def FeedLimitation(commands):
feedrate=[]
displacement=[]
feedrate.append(0)
displacement.append(0)
velocity=0
first=commands[0]
second=commands[1]
third=commands[2]
times=[]
for i in range(3,len(commands)):
if second.motion_type in motions and third.motion_type in motions:
if second.feedrate==0 and (second.motion_type=="G00" or second.motion_type=="G0"):
second.feedrate=MaxFeed
if second.motion_type in straight:
if third.motion_type in straight:
cos=Methods.IncludedAngle(first.position, second.position, third.position, second.plane)
if cos==2:
velocity=0
elif cos==1:
velocity=min(second.feedrate/60,third.feedrate/60)
else:
velocity=min(second.feedrate/60,third.feedrate/60,Acc*Period/(1-cos))
elif third.motion_type in circular:
center=cl.position(second.position.x+third.position.i,
second.position.y+third.position.j,
second.position.z+third.position.k,0,0,0,third.position.r)
endpoint = Methods.TangentPoint(second.position,center,5,third.motion_type,second.plane)
cos=Methods.IncludedAngle(first.position,second.position,endpoint,second.plane)
if cos == 2:
velocity=0
elif cos==1:
velocity=min(second.feedrate/60,third.feedrate/60,2*np.sqrt(ChordError*(2*center.r-ChordError))/Period)
else:
velocity=min(second.feedrate/60,third.feedrate/60,Acc*Period/(1-cos),2*np.sqrt(ChordError*(2*center.r-ChordError))/Period)
length=Methods.LinearLength(first.position,second.position)
velocity=CheckFeedrate(feedrate[-1],np.round(velocity,6),length)
elif second.motion_type in circular:
center=cl.position(first.position.x+second.position.i,first.position.y+second.position.j,
first.position.z+second.position.k,0,0,0,second.position.r)
chord_temp=2*np.sqrt(ChordError*(2*center.r-ChordError))/Period
endpoint=Methods.TangentPoint(second.position,center,-5,second.motion_type,second.plane)
if third.motion_type in straight:
cos=Methods.IncludedAngle(endpoint,second.position,third.position,second.plane)
if cos==2:
velocity=0
elif cos==1:
velocity=min(second.feedrate/60,third.feedrate/60)
else:
velocity=min(second.feedrate/60,third.feedrate/60,chord_temp,Acc*Period/(1-cos))
elif third.motion_type in circular:
center1=cl.position(second.position.x+third.position.i,second.position.y+third.position.j,second.position.z+third.position.k,
0,0,0,third.position.r)
endpoint1=Methods.TangentPoint(second.position,center1,5,third.motion_type,third.plane)
cos=Methods.IncludedAngle(endpoint,second.position,endpoint1,third.plane)
if cos==2:
velocity=0
elif cos==1:
velocity=min(second.feedrate/60,third.feedrate/60,chord_temp,2*np.sqrt(ChordError*(2*center1.r-ChordError))/Period)
else:
velocity=min(second.feedrate/60,third.feedrate/60,chord_temp,Acc*Period/(1-cos),
2*np.sqrt(ChordError*(2*center1.r-ChordError))/Period)
length=Methods.CircularLength(first.position,second.position,center,second.motion_type,second.plane)
velocity=CheckFeedrate(feedrate[-1],np.round(velocity,6),length)
#time=ScheduleSingleBlock(feedrate[-1],velocity,length,second.feedrate/60)
#times.append(time)
feedrate.append(velocity)
displacement.append(length)
first=second
second=third
third=commands[i]
return feedrate,displacement