internal static Position FromCommand(GCode code, Position current)
{
if (code.Command != GCodeCommand.G1)
{
throw new ApplicationException("Only valid for G1 commands");
}
Position newPos = (Position)current.Clone();
foreach (GCodeParameter parm in code.Parameters)
{
switch (parm.Type)
{
case GCodeParameterType.X:
newPos.X = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.Y:
newPos.Y = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.Z:
newPos.Z = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.E:
newPos.E = Convert.ToDouble(parm.Value);
break;
default:
throw new ApplicationException("Unexpected parameter");
}
}
return(newPos);
}
internal void Translate(GCode code)
{
switch (code.Command)
{
case GCodeCommand.G1:
DeltaProcessG1(code);
break;
case GCodeCommand.G28:
current.X = current.Y = current.Z = 0;
break;
default:
return;
}
}
private List <GCode> DeltaProcessG1(GCode code)
{
Position destination = (Position)current.Clone();
foreach (GCodeParameter parm in code.Parameters)
{
switch (parm.Type)
{
case GCodeParameterType.F:
feedrate = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.X:
destination.X = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.Y:
destination.X = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.Z:
destination.X = Convert.ToDouble(parm.Value);
break;
case GCodeParameterType.E:
destination.E = Convert.ToDouble(parm.Value);
break;
default:
throw new ApplicationException("Unknown parameter in G1");
}
}
double precision = Math.Pow(0.05, 2); //mm squared
// double precision = 0.001; //mm
deltaCalculations = 0;
List <Position> candidate = PartitionInSegments(current, destination, precision, 1);
int candidateCalcs = deltaCalculations;
deltaCalculations = 0;
List <Position> johann = JohannPartitionInSegments(current, destination);
CandidateDeltaSurplus += candidateCalcs - deltaCalculations;
JohanTotalSteps += johann.Count;
CandidateTotalSteps += candidate.Count;
double maxdist = TestPartitionAccuracy(candidate);
if (maxdist > MaxCandidateError)
{
MaxCandidateError = maxdist;
}
maxdist = TestPartitionAccuracy(johann);
if (maxdist > MaxJohannError)
{
MaxJohannError = maxdist;
}
current = destination;
return(null);
}
