def makeListOfCmds(self):
rectPath = RectPath(self.point0, self.point1, plane=self.plane)
x0, y0 = self.point0
x1, y1 = self.point1
xMid = 0.5 * (x0 + x1)
yMid = 0.5 * (y0 + y1)
kx, ky = PLANE_COORD[self.plane]
self.listOfCmds = []
for i, cmd in enumerate(rectPath.listOfCmds):
self.listOfCmds.append(cmd)
if i > 0:
cornerStr = self.numToCornerStr[i]
if self.cornerCutDict[cornerStr]:
x = cmd.motionDict[kx]
y = cmd.motionDict[ky]
normConst = math.sqrt((x - xMid)**2 + (y - yMid)**2)
u = (x - xMid) / abs(x - xMid)
v = (y - yMid) / abs(y - yMid)
xCut = x + self.cornerCutLen * u / math.sqrt(2.0)
yCut = y + self.cornerCutLen * v / math.sqrt(2.0)
cmd = gcode_cmd.LinearFeed(**{kx: xCut, ky: yCut})
self.listOfCmds.append(cmd)
cmd = gcode_cmd.LinearFeed(**{kx: x, ky: y})
self.listOfCmds.append(cmd)
def makeListOfCmds(self):
kx, ky = PLANE_COORD[self.plane]
kz = PLANE_NORM_COORD[self.plane]
pointList = self.getPathPointList()
if self.radius is None:
if self.helix is None:
self.listOfCmds = [
gcode_cmd.LinearFeed(**{
kx: x,
ky: y
}) for x, y in pointList
]
else:
self.listOfCmds = [
gcode_cmd.LinearFeed(**{
kx: x,
ky: y,
kz: z
}) for x, y, z in pointList
]
else:
ki, kj = HELICAL_OFFSETS[self.plane]
cornerArcClass = PLANE_TO_HELIX_MOTION[self.plane]
arcDir = getDirFromPts(pointList[0][:2], pointList[1][:2],
pointList[2][:2])
self.listOfCmds = []
for i in range(0, len(pointList) - 1):
# Create linear feed
x0, y0 = pointList[i][:2]
linearFeedDict = {kx: x0, ky: y0}
if self.helix is not None:
z0 = pointList[i][2]
linearFeedDict[kz] = z0
linearFeed = gcode_cmd.LinearFeed(**linearFeedDict)
self.listOfCmds.append(linearFeed)
# Create corner arc feed
if (i - 1) % 2 == 0:
x1, y1 = pointList[i + 1][:2]
if arcDir == 'ccw':
cx = 0.5 * (y0 - y1 + x0 + x1)
cy = 0.5 * (y0 + y1 - x0 + x1)
else:
cx = 0.5 * (-y0 + y1 + x0 + x1)
cy = 0.5 * (y0 + y1 + x0 - x1)
offsetx = cx - x0
offsety = cy - y0
cornerArcDict = {
ki: offsetx,
kj: offsety,
kx: x1,
ky: y1,
'd': arcDir
}
if self.helix is not None:
z1 = pointList[i + 1][2]
cornerArcDict[kz] = z1
cornerArcFeed = cornerArcClass(**cornerArcDict)
self.listOfCmds.append(cornerArcFeed)
def getUniDirRasterRect(point0, point1, step, cutZ, retZ,
keys=('x', 'y', 'z')):
"""
Generates a uni-directional rastered rectangle path.
Details: ...
"""
x0, y0 = point0
x1, y1 = point1
cmdList = []
# Get step size and raster completion function
if y0 < y1:
dy = step
def outOfBounds(y):
return y > y1
else:
dy = -step
def outOfBounds(y):
return y < y1
# Get function for alternating x direction
def getAlternateX(xLast):
if xLast == x0:
return x1
else:
return x0
# Generate raster
x, y = x0, y0
kx, ky, kz = keys
isFirst = True
isLast = False
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y, kz: cutZ}))
while 1:
x = getAlternateX(x)
if x == x0:
cmdList.append(gcode_cmd.LinearFeed(**{kz: retZ}))
cmdList.append(gcode_cmd.RapidMotion(**{kx: x, ky: y}))
else:
cmdList.append(gcode_cmd.LinearFeed(**{kz: cutZ}))
if isFirst:
isFirst = False
else:
y += dy
if outOfBounds(y):
y = y1
isLast = True
cmdList.append(gcode_cmd.LinearFeed(**{ky: y}))
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
if isLast:
break
return cmdList
def makeListOfCmds(self):
kx, ky = PLANE_COORD[self.plane]
ki, kj = HELICAL_OFFSETS[self.plane]
kz = PLANE_NORM_COORD[self.plane]
cx, cy = self.center
x0, y0 = self.getStartPoint()[:2]
x1, y1 = self.getStopPoint()[:2]
turns = self.getNumTurns()
# Get helix motion class based on plane
helixMotionClass = PLANE_TO_HELIX_MOTION[self.plane]
self.listOfCmds = []
# Add linear feed to start position
if self.includeFeedToStart:
linearFeedArgs = {kx: x0, ky: y0}
if self.helix is not None:
linearFeedArgs[kz] = self.helix[0]
self.listOfCmds.append(gcode_cmd.LinearFeed(**linearFeedArgs))
# Add helical motion feed
helixFeedArgs = {
kx: x1,
ky: y1,
ki: cx - x0,
kj: cy - y0,
'd': self.direction
}
if self.helix is not None:
helixFeedArgs[kz] = self.helix[1]
if turns > 1:
helixFeedArgs['p'] = turns
self.listOfCmds.append(helixMotionClass(**helixFeedArgs))
def getBiDirRasterRect(point0, point1, step, keys=('x', 'y')):
"""
Generates a bi-directional rastered rectangle path defined by
point0=(x0,y0) and point1=(x1,y1). The raster scan is in the direction of
the 1st coordinate and path starts by initially cutting from x0 to x1. The
spacing between rows in is determined by step.
"""
x0, y0 = point0
x1, y1 = point1
cmdList = []
# Get step size and raster completion function
if y0 < y1:
dy = step
def rasterDone(y):
return (y + dy) > y1
else:
dy = -step
def rasterDone(y):
return (y + dy) < y1
# Get function for alternating x direction
def getAlternateX(xLast):
if xLast == x0:
return x1
else:
return x0
# Generate raster
x, y = x0, y0
kx, ky = keys
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
while 1:
x = getAlternateX(x)
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
if rasterDone(y):
break
y += dy
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
if y != y1:
y = y1
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
x = getAlternateX(x)
cmdList.append(gcode_cmd.LinearFeed(**{kx: x, ky: y}))
return cmdList
def getLinearFeedFromPt(self, p):
kx, ky = PLANE_COORD[self.plane]
if len(p) == 2:
feedArgs = {kx: p[0], ky: p[1]}
else:
kz = PLANE_NORM_COORD[self.plane]
feedArgs = {kx: p[0], ky: p[1], kz: p[2]}
return gcode_cmd.LinearFeed(**feedArgs)
def makeListOfCmds(self):
# Retreive numerical parameters and convert to float
cx = float(self.param['centerX'])
cy = float(self.param['centerY'])
width = abs(float(self.param['width']))
height = abs(float(self.param['height']))
depth = abs(float(self.param['depth']))
startZ = float(self.param['startZ'])
overlap = float(self.param['overlap'])
try:
overlapFinish = self.param['overlapFinish']
except KeyError:
overlapFinish = overlap
overlapFinish = float(overlapFinish)
maxCutDepth = float(self.param['maxCutDepth'])
toolDiam = abs(float(self.param['toolDiam']))
try:
startDwell = self.param['startDwell']
except KeyError:
startDwell = 0.0
startDwell = abs(float(startDwell))
try:
cornerMargin = self.param['cornerMargin']
except KeyError:
cornerMargin = 0.0
cornerMargin = float(cornerMargin)
try:
coolingPause = self.param['coolingPause']
except KeyError:
coolingPause = None
# Check params
checkRectPocketOverlap(overlap)
checkRectPocketOverlap(overlapFinish)
# Get rectangular path parameters
if self.param['direction'] == 'cw':
sgnDir = 1.0
else:
sgnDir = -1.0
x0 = cx + 0.5*(-width + toolDiam)
x1 = cx + 0.5*( width - toolDiam)
y0 = cy + 0.5*sgnDir*(-height + toolDiam)
y1 = cy + 0.5*sgnDir*( height - toolDiam)
point0 = x0,y0
point1 = x1,y1
# Move to safe height, then to start x,y and then to start z
self.addStartComment()
self.addRapidMoveToSafeZ()
self.addRapidMoveToPos(x=x0,y=y0,comment='start x,y')
self.addDwell(startDwell)
self.addMoveToStartZ()
# Get z cutting parameters
stopZ = startZ - depth
prevZ = startZ
currZ = max([startZ - maxCutDepth, stopZ])
done = False
passCnt = 0
while not done:
passCnt+=1
# Lead-in to cut depth
self.addComment('pass {0} lead-in'.format(passCnt))
leadInRect = cnc_path.RectPath(
point0,
point1,
plane='xy',
helix=(prevZ,currZ)
)
self.listOfCmds.extend(leadInRect.listOfCmds)
# Cut filled rectangular path
self.addComment('pass {0} filled rectangle'.format(passCnt))
if currZ == stopZ:
passOverlap = overlapFinish
else:
passOverlap = overlap
stepSize = toolDiam - passOverlap*toolDiam
stepSize = min([stepSize, abs(x1-x0), abs(y1-y0)])
numStepX = int(math.ceil(0.5*width/stepSize))
numStepY = int(math.ceil(0.5*height/stepSize))
numStep = min([numStepX, numStepY])
if not self.param['cornerCut']:
rectPath = cnc_path.FilledRectPath(
point0,
point1,
stepSize,
numStep,
plane='xy'
)
else:
cutLen = 0.5*toolDiam*(math.sqrt(2.0) - 1.0) + cornerMargin
rectPath = cnc_path.FilledRectWithCornerCutPath(
point0,
point1,
stepSize,
numStep,
cutLen,
plane='xy'
)
self.listOfCmds.extend(rectPath.listOfCmds)
# Get next z position
if currZ <= stopZ:
done = True
else:
if coolingPause is not None:
self.addRapidMoveToSafeZ()
self.listOfCmds.append(gcode_cmd.Dwell(coolingPause))
self.listOfCmds.append(gcode_cmd.LinearFeed(z=currZ))
prevZ = currZ
currZ = max([currZ - maxCutDepth, stopZ])
self.addRapidMoveToSafeZ()
self.addEndComment()
def makeListOfCmds(self):
# Retreive numerical parameters and convert to float
cx = float(self.param['centerX'])
cy = float(self.param['centerY'])
radius = abs(float(self.param['radius']))
thickness = abs(float(self.param['thickness']))
depth = abs(float(self.param['depth']))
startZ = float(self.param['startZ'])
overlap = float(self.param['overlap'])
try:
overlapFinish = self.param['overlapFinish']
except KeyError:
overlapFinish = overlap
overlapFinish = float(overlapFinish)
maxCutDepth = float(self.param['maxCutDepth'])
toolDiam = abs(float(self.param['toolDiam']))
try:
startDwell = self.param['startDwell']
except KeyError:
startDwell = 0.0
startDwell = abs(float(startDwell))
# Check params
if overlap < 0.0 or overlap >= 1.0:
raise ValueError('overlap must >=0 and < 1')
if 2*radius <= toolDiam:
raise ValueError('circle diameter must be > tool diameter')
if thickness > radius:
raise ValueError('thickness must be <= radius')
if toolDiam > thickness:
raise ValueError('toolDiam must be <= thickness')
# Get circle cutting parameters - assumes startAngle=0
adjustedRadius = radius - 0.5*toolDiam
x0 = cx + adjustedRadius
y0 = cy
# Move to safe height, then to start x,y and then to start z
self.addStartComment()
self.addRapidMoveToSafeZ()
self.addRapidMoveToPos(x=x0,y=y0,comment='start x,y')
self.addDwell(startDwell)
self.addMoveToStartZ()
# Get z cutting parameters
stopZ = startZ - depth
prevZ = startZ
currZ = max([startZ - maxCutDepth, stopZ])
done = False
passCnt = 0
while not done:
passCnt+=1
# Add lead-in
self.addComment('pass {0} lead-in'.format(passCnt))
moveToStartCmd = gcode_cmd.LinearFeed(x=x0,y=y0)
self.listOfCmds.append(moveToStartCmd)
leadInPath = cnc_path.CircPath(
(cx,cy),
adjustedRadius,
startAng=0,
plane='xy',
direction=self.param['direction'],
turns=1,
helix=(prevZ,currZ)
)
self.listOfCmds.extend(leadInPath.listOfCmds)
# Add filled circle
self.addComment('pass {0} filled circle'.format(passCnt))
if currZ == stopZ:
passOverlap = overlapFinish
else:
passOverlap = overlap
if abs(toolDiam - thickness) <= FLOAT_TOLERANCE:
numStep = 0
stepSize = 0.0
else:
stepSizePrelim = toolDiam - passOverlap*toolDiam
numStep = int(math.floor((thickness - toolDiam)/stepSizePrelim)) + 1
stepSize = (thickness -toolDiam)/float(numStep)
circPath = cnc_path.FilledCircPath(
(cx,cy),
adjustedRadius,
stepSize,
numStep,
startAng=0,
plane='xy',
direction=self.param['direction'],
turns=1
)
self.listOfCmds.extend(circPath.listOfCmds)
# Get next z position
if currZ <= stopZ:
done = True
prevZ = currZ
currZ = max([currZ - maxCutDepth, stopZ])
# Move to safe z and add end comment
self.addRapidMoveToSafeZ()
self.addEndComment()
def getFeedToStartCmd(self, plane='xy'):
kx, ky = tuple(plane)
feedArgs = {kx: self.startPoint[0], ky: self.startPoint[1]}
return gcode_cmd.LinearFeed(**feedArgs)
def addMoveToStartZ(self):
startZ = float(self.param['startZ'])
self.listOfCmds.append(gcode_cmd.Space())
commentStr = '{0}: move to start z'.format(self.__class__.__name__)
self.listOfCmds.append(gcode_cmd.Comment(commentStr))
self.listOfCmds.append(gcode_cmd.LinearFeed(z=startZ))
