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fabmodules/src/core/path_g.c

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C
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//
// path_g.c
// convert path to G codes
//
// Neil Gershenfeld, David Carr
// CBA MIT 8/10/11
//
// (c) Massachusetts Institute of Technology 2011
// Permission granted for experimental and personal use;
// license for commercial sale available from MIT.
//
#include "fab.h"
void fab_write_g(struct fab_vars *v, char *output_file_name, int direction, float z_jog, float feed_rate, float z_feed_rate, float spindle_speed, int tool, int coolant) {
//
// write path to G-code file
//
FILE *output_file;
int i,nsegs=0,npts=0;
float units,xscale,yscale,zscale,x,y,z,xoffset,yoffset,zoffset;
output_file = fopen(output_file_name,"w");
units = 1.0/25.4; // inches
xscale = units*v->dx/(v->nx-1.0);
yscale = units*v->dy/(v->ny-1.0);
if (v->nz > 1)
zscale = units*v->dz/v->nz;
else
zscale = 0;
xoffset = units*v->xmin;
yoffset = units*v->ymin;
zoffset = units*v->zmin;
z_jog = units*z_jog;
feed_rate = 60*units*feed_rate; // feed rate in inches per minute
z_feed_rate = 60*units*z_feed_rate;
//
// Write G code header
//
//fprintf(output_file, "; G-Code generated by MIT CBA fab modules\n");
fprintf(output_file, "%%\n"); // tape start
//fprintf(output_file, "; http://kokompe.cba.mit.edu/dist\n\n");
// Clear all state: XY plane, inch mode, cancel diameter compensation, cancel length offset
// coordinate system 1, cancel motion, non-incremental motion, feed/minute mode
fprintf(output_file,"G17\n");
fprintf(output_file,"G20\n");
fprintf(output_file,"G40\n");
fprintf(output_file,"G49\n");
fprintf(output_file,"G54\n");
fprintf(output_file,"G80\n");
fprintf(output_file,"G90\n");
fprintf(output_file,"G94\n");
fprintf(output_file,"T%dM06\n",tool); // tool selection, tool change
fprintf(output_file,"F%0.4f\n",feed_rate); // feed rate
fprintf(output_file,"S%0.4f\n",spindle_speed); // spindle speed
if (coolant == 1)
fprintf(output_file,"M08\n"); // coolant on
fprintf(output_file,"G00Z%0.4f\n",z_jog); // move up before starting spindle
fprintf(output_file,"M03\n"); // spindle on clockwise
fprintf(output_file,"G04 P1\n"); // give spindle 1 second to spin up
//
// follow segments in reverse order (mill boundaries last)
//
v->path->segment = v->path->last;
while (1) {
if (direction == 0)
//
// conventional
//
v->path->segment->point = v->path->segment->last;
else
//
// climb
//
v->path->segment->point = v->path->segment->first;
x = xoffset + xscale * v->path->segment->point->first->value;
y = yoffset + yscale * (v->ny - v->path->segment->point->first->next->value);
//
// move to first point
//
fprintf(output_file,"G00X%0.4fY%0.4fZ%0.4f\n",x,y,z_jog);
//
// move down
//
if (v->path->dof == 2) {
fprintf(output_file,"G01Z%0.4f F%0.4f\n",zoffset,z_feed_rate);
fprintf(output_file,"F%0.4f\n",feed_rate); //restore XY feed rate
}
else if (v->path->dof == 3) {
z = zoffset + zscale * v->path->segment->point->first->next->next->value;
fprintf(output_file,"G01Z%0.4f F%0.4f\n",z,z_feed_rate);
fprintf(output_file,"F%0.4f\n",feed_rate);
}
else {
printf("path_g: path degrees of freedom must be 2 or 3\n");
exit(-1);
}
nsegs += 1;
while (1) {
//
// check if last point
//
if (direction == 0) {
//
// conventional
//
if (v->path->segment->point->previous == 0) {
fprintf(output_file,"Z%0.4f\n",z_jog);
break;
}
}
else {
//
// climb
//
if (v->path->segment->point->next == 0) {
fprintf(output_file,"Z%0.4f\n",z_jog);
break;
}
}
//
// move to next point
//
if (direction == 0)
//
// conventional
//
v->path->segment->point = v->path->segment->point->previous;
else
//
// climb
//
v->path->segment->point = v->path->segment->point->next;
x = xoffset + xscale * v->path->segment->point->first->value;
y = yoffset + yscale * (v->ny - v->path->segment->point->first->next->value);
if (v->path->dof == 2)
fprintf(output_file,"X%0.4fY%0.4f\n",x,y);
else if (v->path->dof == 3) {
z = zoffset + zscale * v->path->segment->point->first->next->next->value;
fprintf(output_file,"X%0.4fY%0.4fZ%0.4f\n",x,y,z);
}
else {
printf("path_g: path degrees of freedom must be 2 or 3\n");
exit(-1);
}
npts += 1;
}
//
// check for previous segment
//
if (v->path->segment->previous == 0)
break;
v->path->segment = v->path->segment->previous;
}
//
// close and return
//
fprintf(output_file,"G00Z%0.4f\n",z_jog); // move up before stopping spindle
fprintf(output_file,"M05\n"); // spindle stop
if (coolant == 1)
fprintf(output_file,"M09\n"); // coolant off
fprintf(output_file,"M30\n"); // program end and reset
fprintf(output_file, "%%\n"); // tape end
fclose(output_file);
printf("wrote %s\n",output_file_name);
printf(" segments: %d, points: %d\n",nsegs,npts);
}
main(int argc, char **argv) {
//
// local vars
//
struct fab_vars v;
init_vars(&v);
float z_jog,feed_rate,z_feed_rate,spindle_speed;
int direction,tool,coolant;
//
// command line args
//
if (!((argc == 3) || (argc == 4) || (argc == 5) || (argc == 6) || (argc == 7) || (argc == 8) || (argc == 9) || (argc == 10))) {
printf("command line: path_g in.path out.g [direction [z_jog [feed [z_feed [spindle [tool [coolant]]]]]]\n");
printf(" in.path = input path file\n");
printf(" out.g = output G-code file\n");
printf(" direction = machining direction (optional, 0 conventional/1 climb, default 0)\n");
printf(" z_jog = z jog height (optional, mm, default 25)\n");
printf(" feed = feed rate (optional, mm/s, default 100)\n");
printf(" z_feed = z plunge rate (optional, mm/s, default xy feed rate)\n");
printf(" spindle = spindle speed (optional, RPM, default 5000)\n");
printf(" tool = tool number (optional, default 1)\n");
printf(" coolant = coolant on/off (optional, 0=off/1=on, default 1)\n");
exit(-1);
}
if (argc == 3) {
direction = 0;
z_jog = 25.0;
feed_rate = 5.0;
z_feed_rate = feed_rate;
spindle_speed = 5000.0;
tool = 1;
coolant = 1;
}
else if (argc == 4) {
sscanf(argv[3],"%d",&direction);
z_jog = 25.0;
feed_rate = 5.0;
z_feed_rate = feed_rate;
spindle_speed = 5000.0;
tool = 1;
coolant = 1;
}
else if (argc == 5) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
feed_rate = 5.0;
z_feed_rate = feed_rate;
spindle_speed = 5000.0;
tool = 1;
coolant = 1;
}
else if (argc == 6) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
sscanf(argv[5],"%f",&feed_rate);
z_feed_rate = feed_rate;
spindle_speed = 5000.0;
tool = 1;
coolant = 1;
}
else if (argc == 7) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
sscanf(argv[5],"%f",&feed_rate);
sscanf(argv[6],"%f",&z_feed_rate);
spindle_speed = 5000.0;
tool = 1;
coolant = 1;
}
else if (argc == 8) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
sscanf(argv[5],"%f",&feed_rate);
sscanf(argv[6],"%f",&z_feed_rate);
sscanf(argv[7],"%f",&spindle_speed);
tool = 1;
coolant = 1;
}
else if (argc == 9) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
sscanf(argv[5],"%f",&feed_rate);
sscanf(argv[6],"%f",&z_feed_rate);
sscanf(argv[7],"%f",&spindle_speed);
sscanf(argv[8],"%d",&tool);
coolant = 1;
}
else if (argc == 10) {
sscanf(argv[3],"%d",&direction);
sscanf(argv[4],"%f",&z_jog);
sscanf(argv[5],"%f",&feed_rate);
sscanf(argv[6],"%f",&z_feed_rate);
sscanf(argv[7],"%f",&spindle_speed);
sscanf(argv[8],"%d",&tool);
sscanf(argv[9],"%d",&coolant);
}
//
// read path
//
fab_read_path(&v,argv[1]);
//
// write G codes
//
fab_write_g(&v,argv[2],direction,z_jog,feed_rate,z_feed_rate,spindle_speed,tool,coolant);
}
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