def rapid_to_new_branch(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv, nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.003
rad1 = min(rad_default, 0.9 * r1) # wrong? we get the new-branch r1 here, while we would want the old-branch r1
rad2 = min(rad_default, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad1 * prv_normal # + rad1*prv_tang
cen2 = nxt - rad2 * nxt_normal # rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad1 * prv_tang
src2 = cen2 - rad2 * nxt_tang
drawArc(myscreen, prv, trg1, rad1, cen1, True, ovdvtk.orange) # lead-out arc
ngc_writer.pen_up()
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.magenta) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
ngc_writer.pen_down()
drawArc(myscreen, src2, nxt, rad2, cen2, True, ovdvtk.mag2) # lead-in arc
def write_zig_gcode_file(filename, n_triangles, t1,n1,tol,t2,n2, toolpath):
ngc_writer.clearance_height= 5 # XY rapids at this height
ngc_writer.feed_height = 3 # use z plunge-feed below this height
ngc_writer.feed = 200 # feedrate
ngc_writer.plunge_feed = 100 # plunge feedrate
ngc_writer.metric = False # metric/inch flag
ngc_writer.comment( " OpenCAMLib %s" % ocl.version() ) # git version-tag
# it is probably useful to include this in all g-code output, so that bugs/problems can be tracked
ngc_writer.comment( " STL surface: %s" % filename )
ngc_writer.comment( " triangles: %d" % n_triangles )
ngc_writer.comment( " OpenCamLib::AdaptivePathDropCutter run took %.2f s" % t1 )
ngc_writer.comment( " got %d raw CL-points " % n1 )
ngc_writer.comment( " filtering to tolerance %.4f " % ( tol ) )
ngc_writer.comment( " got %d filtered CL-points. Filter done in %.3f s " % ( n2 , t2 ) )
ngc_writer.preamble()
# a "Zig" or one-way parallel finish path
# 1) lift to clearance height
# 2) XY rapid to start of path
# 3) plunge to correct z-depth
# 4) feed along path until end
for path in toolpath:
ngc_writer.pen_up()
first_pt = path[0]
ngc_writer.xy_rapid_to( first_pt.x, first_pt.y )
ngc_writer.pen_down( first_pt.z )
for p in path[1:]:
ngc_writer.line_to(p.x,p.y,p.z)
ngc_writer.postamble() # end of program
def rapid_to_new_branch(myscreen, prv_tang, nxt_tang, c1, r1, c2, r2, prv,
nxt):
# rapid from prev, to nxt
# while staying inside c1(r1) and c2(r)
rad_default = 0.003
rad1 = min(
rad_default, 0.9 * r1
) # wrong? we get the new-branch r1 here, while we would want the old-branch r1
rad2 = min(rad_default, 0.9 * r2)
prv_tang.normalize()
nxt_tang.normalize()
prv_normal = -1 * prv_tang.xy_perp()
nxt_normal = nxt_tang.xy_perp()
cen1 = prv + rad1 * prv_normal # + rad1*prv_tang
cen2 = nxt - rad2 * nxt_normal # rapid_tang # + rad1*prv_tang
rapid_tang = cen2 - cen1
rapid_tang.normalize()
trg1 = cen1 + rad1 * prv_tang
src2 = cen2 - rad2 * nxt_tang
drawArc(myscreen, prv, trg1, rad1, cen1, True,
ovdvtk.orange) # lead-out arc
ngc_writer.pen_up()
ovdvtk.drawLine(myscreen, trg1, src2, ovdvtk.magenta) # rapid
ngc_writer.xy_line_to(src2.x, src2.y)
ngc_writer.pen_down()
drawArc(myscreen, src2, nxt, rad2, cen2, True, ovdvtk.mag2) # lead-in arc
def OutputGCode(lev, paths, fn):
nw.clearance_height = config.top + config.clearance_above_top
nw.feed_height = config.top + config.engage_above_top
nw.feed = config.feed
nw.plunge_feed = config.plunge_feed
nw.writer = FileWriter(fn)
nw.comment("============ START G-CODE ===============")
nw.preamble()
nw.pen_up()
pairs = zip(lev, paths)
for lev, path in sorted(pairs, key = lambda(p): -p[0]):
nw.comment("level=%s" % lev)
for curve in path:
vertices = curve.getVertices()
current = vertices[0].p
nw.xy_rapid_to(current.x, current.y)
nw.pen_down(lev)
for v in vertices[1:]:
if v.type == 0:
nw.line_to(v.p.x, v.p.y, lev)
else:
r = math.hypot(v.p.x - v.c.x, v.p.y - v.c.y)
nw.xy_arc_to(v.p.x, v.p.y, r, v.c.x, v.c.y, v.type != 1)
nw.pen_up()
nw.postamble()
nw.comment("============ END G-CODE ===============")
nw.writer.Close()
def write_zig_gcode_file(filename, n_triangles, t1, n1, tol, t2, n2, toolpath):
ngc_writer.clearance_height = 5 # XY rapids at this height
ngc_writer.feed_height = 3 # use z plunge-feed below this height
ngc_writer.feed = 200 # feedrate
ngc_writer.plunge_feed = 100 # plunge feedrate
ngc_writer.metric = False # metric/inch flag
ngc_writer.comment(" OpenCAMLib %s" % ocl.version()) # git version-tag
# it is probably useful to include this in all g-code output, so that bugs/problems can be tracked
ngc_writer.comment(" STL surface: %s" % filename)
ngc_writer.comment(" triangles: %d" % n_triangles)
ngc_writer.comment(" OpenCamLib::AdaptivePathDropCutter run took %.2f s" %
t1)
ngc_writer.comment(" got %d raw CL-points " % n1)
ngc_writer.comment(" filtering to tolerance %.4f " % (tol))
ngc_writer.comment(" got %d filtered CL-points. Filter done in %.3f s " %
(n2, t2))
ngc_writer.preamble()
# a "Zig" or one-way parallel finish path
# 1) lift to clearance height
# 2) XY rapid to start of path
# 3) plunge to correct z-depth
# 4) feed along path until end
for path in toolpath:
ngc_writer.pen_up()
first_pt = path[0]
ngc_writer.xy_rapid_to(first_pt.x, first_pt.y)
ngc_writer.pen_down(first_pt.z)
for p in path[1:]:
ngc_writer.line_to(p.x, p.y, p.z)
ngc_writer.postamble() # end of program
def printOffsets(ofs):
nloop = 0
for lop in ofs:
n = 0
N = len(lop)
first_point=[]
previous=[]
for p in lop:
# p[0] is the Point
# p[1] is -1 for lines, and r for arcs
if n==0: # don't draw anything on the first iteration
previous=p[0]
ngc_writer.pen_up()
ngc_writer.xy_rapid_to( scale*previous.x, scale*previous.y)
ngc_writer.pen_down()
else:
cw=p[3] # cw or ccw arc
cen=p[2] # center of arc
r=p[1] # radius of arc
p=p[0] # target position
if r==-1: # -1 means line
ngc_writer.xy_line_to( scale*p.x, scale*p.y )
else:
ngc_writer.xy_arc_to( scale*p.x, scale*p.y, scale*r, scale*cen.x, scale*cen.y, cw )
previous=p
n=n+1
nloop = nloop+1
def printOffsets(ofs):
nloop = 0
for lop in ofs:
n = 0
N = len(lop)
first_point = []
previous = []
for p in lop:
# p[0] is the Point
# p[1] is -1 for lines, and r for arcs
if n == 0: # don't draw anything on the first iteration
previous = p[0]
ngc_writer.pen_up()
ngc_writer.xy_rapid_to(scale * previous.x, scale * previous.y)
ngc_writer.pen_down()
else:
cw = p[3] # cw or ccw arc
cen = p[2] # center of arc
r = p[1] # radius of arc
p = p[0] # target position
if r == -1: # -1 means line
ngc_writer.xy_line_to(scale * p.x, scale * p.y)
else:
ngc_writer.xy_arc_to(scale * p.x, scale * p.y, scale * r,
scale * cen.x, scale * cen.y, cw)
previous = p
n = n + 1
nloop = nloop + 1
def printCLPoints(cl_filtered_paths):
ngc_writer.preamble()
for path in cl_filtered_paths:
ngc_writer.pen_up()
first_pt = path[0]
ngc_writer.xy_rapid_to( first_pt.x, first_pt.y )
ngc_writer.pen_down( first_pt.z )
for p in path[1:]:
ngc_writer.line_to(p.x,p.y,p.z)
ngc_writer.postamble()
def printCLPoints(cl_filtered_paths):
ngc_writer.preamble()
for path in cl_filtered_paths:
ngc_writer.pen_up()
first_pt = path[0]
ngc_writer.xy_rapid_to(first_pt.x, first_pt.y)
ngc_writer.pen_down(first_pt.z)
for p in path[1:]:
ngc_writer.line_to(p.x, p.y, p.z)
ngc_writer.postamble()
def printMedial(vd, scale):
maw = ovd.MedialAxisWalk( vd.getGraph() )
toolpath = maw.walk()
for chain in toolpath:
n = 0
for move in chain:
for point in move:
if n==0: # don't draw anything on the first iteration
p = point[0]
zdepth = scale*point[1]
ngc_writer.pen_up();
ngc_writer.xy_rapid_to( scale*p.x, scale*p.y );
ngc_writer.pen_down( z= -zdepth )
else:
p = point[0]
z = point[1]
ngc_writer.line_to( scale*p.x, scale*p.y, scale*(-z) )
n=n+1
return
def printMedial(vd, scale):
maw = ovd.MedialAxisWalk(vd.getGraph())
toolpath = maw.walk()
for chain in toolpath:
n = 0
for move in chain:
for point in move:
if n == 0: # don't draw anything on the first iteration
p = point[0]
zdepth = scale * point[1]
ngc_writer.pen_up()
ngc_writer.xy_rapid_to(scale * p.x, scale * p.y)
ngc_writer.pen_down(z=-zdepth)
else:
p = point[0]
z = point[1]
ngc_writer.line_to(scale * p.x, scale * p.y, scale * (-z))
n = n + 1
return
def printMedial(vd):
maw = ovd.MedialAxisWalk( vd.getGraph() )
toolpath = maw.walk()
for chain in toolpath:
n = 0
for move in chain:
for point in move:
if n==0: # don't draw anything on the first iteration
p = point[0]
z = point[1]
ngc_writer.pen_up();
ngc_writer.xy_rapid_to( scale*p.x, scale*p.y );
ngc_writer.pen_down()
ngc_writer.plunge( -z ) # now we are at the correct height, at the startpoint of the first move
else:
p = point[0]
z = point[1]
ngc_writer.line_to( scale*p.x, scale*p.y, scale*(-z) )
n=n+1
return
def spiral_clear(myscreen, cutwidth, out_tangent, in_tangent, c1, r1, c2, r2,
out1, in1):
print "( spiral clear! )"
ngc_writer.pen_up()
# end spiral at in1
# archimedean spiral
# r = a + b theta
in1_dir = in1 - c1
in1_theta = math.atan2(in1_dir.y, in1_dir.x)
# in1_theta = in1_theta
# print "c1 =", c1
# print "in1 = ",in1
# print " end theta = ",in1_theta
drawPoint(myscreen, c1, ovdvtk.red)
# drawPoint( myscreen, in1, ovdvtk.blue, 0.006 )
# width = 2*pi*b
# => b = width/(2*pi)
b = cutwidth / (2 * math.pi)
# r = a + b in1_theta = r_max
# =>
# a = r_max-b*in1_theta
a = r1 - b * in1_theta
# figure out the start-angle
theta_min = in1_theta
theta_max = in1_theta
dtheta = 0.1
min_r = 0.001
while True:
r = a + b * theta_min
if r < min_r:
break
else:
theta_min = theta_min - dtheta
# print "start_theta = ", theta_min
Npts = (theta_max - theta_min) / dtheta
Npts = int(Npts)
# print "spiral has ",Npts," points"
p = ovd.Point(c1)
ngc_writer.xy_rapid_to(p.x, p.y)
ngc_writer.pen_down()
theta_end = 0
for n in range(Npts + 1):
theta = theta_min + n * dtheta
r = a + b * theta
theta = theta - 2 * abs(in1_theta - math.pi / 2)
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
p = trg
theta_end = theta
# add a complete circle after the spiral.
print "( spiral-clear: final circle )"
Npts = (2 * math.pi) / dtheta
Npts = int(Npts)
for n in range(Npts + 2):
theta = theta_end + (n + 1) * dtheta
# theta = theta_min + n*dtheta
r = r1 # a + b*theta
# theta = theta - 2* abs(in1_theta - math.pi/2 )
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
# if n != Npts+1:
# drawPoint(myscreen, trg, ovdvtk.orange)
# else:
# drawPoint(myscreen, trg, ovdvtk.orange,0.004)
p = trg
def spiral_clear(myscreen, out_tangent, in_tangent, c1, r1, c2, r2, out1, in1):
print "( spiral clear! )"
ngc_writer.pen_up()
# end spiral at in1
# archimedean spiral
# r = a + b theta
in1_dir = in1 - c1
in1_theta = math.atan2(in1_dir.y, in1_dir.x)
# in1_theta = in1_theta
# print "c1 =", c1
# print "in1 = ",in1
# print " end theta = ",in1_theta
drawPoint(myscreen, c1, ovdvtk.red)
# drawPoint( myscreen, in1, ovdvtk.blue, 0.006 )
# width = 2*pi*b
# => b = width/(2*pi)
b = 0.01 / (2 * math.pi)
# r = a + b in1_theta = r_max
# =>
# a = r_max-b*in1_theta
a = r1 - b * in1_theta
# figure out the start-angle
theta_min = in1_theta
theta_max = in1_theta
dtheta = 0.1
min_r = 0.001
while True:
r = a + b * theta_min
if r < min_r:
break
else:
theta_min = theta_min - dtheta
# print "start_theta = ", theta_min
Npts = (theta_max - theta_min) / dtheta
Npts = int(Npts)
# print "spiral has ",Npts," points"
p = ovd.Point(c1)
ngc_writer.xy_rapid_to(p.x, p.y)
ngc_writer.pen_down()
theta_end = 0
for n in range(Npts + 1):
theta = theta_min + n * dtheta
r = a + b * theta
theta = theta - 2 * abs(in1_theta - math.pi / 2)
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
p = trg
theta_end = theta
# add a complete circle after the spiral.
print "( spiral-clear: final circle )"
Npts = (2 * math.pi) / dtheta
Npts = int(Npts)
for n in range(Npts + 2):
theta = theta_end + (n + 1) * dtheta
# theta = theta_min + n*dtheta
r = r1 # a + b*theta
# theta = theta - 2* abs(in1_theta - math.pi/2 )
trg = c1 + r * ovd.Point(-math.cos(theta), math.sin(theta))
ovdvtk.drawLine(myscreen, p, trg, ovdvtk.pink)
ngc_writer.xy_line_to(trg.x, trg.y)
# if n != Npts+1:
# drawPoint(myscreen, trg, ovdvtk.orange)
# else:
# drawPoint(myscreen, trg, ovdvtk.orange,0.004)
p = trg