// With R
public string ArcMove(double[] pos, double radius, WorkingPlane plane, bool clkwise, double[] vel, double[] acc, bool extrude,
bool interpolated, bool abs_coord, int line)
{
PackageJSON package = new PackageJSON();
package.line = line;
if (abs_coord)
{
package.keycode = (int)move_codes.ArcMoveRadius;
package.text = "Arc Move Radius";
}
else
{
package.keycode = (int)move_codes.IncArcMoveRadius;
package.text = "Incremental Arc Move Radius";
}
package.pos1 = pos;
package.aux = radius;
package.plane = (int)plane;
package.clkwise = clkwise;
package.interpol = interpolated;
package.vel = vel;
package.acc = acc;
package.extrude = extrude;
string pack_json = JsonConvert.SerializeObject(package);
return(pack_json);
}
// Full circle
public string ArcMove(double[] cen, WorkingPlane plane, bool clkwise, double[] vel, double[] acc, bool extrude, bool interpolated, bool abs_coord, int line)
{
PackageJSON package = new PackageJSON();
package.line = line;
if (abs_coord)
{
package.keycode = (int)move_codes.CircleMove;
package.text = "Circle Move";
}
else
{
package.keycode = (int)move_codes.IncCircleMove;
package.text = "Incremental Circle Move";
}
////Convert milimeters to meters
//for (int i = 0; i < 3; ++i)
//{
// cen[i] /= 1000;
// vel[i] /= 1000;
// acc[i] /= 1000;
//}
package.pos2 = cen;
package.plane = (int)plane;
package.clkwise = clkwise;
package.interpol = interpolated;
package.vel = vel;
package.acc = acc;
package.extrude = extrude;
string pack_json = JsonConvert.SerializeObject(package);
return(pack_json);
}
/// <summary>
/// LINEAR MOVE
///
/// Movement is transversed at the specified feed rate (primary velocity mm/min),
/// on a straight line to the target position.
/// The movement of all axis is synchronous, i.e., they stop moving simultaneously.
/// </summary>
/// <param name="pos">Final absolute position</param>
/// <returns></returns>
public string LinearMove(double[] pos, double[] vel, double[] acc, bool extrude, bool interpolated, bool abs_coord, int line)
{
PackageJSON package = new PackageJSON();
package.line = line;
//Check if sending incremental or absolute coordinates
if (abs_coord)
{
package.keycode = (int)move_codes.LinearMove;
package.text = "Linear Move";
}
else
{
package.keycode = (int)move_codes.IncLinearMove;
package.text = "Linear Rapid Move";
}
package.pos1 = pos;
package.interpol = interpolated;
package.vel = vel;
package.acc = acc;
package.extrude = extrude;
string pack_json = JsonConvert.SerializeObject(package);
return(pack_json);
}
/// <summary>
/// DWELL
///
/// Stops motion for a specific time frame (milliseconds).
/// </summary>
/// <param name="time">Defined either at X-coordinate or No_letter-coordinate</param>
/// <returns></returns>
public string Dwell(double time, int line)
{
PackageJSON package = new PackageJSON();
package.line = line;
package.keycode = (int)move_codes.Dwell;
package.text = "Dwell";
package.aux = time;
string pack_json = JsonConvert.SerializeObject(package);
return(pack_json);
}