public void RoutPath(LineStrip line, bool backwards, Vector3 offset)
{
bool first = true;
foreach (Vector3 point in line.Vertices)
{
// TODO: Pick some unit and stick with it! Inches would be fine.
Vector3 pointOffset = point + offset;
MoveTool m = new MoveTool(pointOffset, MoveTool.SpeedType.Cutting);
if (first)
{
first = false;
if ((finalPosition.Xy - pointOffset.Xy).Length > .0001)
{
// Need to move the router up, over to new position, then down again.
MoveTool m1 = new MoveTool(new Vector3(finalPosition.X, finalPosition.Y, move_height), MoveTool.SpeedType.Rapid);
MoveTool m2 = new MoveTool(new Vector3(m.Target.X, m.Target.Y, move_height), MoveTool.SpeedType.Rapid);
AddCommand(m1);
AddCommand(m2);
}
}
AddCommand(m);
}
}
public void RoutPath(Rout r, bool backwards)
{
List <Vector2> mine = new List <Vector2>();
foreach (Vector2 p in (r.Points))
{
mine.Add(new Vector2(p.X, p.Y));
}
if (backwards)
{
mine.Reverse();
}
for (int i = 0; i < mine.Count; i++)
{
float x = mine[i].X / 1000.0f;
float y = mine[i].Y / 1000.0f;
float z = r.Depth / 1000.0f;
MoveTool m = new MoveTool(new Vector3(x, y, z), rout_speed);
if (i == 0)
{
if ((finalPosition.Xy - m.Location.Xy).Length > .0001)
{
// Need to move the router up, over to new position, then down again.
MoveTool m1 = new MoveTool(new Vector3(finalPosition.X, finalPosition.Y, move_height), move_speed);
MoveTool m2 = new MoveTool(new Vector3(m.Location.X, m.Location.Y, move_height), move_speed);
AddCommand(m1);
AddCommand(m2);
}
}
AddCommand(m);
}
}
public void Draw()
{
GL.PushMatrix();
GL.Translate(0, 0, -0.1);
Vector3 p = device.GetPosition();
CoolDrawing.DrawCircle(12.5f, new OpenTK.Vector2(p.X * 1000, p.Y * 1000), Color.DarkGreen);
for (int i = 0; i < commands.Count(); i++)
{
if (commands[i] is MoveTool)
{
MoveTool m = commands[i] as MoveTool;
Vector3 finalPosition = m.FinalPosition();
CoolDrawing.DrawCircle(5.0f, new Vector2(finalPosition.X * 1000, finalPosition.Y * 1000), Color.Blue);
}
}
for (int i = 0; i < previousPoints.Count(); i++)
{
double age = DateTime.Now.Subtract(previousPoints[i].createTime).TotalMilliseconds;
if (age > 5000)
{
previousPoints.RemoveAt(i);
i--;
}
else
{
int alpha = (int)(255 - 255 * age / 5000.0f);
CoolDrawing.DrawCircle(5.0f, new Vector2(previousPoints[i].location.X * 1000, previousPoints[i].location.Y * 1000), Color.FromArgb(alpha, Color.DarkGreen));
}
}
float w = 0;
// Assume full bit penetrates at 20 mills depth
if (p.Z < 0)
{
w = -p.Z / .020f * 12.5f;
if (w > 12.5f)
{
w = 12.5f;
}
CoolDrawing.DrawFilledCircle(w, new OpenTK.Vector2(p.X * 1000, p.Y * 1000), Color.FromArgb(100, Color.OrangeRed));
if (p.Z < -.020)
{
float t = (p.Z + .020f) / .040f * 12.5f;
CoolDrawing.DrawFilledCircle(t, new OpenTK.Vector2(p.X * 1000, p.Y * 1000), Color.FromArgb(100, Color.DarkRed));
}
}
else
{
w = p.Z / move_height * 12.5f;
CoolDrawing.DrawFilledCircle(w, new OpenTK.Vector2(p.X * 1000, p.Y * 1000), Color.FromArgb(100, Color.LightGreen));
}
GL.PopMatrix();
}
public static void ExportGCode(List <ICommand> commands, string filename)
{
using (var file = File.CreateText(filename))
{
file.WriteLine("G20 (Units are Inches)");
file.WriteLine("G90 (Absolute Positioning)");
file.WriteLine("G94 (Units per Minute feed rate)");
// TODO: paramaterize these
float rapidSpeed = 50.0f;
float cuttingSpeed = 25.0f;
float plungeSpeed = 10.0f;
float lastSpeed = -1;
float lastHeight = 0;
float scale = 1.0f;
foreach (ICommand command in commands)
{
if (command is MoveTool)
{
MoveTool m = command as MoveTool;
float speed = m.Speed == MoveTool.SpeedType.Cutting ? cuttingSpeed * scale : rapidSpeed * scale;
var gCommand = m.Speed == MoveTool.SpeedType.Cutting ? "G1" : "G0";
Vector3 target = m.Target * scale;
float height = target.Z;
if ((height + 0.001f) < lastHeight)
{
speed = Math.Min(plungeSpeed, speed);
}
lastHeight = height;
if (lastSpeed != speed)
{
lastSpeed = speed;
file.WriteLine("{0} F{1:F4}", gCommand, speed);
}
file.WriteLine("{0} X{1:F4} Y{2:F4} Z{3:F4}", gCommand, target.X, target.Y, target.Z);
}
}
}
}
public void RoutPath(Rout r, bool backwards)
{
List<Vector2> mine = new List<Vector2>();
foreach (Vector2 p in (r.Points))
{
mine.Add(new Vector2(p.X, p.Y));
}
if (backwards)
{
mine.Reverse();
}
for (int i = 0; i < mine.Count; i++)
{
float x = mine[i].X / 1000.0f;
float y = mine[i].Y / 1000.0f;
float z = r.Depth / 1000.0f;
MoveTool m = new MoveTool(new Vector3(x, y, z), rout_speed);
if (i == 0)
{
if ((finalPosition.Xy - m.Location.Xy).Length > .0001)
{
// Need to move the router up, over to new position, then down again.
MoveTool m1 = new MoveTool(new Vector3(finalPosition.X, finalPosition.Y, move_height), move_speed);
MoveTool m2 = new MoveTool(new Vector3(m.Location.X, m.Location.Y, move_height), move_speed);
AddCommand(m1);
AddCommand(m2);
}
}
AddCommand(m);
}
}
