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[Emc-commit] andypugh/g71type2remap: G71 / G72: Use curve tangent for retract path This is a slightly cleverer retract algorithm for TypeII retracts.
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From: andypugh <gi...@gi...> - 2016-12-11 20:40:18
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G71 / G72: Use curve tangent for retract path This is a slightly cleverer retract algorithm for TypeII retracts. Signed-off-by: andypugh <an...@bo...> http://git.linuxcnc.org/?p=linuxcnc.git;a=commitdiff;h=b445d61 --- configs/sim/axis/g71/python/remap.py | 58 ++++++++++++++++++------------------ 1 file changed, 29 insertions(+), 29 deletions(-) diff --git a/configs/sim/axis/g71/python/remap.py b/configs/sim/axis/g71/python/remap.py index 0f863b6..82709e7 100644 --- a/configs/sim/axis/g71/python/remap.py +++ b/configs/sim/axis/g71/python/remap.py @@ -108,7 +108,6 @@ def add_to_list(d, mode, ps, qs, pe, qe, r, pc, qc): # X-allowance is added as a profile shift here (including the centre point, even for G0/G1 # Z-allowance as a delta to cut start and end later d.list.append((mode, ps + d.Jword, qs, pe + d.Jword, qe, r, pc + d.Jword, qc, pok)) - print d.list[-1] #note for translation to C++, global (static) inialisation outside the defining function oldpok = 0 @@ -120,6 +119,7 @@ def find_intercept(block, x): # t is the normalised length along the line t = (x - block[1])/(block[3] - block[1]) y = block[2] + t * (block[4] - block[2]) + angle = math.atan2(block[3] - block[1], block[4] - block[2]) % math.pi elif block[0] in (2, 3): # Arc moves here # a circle is x^2 + y^2 = r^2 # (x - xc)^2 + (y - yc)^2 = r^2 @@ -136,9 +136,10 @@ def find_intercept(block, x): if (y - block[2]) * (y - block[4]) > 0: y = yc - dy if (y - block[2]) * (y - block[4]) > 0: - return 0, 0 - return block[8], y - return 0, 0 + return 0, 0, 0 + angle = (math.pi/2 - math.atan2(x - xc, yc - y)) % math.pi + return block[8], y, angle + return 0, 0, 0 def g7x(self, g7xmode, **words): global x_dir @@ -327,19 +328,21 @@ def g7x(self, g7xmode, **words): # Determine if the profile runs left-right or right-left # frontangle/backangle is absolute, so we need to switch them for left-to-right # +1 is left-to-right so conventional turning is -1 type. - # Use a max(0.0001, ...) to avoid divide by zero with the tan + # Use a max(1, ...) to avoid divide by zero with the tan s.poll if d.list[-1][4] < d.list[0][2]: y_dir = -1.0 - frontangle = max(0.0001, self.params[5411]) - backangle = max(0.0001, self.params[5412]) + frontangle = max(1, self.params[5411]) + backangle = max(1, self.params[5412]) else: y_dir = +1.0 - frontangle = max(0.0001, self.params[5412]) - backangle = max(0.0001, self.params[5411]) - + frontangle = max(1, self.params[5412]) + backangle = max(1, self.params[5411]) + if self.params[5400] == 0: # no tool + frontangle = 135 + backangle = 45 # Make a d.list of cuts of the form: @@ -353,26 +356,25 @@ def g7x(self, g7xmode, **words): x = x + d.Dword y0 = d.y_begin - y_dir # notional cut-start point, outside the profile pocket = -1 - - intercept = False + p = 0 + entry = y0 + exit = d.miny + for k in range(0, len(d.list)): block = d.list[k] #[0]G-code [1]xs [2]ys [3]xe [4]ye [5]r [6]xc [7]yc [8]pocket #Find all lines and arcs which span the feed line - intercept, y = find_intercept(block, x) + intercept, y, tanangle = find_intercept(block, x) if intercept < 0 and pocket > 0: # end-of pocket intercept for j in range(k, len(d.list), 1): - p, exit = find_intercept(d.list[j], x - d.Dword) - if p == block[8]: - break + p, exit, angle = find_intercept(d.list[j], x - d.Dword) if p != 0: - exit = MAX(d.Dword * y_dir, exit, y - d.Dword * y_dir) + print "using angle ", math.degrees(tanangle), y_dir break - else: #if ( ! valid) outside loop in C - # 45 degree default lead-out if nothing to hit (unlikely) - exit = y - y_dir * d.Dword + exit = MIN(y_dir, exit, y - d.Dword / math.tan(tanangle)) + if block[0] == 0: y1 = y @@ -382,8 +384,10 @@ def g7x(self, g7xmode, **words): exit -= d.Lword * y_dir # skip cuts that are "squeezed-out" by L if LT(y_dir, y0 , y1): + # sometimes we find a second terminator curve further down the profile, so replace the old one + if len(cuts) > 0 and cuts[-1][0] == pocket and cuts[-1][1] == x: + cuts.pop() cuts.append((pocket, x, y0, y1, entry, exit)) - print cuts[-1] # detect gouging, but not for G0 moves cutangle = math.degrees(math.atan2(-d.Dword, (exit - y1))) % 360 # In / out swap GT / LT. Left / right swaps GT / LT _and_ front / back @@ -391,21 +395,17 @@ def g7x(self, g7xmode, **words): d.warning = (("G71: The programmed profile has an exit ramp angle of %s and can not be cut " "with the active tool frontangle of %s") % (cutangle, frontangle)) - elif intercept > 0: # start of pocket intercept + elif intercept > 0 and intercept != pocket: # start of pocket intercept # don't do pockets if Type1 mode has been forced (G71.1, G72.1) if g7xmode in (711, 721) and intercept > 1: break pocket = intercept for j in range(k, 0, -1): - p, entry = find_intercept(d.list[j], x - d.Dword) - if p == pocket: - break + p, entry, angle = find_intercept(d.list[j], x - d.Dword) if p != 0: - entry = MIN(d.Dword * y_dir, entry, y - d.Dword / math.tan(math.radians(backangle))) break - else: #if ( ! valid) outside loop in C - # backangle default lead-in if nothing to hit - entry = y - d.Dword / math.tan(math.radians(backangle)) + entry = MAX(y_dir, entry, y - d.Dword / math.tan(tanangle)) + if block[0] == 0: y0 = y |
