GearHeads Forum

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global Spiral = function( loops, segment, factorX, factorY ) 
{ 
loops=ToInt(loops);
segment=ToFloat(segment);
factorX=ToFloat(factorX);
factorY=ToFloat(factorY);
	for (t = 0; t < Const.PI2 * loops; t += segment)
	{
		x = t * math.cos(t);
		y = t * math.sin(t);
		x=x*factorX;
		y=y*factorY;
		print("x "+x + "\ty "+y); //this gets outputted to the Log file. Access with a button push on button labeled "Log"
		Engine.RapidTo(x,y,0,0); //actual movement in x,y,z,a
		yield(); //give it an out to look whats going on elsewhere.
	};
};

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global DELTA = .00100; // number of counts to move before calculating angle
global AFACTOR=(180.0f/Const.PI); // converts radians to axis A counts
global LastAngle=0.0;

global Tangential = function( X,Y,Z,A ) 
 { 
	t0=0.0;t1=0.0;dx=0.0;dy=0.0;d=0.0;
	Lastx=0.0; Lasty=0.0;LastReadBit=0;
	Lastx=	GlobalGet("Axis1CurPos");//get where the x axis is
	Lasty=	GlobalGet("Axis2CurPos");//get where the y axis is
	
	while(1) // loop forever
	{
		yield();
		if (IOPin46)  // is Tangential control on?
		{
			if (!LastReadBit)
			{
				Lasta=	GlobalGet("Axis3CurPos");
				global LastAngle = Lasta * (1.0f/AFACTOR);
				print("LastAngle: "+LastAngle);
			}		
			LastReadBit=1;
			// check if we moved far enough to determine an angle			

			dx = (X - Lastx);
			dy = (Y - Lasty);
			d = (dx*dx)+(dy*dy);
	
			if (d > DELTA*DELTA)
			{
				//debug();
				// compute new angle
				t0=ToFloat(sysTime());
				global LastAngle = FindAngle(dx,dy);
				print("LastAngle found: "+ LastAngle);
				t1=ToFloat(sysTime());
				t2=(t1-t0)*1e38;
				Z=(LastAngle*AFACTOR)/100;
				print(format("dx=%.4f",dx)+format(" dy=%.4f",dy)+format("\ttheta=%.4f",LastAngle)+format("\tt1= %.1f",t1)+format("\tt0= %.1f",t0)+format("   Z= %.2f",Z));				
				Engine.RapidTo(xx,yy,Z,A);
				yield();
				Engine.RapidTo(X,Y,zz,A);
				yield();
    			break;
			}
		}
	break;
	}
};

global FindAngle = function( x,y ) 
 { 
	theta = 0.0;
		if (math.abs(x) < math.abs(y))
	{
		theta = math.atan2(y,x);
  		print("\ttheta0 "+theta);//the \t is a tab over command
		if (theta < 0 and theta > 1) {theta=theta+Const.PI;}
  		print("\ttheta1 "+theta);
	}
	else
	{
		theta = Const.PI2-(math.atan2(x,y));
  		print("\t\ttheta2 "+theta);
	}	
	val= theta ;
	return val;
};

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global Geo_Angle = function( lat1, lon1, lat2, lon2) 
{  
  dLon = math.degtorad(lon2-lon1);
  y = math.sin(dLon) * math.cos(math.degtorad(lat2));
  x = math.cos(math.degtorad(lat1)) * math.sin(math.degtorad(lat2)) - math.sin(math.degtorad(lat1)) * math.cos(math.degtorad(lat2)) * math.cos(dLon);
  brng = math.radtodeg(math.atan2(y, x));
  return ((brng + 360) % 360);
};

global Geo_Distance = function( lat1, lon1, lat2, lon2) 
{  
  if (lat1 == null or lon1 == null or lat2 == null or lon2 == null) 
  {
    return null;
  }
  dlat = math.degtorad(lat2-lat1);
  dlon = math.degtorad(lon2-lon1);
  sin_dlat = math.sin(dlat/2);
  sin_dlon = math.sin(dlon/2);
  a = sin_dlat * sin_dlat + math.cos(math.degtorad(lat1)) * math.cos(math.degtorad(lat2)) * sin_dlon * sin_dlon;
  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a));
  // 6378 km is the earth's radius at the equator.
  // 6357 km would be the radius at the poles (earth isn't a perfect circle).
  // Thus, high latitude distances will be slightly overestimated
  // To get miles, use 3963 as the constant (equator again)
  d = 6378 * c; //metric
  //d = 3963.133 * c; //imperial, I did a little tweaking to this value
  return d;
};

print("Bearing between Here and There: " + ToFloat(Geo_Angle(41.759,-85.117,44.65,-63.628))+ " Degrees");
print("Distance between Here and There: " + ToFloat(Geo_Distance(41.759,-85.117,44.65,-63.628)) + " Km");

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global PatternTool = Graphics("Main_TOOL_0");
PatternTool.DrawMode(1);
PatternTool.SetNorm(Vec3(0,0,1));
PatternTool.MoveTo( Vector3(xc,yc,zc));
PatternTool.Refresh();

//Pattern =  CirclePat(x,y,z,Hole_dia,Pat_dia,stAngle,Hole_num);
global  CirclePat = function(xc,yc,zc,dia)
{
//  debug();
Max=100;
//dia=10;
  l=2; // 1/2 length of cross line
  max=Max; // pass the global to the local
  PatternTool.SetNorm(Vec3(0,0,1));
  PatternTool.DrawColor( COLOR.Blue );
  PatternTool.MoveTo( Vector3(xc-l,yc,zc));
  PatternTool.LineTo( Vector3(xc+l,yc,zc));
  PatternTool.Refresh();
  PatternTool.DrawColor( COLOR.Red );
  PatternTool.MoveTo( Vector3(xc,yc+l,zc));
  PatternTool.LineTo( Vector3(xc,yc-l,zc));
  PatternTool.Refresh();
  PatternTool.DrawColor( COLOR.Yellow );
  PatternTool.CircleAt( Vec3( xc,yc,zc), dia);
  PatternTool.Refresh();
  PatternTool.MoveTo( Vector3(xc,yc,zc));
//debug();
  PatternTool.SetExtents(Vec3(-max,-max,0),Vec3(max,max,0));
  PatternTool.Refresh();
};
//CirclePat(0,0,100,10);

Code: Select all

O7734
#6 = 95 (mill head angle to work at)
#1 = 8 (distance to cut in X)
#3 = 0 (Start location in X)
#4 = 10(cut feed)
#5 = -.12 (depth)
#9 = 60 (rapid feed)
#10 = 1 (number of pecks)
#11 = 36 (# of pattern lines to cut per 360 degrees)
#14 = .7 (ramp height for Z travel in #1 distances)
#15 = [#5 / #10] (Depth of passes)
#77 = .1 (z up from top of part)
#80 = -10 (start angle per 360 degrees)
#81 = 10 (increment plus or minus)
#82 = 120 (angle to rotate A plus or minus)
g0b#6

g55
m100
g1 x[#3]z[#77] a[0] f#9
m3 s2000

g1 x#3 z#77 y0 a[#3] f#9
M98 P010 L#11
g1z[#77*3]f#9
g1 x[#3] f#9
m5
m30

O010
g0a#80
z#77
#80 =[#80 + #81]
M98 P020 L#10
m99

O020
g0a[#80]
#83 =[#80 + #82]
g1 x[#3] z[#77] a[#80] f#9
g1 z[#15] f#4
g1 x[#1] z[#15+#14] a[#83] f#4
z[#77 + #14] f#9
g0 x[#3] a[#80]
g4p7
g0 a[#80]
g0 z[#77]
m99