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/******************************************************************** |
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* Description: interp_inverse.cc |
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* |
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* Derived from a work by Thomas Kramer |
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* |
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* Author: |
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* License: GPL Version 2 |
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* System: Linux |
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* |
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* Copyright (c) 2004 All rights reserved. |
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* |
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* Last change: |
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********************************************************************/ |
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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <math.h> |
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#include <string.h> |
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#include <ctype.h> |
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#include <sys/types.h> |
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#include <sys/stat.h> |
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#include "rs274ngc.hh" |
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#include "interp_return.hh" |
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#include "interp_internal.hh" |
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#include "interp_queue.hh" |
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#include "rs274ngc_interp.hh" |
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/****************************************************************************/ |
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/*! inverse_time_rate_arc |
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Returned Value: int (INTERP_OK) |
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Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set. |
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Called by: |
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convert_arc2 |
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convert_arc_comp1 |
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convert_arc_comp2 |
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This finds the feed rate needed by an inverse time move. The move |
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consists of an a single arc. Most of the work here is in finding the |
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length of the arc. |
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*/ |
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int Interp::inverse_time_rate_arc(double x1, //!< x coord of start point of arc |
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double y1, //!< y coord of start point of arc |
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double z1, //!< z coord of start point of arc |
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double cx, //!< x coord of center of arc |
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double cy, //!< y coord of center of arc |
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int turn, //!< turn of arc |
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double x2, //!< x coord of end point of arc |
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double y2, //!< y coord of end point of arc |
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double z2, //!< z coord of end point of arc |
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block_pointer block, //!< pointer to a block of RS274 instructions |
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setup_pointer settings) //!< pointer to machine settings |
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{ |
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double length; |
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double rate; |
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if (settings->feed_mode != INVERSE_TIME) return -1; |
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length = find_arc_length(x1, y1, z1, cx, cy, turn, x2, y2, z2); |
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rate = std::max(0.1, (length * block->f_number)); |
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enqueue_SET_FEED_RATE(rate); |
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settings->feed_rate = rate; |
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return INTERP_OK; |
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} |
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/****************************************************************************/ |
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/*! inverse_time_rate_straight |
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Returned Value: int (INTERP_OK) |
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Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set. |
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Called by: |
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convert_straight |
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convert_straight_comp1 |
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convert_straight_comp2 |
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This finds the feed rate needed by an inverse time straight move. Most |
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of the work here is in finding the length of the line. |
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*/ |
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int Interp::inverse_time_rate_straight(double end_x, //!< x coordinate of end point of straight line |
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double end_y, //!< y coordinate of end point of straight line |
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double end_z, //!< z coordinate of end point of straight line |
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double AA_end, //!< A coordinate of end point of straight line/*AA*/ |
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double BB_end, //!< B coordinate of end point of straight line/*BB*/ |
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double CC_end, //!< C coordinate of end point of straight line/*CC*/ |
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double u_end, double v_end, double w_end, |
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block_pointer block, //!< pointer to a block of RS274 instructions |
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setup_pointer settings) //!< pointer to machine settings |
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{ |
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double length; |
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double rate; |
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double cx, cy, cz; |
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if (settings->feed_mode != INVERSE_TIME) return -1; |
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if (settings->cutter_comp_side && settings->cutter_comp_radius > 0.0 && |
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!settings->cutter_comp_firstmove) { |
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cx = settings->program_x; |
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cy = settings->program_y; |
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cz = settings->program_z; |
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} else { |
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cx = settings->current_x; |
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cy = settings->current_y; |
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cz = settings->current_z; |
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} |
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length = find_straight_length(end_x, end_y, end_z, |
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AA_end, BB_end, CC_end, |
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u_end, v_end, w_end, |
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cx, cy, cz, |
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settings->AA_current, settings->BB_current, settings->CC_current, |
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settings->u_current, settings->v_current, settings->w_current); |
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rate = std::max(0.1, (length * block->f_number)); |
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enqueue_SET_FEED_RATE(rate); |
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settings->feed_rate = rate; |
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return INTERP_OK; |
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} |