++++++++++----
js/cam/assemblers/Component.js | 61 +++++++++++++++++++++++++------
js/cam/processes/GCodeExporter.js | 2 +-
js/plists/CamPList.js | 7 ++--
4 files changed, 95 insertions(+), 23 deletions(-)
diff --git a/js/cam/assemblers/Assembler.js b/js/cam/assemblers/Assembler.js
index bf61b2d7..edca07f9 100644
--- a/js/cam/assemblers/Assembler.js
+++ b/js/cam/assemblers/Assembler.js
@@ -20,7 +20,7 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
this.numMaterials = json.numMaterials;
this.customHeader = json.customHeader || function(settings){
-// this.home(settings);
+ return "";
};
this.customFooter = json.customFooter || function(){};
this.customHome = json.customHome || function(){};
@@ -189,8 +189,14 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
//post process
Assembler.prototype.postProcess = function(settings, exporter){
+
+ _.each(this.components, function(component){
+ component.postReset();
+ });
+
var data = "";
data += exporter.makeHeader(settings);
+ data += this._makeHeader(settings, exporter);
data += "\n\n";
data += exporter.addComment("begin program");
data += "\n";
@@ -205,17 +211,22 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
return data;
};
- Assembler.prototype.makeHeader = function(settings){
- return this.customHeader(settings);
+ Assembler.prototype._makeHeader = function(settings, exporter){
+ var data = this.customHeader(settings);
+ data += this.home(exporter, settings);
+ return data;
};
Assembler.prototype.home = function(exporter, settings){
+// this.components.zAxis.postMoveTo(settings.rapidHeight*settings*scale);
return exporter.goHome(settings);
};
Assembler.prototype._postProcessCells = function(settings, exporter){
var data = "";
var self = this;
+
+ var lastIndex = null;
lattice.rasterCells(cam._getOrder(cam.get("camStrategy")), function(cell){
if (!cell) return;
@@ -223,7 +234,7 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
var cellIndex = cell.getAbsoluteIndex();
if (!self.shouldPickUpStock){
- data += self._postGetStock(cellIndex, cellPosition, cell.materialName, settings, exporter);
+ data += self._postGetStock(cellIndex, lastIndex, cellPosition, cell.materialName, settings, exporter);
} else {
// var thisStockPosition = _.clone(stockPosition);
// if (multStockPositions) {
@@ -237,12 +248,14 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
}
data += self._postReleaseStock(cellIndex, cellPosition, cell.materialName, settings, exporter);
data += "\n";
+ lastIndex = cellIndex.clone();
});
return data;
};
Assembler.prototype._postMoveXY = function(position, settings, exporter){
+ position = this.components.zAxis.applyAbsoluteRotation(position);
return exporter.rapidXY(position, settings);
};
@@ -256,8 +269,14 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
// return data;
// };
- Assembler.prototype._postGetStock = function(index, position, material, settings, exporter){
- return exporter.addComment("get stock " + JSON.stringify(index));
+ Assembler.prototype._postGetStock = function(index, lastIndex, position, material, settings, exporter){
+ var data = "";
+ if (lastIndex === null || (lastIndex.z-index.z)%2 != 0){
+ data += exporter.addLine("G0", ["A" + (index.z%2*0.3125).toFixed(4)], "new layer");
+ data += "\n";
+ }
+ data += exporter.addComment("get stock " + JSON.stringify(index));
+ return data;
};
Assembler.prototype._postReleaseStock = function(index, position, material, settings, exporter){
@@ -271,12 +290,21 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
}
position.sub(stock.getPosition().multiplyScalar(settings.scale));
+
position.sub(settings.originPosition);
- data += this._postMoveXY(position, settings, exporter);
+ data += this._postMoveXY(position.clone(), settings, exporter);
data += exporter.rapidZ(position.z+settings.safeHeight, settings);
data += exporter.moveZ(position.z, settings);
+
+ //place part
data += exporter.addComment(JSON.stringify(index));
+ if (material == "brass") data += exporter.addLine("M3");
+ else if (material == "fiberGlass") data += exporter.addLine("M4");
+ data += exporter.addLine("G4", ["P" + 0.75]);
+ data += exporter.addLine("M5");
+ data += exporter.moveZ(position.z, settings);
+
data += exporter.moveZ(position.z+settings.safeHeight, settings);
data += exporter.rapidZ(settings.rapidHeight, settings);
return data;
@@ -322,6 +350,10 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
}
this.components.frame.rotateTo(new THREE.Vector3(0, 0, 0), speed, callback);
};
+
+ Assembler.prototype.rotateTo = function(index, speed, settings, callback){
+ this.components.frame.rotateTo(new THREE.Vector3(0, 0, Math.PI/2), speed, callback);
+ };
Assembler.prototype.releaseStock = function(index, settings){
lattice.showCellAtIndex(index);
@@ -340,7 +372,7 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
callback();
}
- var startingPos = this.components.zAxis.getAbsolutePosition();//get position of end effector
+ var startingPos = this.components.xAxis.getPosition().add(this.components.yAxis.getPosition().add(this.components.zAxis.getPosition()))//this.components.zAxis.getAbsolutePosition();//get position of end effector
speed = this._normalizeSpeed(startingPos, position, new THREE.Vector3(speed, speed, speed));//todo fix this
this.components.xAxis.moveTo(position, speed.x, sketchyCallback);
this.components.frame.moveTo(position, speed.y, sketchyCallback);
diff --git a/js/cam/assemblers/Component.js b/js/cam/assemblers/Component.js
index 78f28b21..d99ed4c8 100644
--- a/js/cam/assemblers/Component.js
+++ b/js/cam/assemblers/Component.js
@@ -20,6 +20,9 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
this.motionVector = new THREE.Vector3();
if (json.centerOfRotation) this.centerOfRotation = new THREE.Vector3(json.centerOfRotation.x, json.centerOfRotation.y, json.centerOfRotation.z);
if (json.motionVector) this.motionVector.set(json.motionVector.x, json.motionVector.y, json.motionVector.z);
+
+
+ this.postReset();
}
//assembler setup
@@ -80,6 +83,14 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
return this.id;
};
+
+
+
+
+
+
+ //position/rotation/etc
+
Component.prototype.getPosition = function(){
return this.object3D.position.clone();
};
@@ -89,6 +100,19 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
return this.parentObject.getAbsolutePosition().add(this.parentObject.applyRotation(this.getPosition()));
};
+ Component.prototype.getMotionVector = function(){
+ return this.motionVector.clone();
+ };
+
+ Component.prototype.getAbsoluteMotionVector = function(){
+ if (!this.parent) return this.getMotionVector();
+ return this.applyAbsoluteRotation(this.getMotionVector());
+ };
+
+ Component.prototype.getRotation = function(){//for rotary axes
+ return this.object3D.rotation.toVector3().clone();
+ };
+
Component.prototype.getOrientation = function(){
return this.object3D.quaternion.clone();
};
@@ -116,16 +140,27 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
- //simulation animation
+ //post processing
- Component.prototype.getPosition = function(){
- return this.object3D.position.clone();
+ Component.prototype.postReset = function(){
+ this._postAngle = 0;
+ this._postPosition = 0;
};
- Component.prototype.getRotation = function(){
- return this.object3D.rotation.toVector3().clone();
+ Component.prototype.postRotateTo = function(newAngle){
+ this._postAngle = newAngle;
+ };
+
+
+ Component.prototype.postMoveTo = function(newPosition){
+ this._postPosition = newPosition;
};
+
+
+
+ //simulation animation
+
Component.prototype.getObject3D = function(){
return this.object3D;
};
@@ -168,14 +203,14 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
}, 10);
};
- Component.prototype.moveTo = function(target, speed, callback){
- var target = this._multiplyVectors(target, this.motionVector);
+ Component.prototype.moveTo = function(target, speed, callback){//all local in sim bc gcode is in local coordinate systems
+ var target = this._multiplyVectors(target, this.getMotionVector());//this.getAbsoluteMotionVector()
if (target === null){
if (callback) callback();
return;
}
- var currentPosition = this.getPosition();
+ var currentPosition = this.getPosition();//local position
var increment = speed/1500.0*cam.get("simSpeed");
var incrVector = target.clone().sub(currentPosition);
@@ -190,13 +225,17 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
};
Component.prototype._multiplyVectors = function(target, motion){
- if (target.x === null && motion.x > 0) return null;
- if (target.y === null && motion.y > 0) return null;
- if (target.z === null && motion.z > 0) return null;
+ if (target.x === null && motion.x > 0.001) return null;
+ if (target.y === null && motion.y > 0.001) return null;
+ if (target.z === null && motion.z > 0.001) return null;
var target = new THREE.Vector3(target.x, target.y, target.z);
return target.multiply(motion);
};
+ Component.prototype.getThisDistanceToTarget = function(target){
+ return target.clone().multiply(this.getAbsoluteMotionVector());
+ };
+
Component.prototype._incrementalMove = function(increment, target, callback){
var self = this;
setTimeout(function(){
diff --git a/js/cam/processes/GCodeExporter.js b/js/cam/processes/GCodeExporter.js
index b58d39e9..6ec8212e 100644
--- a/js/cam/processes/GCodeExporter.js
+++ b/js/cam/processes/GCodeExporter.js
@@ -19,7 +19,7 @@ define(['underscore', 'cam', 'lattice'], function(_, cam, lattice){
//// data += this.addLine("G49", [], "cancel tool length comp");
// data += this.addLine("G40", [], "cancel tool radius comp");
//// data += this.addLine("M09", [], "coolant off");
- data += this.goHome(settings);
+// data += this.goHome(settings);
return data;
};
diff --git a/js/plists/CamPList.js b/js/plists/CamPList.js
index 04723a0e..cb704fe7 100644
--- a/js/plists/CamPList.js
+++ b/js/plists/CamPList.js
@@ -126,11 +126,12 @@ define(['three'], function(THREE){
camStrategy: "raster",
placementOrder: "XYZ",//used for raster strategy entry
camProcess: "gcode",
- rapidHeight:40,
+ rapidHeight:30,
rapidHeightRelative: true,
- safeHeight: 0.5,
+ safeHeight: 4.5,
+ clearHeight: 8,
originPosition: new THREE.Vector3(0,0,0),
- rapidSpeeds:{xy: 240, z: 120},
+ rapidSpeeds:{xy: 250, z: 250},
feedRate:{xy: 6, z: 6}
}
}
--
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