+
+
+
Specification
+
+
+
+
+
+
+
+ Version
+ 1
+
+
+ Variant
+ Standard
+
+
+ Weight
+ 12kG
+
+
+ Package Dimensions
+ 60 x 20 x 20 cm
+
+
+ Voltage
+ 220V
+
+
+ Input Flake Size
+ Small - Medium
+
+
+ License
+ CERN Open Source Hardware License
+
+
-
Dimensions
-
-
-
-
-
+
+
+
-
-
-
-
-
Specification
-
-
-
-
-
-
-
- Version
- 1
-
-
- Variant
- Standard
-
-
- Weight
- 12kG
-
-
- Package Dimensions
- 60 x 20 x 20 cm
-
-
- Voltage
- 220V
-
-
- Input Flake Size
- Small - Medium
-
-
- License
- CERN Open Source Hardware License
-
-
-
-
-
-
-
Resources
-
+
Components
+
Resources
+
+
+
+
Payment terms
+
Industrial machines : 100% of the total cost of the machine(s) to be paid at the moment of the order.
+
Machines manufactured in-house
+
70% of the total cost of the machine(s) to be paid at the moment of the order.
+ The 30% left + transport fees to be paid at reception of tracking number of the shipping (no machine leaves the workshop without full
+ payment).
+
+
\ No newline at end of file
diff --git a/extrusion/components/202_FilamentHousing/bazar/raw.html b/extrusion/components/202_FilamentHousing/bazar/raw.html
new file mode 100644
index 000000000..01012480a
--- /dev/null
+++ b/extrusion/components/202_FilamentHousing/bazar/raw.html
@@ -0,0 +1,163 @@
+
+
+
+
+Filament Cooling unit
+
+### Features / Details
+- Uses 3 CPU coolers (120mm)
+- Flexible housing, ideal for hacking
+- 3 Pulleys included
+
+
+ Please always contact us by EMail :
sales@plastic-hub.com
+
+
+
+
+
+
+
+
+
Specification
+
+
+
+
+
+
+
+Version
+1
+
+
+Variant
+Standard
+
+
+Weight
+12kG
+
+
+Package Dimensions
+60 x 20 x 20 cm
+
+
+Voltage
+220V
+
+
+Input Flake Size
+Small - Medium
+
+
+License
+CERN Open Source Hardware License
+
+
+
+
+
+
+
+
+
Authors
+
+
+
+
+
+
+
+
+
+
+## Components
+
+
+
+
+
+
+
+
+### Resources
+
+
+- [Download](https://files.osr-plastic.org/files/osr-machines/extrusion/components/202_FilamentHousing)
+
+
+- [3D Preview](https://assets.osr-plastic.org/machines//extrusion/components/202_FilamentHousing/resources/edrawings.html)
+- [Source Code Repository](https://git.osr-plastic.org/osr-plastic/osr-machines/src/branch/master/extrusion/components/202_FilamentHousing)
+
+
+
+
+
+
+
+
+
+
+
+
+
Payment terms
+
+**Industrial machines** : 100% of the total cost of the machine(s) to be paid at the moment of the order.
+
+**Machines manufactured in-house**
+
+70% of the total cost of the machine(s) to be paid at the moment of the order.
+The 30% left + transport fees to be paid at reception of tracking number of the shipping (no machine leaves the workshop without full
+payment).
+
+
+
+
+
+
+
+
+
diff --git a/extrusion/components/300_Housing/300_Housing.SLDASM b/extrusion/components/300_Housing/300_Housing.SLDASM
index dea2f9f29..e02fe782a 100644
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index 8eb399ed6..005d1f5b1 100644
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index 91f1c456e..f18443d05 100644
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index 28cb55495..63b983ad1 100644
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index 7904984e9..5128078f4 100644
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index ba00cc27e..092e298fd 100644
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diff --git a/extrusion/components/450_Hopper-Medium/laser/520_HopperSlide_x1_2mm_INOX.DXF b/extrusion/components/450_Hopper-Medium/laser/520_HopperSlide_x1_2mm_INOX.DXF
new file mode 100644
index 000000000..f3fbf177d
--- /dev/null
+++ b/extrusion/components/450_Hopper-Medium/laser/520_HopperSlide_x1_2mm_INOX.DXF
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+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+*.lcov
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# TypeScript v1 declaration files
+typings/
+
+# TypeScript cache
+*.tsbuildinfo
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Microbundle cache
+.rpt2_cache/
+.rts2_cache_cjs/
+.rts2_cache_es/
+.rts2_cache_umd/
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variables file
+.env
+.env.test
+
+# parcel-bundler cache (https://parceljs.org/)
+.cache
+
+# Next.js build output
+.next
+
+# Nuxt.js build / generate output
+.nuxt
+dist
+
+# Gatsby files
+.cache/
+# Comment in the public line in if your project uses Gatsby and *not* Next.js
+# https://nextjs.org/blog/next-9-1#public-directory-support
+# public
+
+# vuepress build output
+.vuepress/dist
+
+# Serverless directories
+.serverless/
+
+# FuseBox cache
+.fusebox/
+
+# DynamoDB Local files
+.dynamodb/
+
+# TernJS port file
+.tern-port
diff --git a/resources/workshop/.inc/LICENSE b/resources/workshop/.inc/LICENSE
new file mode 100644
index 000000000..6e398b8e7
--- /dev/null
+++ b/resources/workshop/.inc/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 Plastic Hub
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/resources/workshop/.inc/README.md b/resources/workshop/.inc/README.md
new file mode 100644
index 000000000..54006375b
--- /dev/null
+++ b/resources/workshop/.inc/README.md
@@ -0,0 +1,2 @@
+# pp-webinars
+Online webinars for PP
diff --git a/resources/workshop/.inc/assets/git-flow.jpg b/resources/workshop/.inc/assets/git-flow.jpg
new file mode 100644
index 000000000..f851960d7
--- /dev/null
+++ b/resources/workshop/.inc/assets/git-flow.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e926c2e6a312da96ef349e2451a98676abfcaf677695ba7c210bf4dac9bcbf1
+size 8548
diff --git a/resources/workshop/.inc/assets/plastic-hub-tooling.jpg b/resources/workshop/.inc/assets/plastic-hub-tooling.jpg
new file mode 100644
index 000000000..16acca440
--- /dev/null
+++ b/resources/workshop/.inc/assets/plastic-hub-tooling.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bee0d2df7d9730d37492ef1b048720d64e3ec1bb228e6a25e670c0dcc0a1abe3
+size 38180
diff --git a/resources/workshop/.inc/basics/readme.md b/resources/workshop/.inc/basics/readme.md
new file mode 100644
index 000000000..ad9b89c5f
--- /dev/null
+++ b/resources/workshop/.inc/basics/readme.md
@@ -0,0 +1,50 @@
+# Basic - course about open-source tools for makers and PPers
+
+A walk through open-source tools and services to update your infrastructure. I will present the essential modern day tools to manage & maintaine production and development for any type of project as well.
+
+[**Zoom (conference) invitation - meeting**](https://zoom.us/j/551567106)
+
+The session will be published on youtube, so you can watch it later. You can also ask questions on the [chat](https://discord.gg/wU5AQgS)
+
+[Facebook event](https://www.facebook.com/events/2177260425710339/?event_time_id=2177260432377005)
+
+**Date** : 25.01.2019 | 10.30am (Berlin Time)
+
+**Key subjects** :
+
+1. How and where to opensource your project. This is the very basic setup.
+2. How to use open source tooling to maintain and manage your production and development for any type of project. In this part we explain Markdown
+
+**Tools to be presented** :
+
+- Git & Github (1st. session)
+- Markdown (1st session)
+- Text editors (VSCode, 1st session)
+- CAD & CAM (Fusion-360, 2nd session)
+
+**Speaker** : Guenter - Senior Software Engineer
+
+**Attendee Support** : Anne - PhD - Psycho-sociology
+
+## The webinar
+
+- I will speak in 15 minute intervals, and then we answer questions
+
+## Requirements
+
+### Hardware
+
+- a headset !
+- a good internet connection
+
+Please install this on your computer (we assume you're on windows) :
+
+1. [Zoom client - conference software](../software/zoom.exe) | Or signup and download from the [zoom webpage](https://zoom.us/j/551567106)
+2. Install [Git](https://tortoisegit.org/download/)
+3. Install [VSCode](https://code.visualstudio.com/download)
+4. Create a Google account !
+
+## Reference links for later
+
+- [The factory pipe](../assets/plastic-hub-tooling.jpg)
+- [Git flow](../assets/git-flow.jpg)
diff --git a/resources/workshop/.inc/saturn/.dockerignore b/resources/workshop/.inc/saturn/.dockerignore
new file mode 100644
index 000000000..27d2dae2b
--- /dev/null
+++ b/resources/workshop/.inc/saturn/.dockerignore
@@ -0,0 +1,2 @@
+*/node_modules
+*.log
diff --git a/resources/workshop/.inc/saturn/.gitattributes b/resources/workshop/.inc/saturn/.gitattributes
new file mode 100644
index 000000000..8b1378917
--- /dev/null
+++ b/resources/workshop/.inc/saturn/.gitattributes
@@ -0,0 +1 @@
+
diff --git a/resources/workshop/.inc/saturn/.gitignore b/resources/workshop/.inc/saturn/.gitignore
new file mode 100644
index 000000000..ca70912a1
--- /dev/null
+++ b/resources/workshop/.inc/saturn/.gitignore
@@ -0,0 +1,69 @@
+# Logs
+logs
+archives
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+academy
+~$*.SLDDRW
+~$*.SLDPRT
+~$*.SLDASM
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+_site
+.jekyll-cache
+.jekyll-metadata
+
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (http://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# TypeScript v1 declaration files
+typings/
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variables file
+.env
+
+# next.js build output
+.next
diff --git a/resources/workshop/.inc/saturn/.htaccess b/resources/workshop/.inc/saturn/.htaccess
new file mode 100644
index 000000000..f3d573b87
--- /dev/null
+++ b/resources/workshop/.inc/saturn/.htaccess
@@ -0,0 +1,34 @@
+# turn off directory browsing
+IndexIgnore *
+
+# show custom error pages for these HTTP statuses
+ErrorDocument 404 /error/404.html
+ErrorDocument 403 /error/403.html
+ErrorDocument 401 /error/403.html
+
+# start rewrite rules
+
+RewriteEngine On
+
+
+
+# pass through requests when the page exists
+RewriteCond %{REQUEST_FILENAME} -f
+RewriteRule ^(.*)$ - [L]
+
+# static pages
+RewriteRule ^about/?$ /about.html [R=301,L]
+RewriteRule ^contact/?$ /contact.html [R=301,L]
+RewriteRule feed/?$ /feed.xml [R=301,L]
+
+# pass anything ending in HTML - prevents infinite redirect if the wildcard formulas below are incorrect
+RewriteRule ^(.*).html$ - [L]
+
+# Blog posts start with year, ^20___ .
+# match a trailing slash, but omit it from the destination
+RewriteRule ^20(.*)\/$ /20$1.html [R=301,L]
+# tack html onto anything else
+RewriteRule ^20(.*)$ /20$1.html [R=301,L]
+
+# end rewrite rules
+
\ No newline at end of file
diff --git a/resources/workshop/.inc/saturn/404.html b/resources/workshop/.inc/saturn/404.html
new file mode 100644
index 000000000..086a5c9ea
--- /dev/null
+++ b/resources/workshop/.inc/saturn/404.html
@@ -0,0 +1,25 @@
+---
+permalink: /404.html
+layout: default
+---
+
+
+
+
+
404
+
+
Page not found :(
+
The requested page could not be found.
+
diff --git a/resources/workshop/.inc/saturn/Dockerfile b/resources/workshop/.inc/saturn/Dockerfile
new file mode 100644
index 000000000..c7f1856c1
--- /dev/null
+++ b/resources/workshop/.inc/saturn/Dockerfile
@@ -0,0 +1,10 @@
+FROM node:lts
+
+WORKDIR /app/website
+
+EXPOSE 3000 35729
+COPY ./docs /app/docs
+COPY ./website /app/website
+RUN yarn install
+
+CMD ["yarn", "start"]
diff --git a/resources/workshop/.inc/saturn/Gemfile b/resources/workshop/.inc/saturn/Gemfile
new file mode 100644
index 000000000..f7ba88ac4
--- /dev/null
+++ b/resources/workshop/.inc/saturn/Gemfile
@@ -0,0 +1,40 @@
+source "https://rubygems.org"
+# Hello! This is where you manage which Jekyll version is used to run.
+# When you want to use a different version, change it below, save the
+# file and run `bundle install`. Run Jekyll with `bundle exec`, like so:
+#
+# bundle exec jekyll serve
+#
+# This will help ensure the proper Jekyll version is running.
+# Happy Jekylling!
+gem "jekyll", "~> 4.0.0"
+# This is the default theme for new Jekyll sites. You may change this to anything you like.
+gem "minima", "~> 2.5"
+# If you want to use GitHub Pages, remove the "gem "jekyll"" above and
+# uncomment the line below. To upgrade, run `bundle update github-pages`.
+# gem "github-pages", group: :jekyll_plugins
+# If you have any plugins, put them here!
+group :jekyll_plugins do
+ gem "jekyll-paginate"
+ gem "jekyll-sitemap"
+ gem "jekyll-gist"
+ gem "jemoji"
+ gem "jekyll-include-cache"
+ gem "jekyll-algolia"
+ gem 'jekyll-seo-tag'
+ gem 'jekyll-pwa-plugin'
+end
+
+# Windows and JRuby does not include zoneinfo files, so bundle the tzinfo-data gem
+# and associated library.
+install_if -> { RUBY_PLATFORM =~ %r!mingw|mswin|java! } do
+ gem "tzinfo", "~> 1.2"
+ gem "tzinfo-data"
+end
+
+# Performance-booster for watching directories on Windows
+gem "wdm", "~> 0.1.1", :install_if => Gem.win_platform?
+
+gem "minimal-mistakes-jekyll"
+
+gem 'jekyll-admin', group: :jekyll_plugins
\ No newline at end of file
diff --git a/resources/workshop/.inc/saturn/LICENSE b/resources/workshop/.inc/saturn/LICENSE
new file mode 100644
index 000000000..6e398b8e7
--- /dev/null
+++ b/resources/workshop/.inc/saturn/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 Plastic Hub
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/resources/workshop/.inc/saturn/README.md b/resources/workshop/.inc/saturn/README.md
new file mode 100644
index 000000000..b88b68a0d
--- /dev/null
+++ b/resources/workshop/.inc/saturn/README.md
@@ -0,0 +1,52 @@
+# Lab Saturn
+
+Lab files - PlasticHub - Cat1
+
+## Building
+
+- [Floorplan](./building)
+
+- [Stations](./stations.md)
+
+## Product Files and sites
+
+- [Products - CAD & CAM](file:///~./plastichub/plastichub/products)
+- [Production / Processes](http://library.plastic-hub.com/)
+
+## Intranet Services & hosts
+
+- [VPN Main server : 'ecu-espana.es:1794' - login with your plastic-hub email and password](ecu-espana.es:1794).
+- [Common Files & Shares & Printer](\\plastichub-intern)
+- [PlasticHub main office](\\plastichub-saturn)
+- [PlasticHub development](\\plastichub-dev)
+
+## Office Sites
+
+- [Zoho](https://books.zoho.com/app#/home/dashboard)
+- [Orders](https://docs.google.com/spreadsheets/d/1oVEiGH4o3SV-mAA3Mb-WNVJMyYl4VMxLjWjrSw_ipJY/edit#gid=1462790708)
+- [Directory](http://library.plastic-hub.com/directory)
+- [Kanban board - Lab](https://plastichub.kanbanize.com/ctrl_board/1)
+
+## Email addresses
+
+- [Office](anne.babier@plastic-hub.com)
+- [Guenter](guenter.baumgart@plastic-hub.com)
+- [Nial](nial.oflyn@plastic-hub.com)
+- [Gil](guiliam@plastic-hub.com)
+- [Kampru](kampru@plastic-hub.com)
+- [Support - for clients](support@plastic-hub.com)
+
+## Customer Projects (intern/private)
+
+- [Print-Head - 3dtreehouse](https://github.com/plastic-hub/lydia-print-head)
+- [Asterix - SanAniol](https://github.com/plastic-hub/products/asterix)
+- [Idefix - Paris](https://github.com/plastic-hub/products/idefix)
+
+---
+
+For admins:
+
+- ## ISO-9001
+
+ - [IT checklist](./iso9001.md)
+ - [IT tools](./iso9001-tools.md)
diff --git a/resources/workshop/.inc/saturn/_config.yml b/resources/workshop/.inc/saturn/_config.yml
new file mode 100644
index 000000000..5d00bfd8a
--- /dev/null
+++ b/resources/workshop/.inc/saturn/_config.yml
@@ -0,0 +1,306 @@
+# Welcome to Jekyll!
+#
+# This config file is meant for settings that affect your whole blog, values
+# which you are expected to set up once and rarely edit after that. If you find
+# yourself editing this file very often, consider using Jekyll's data files
+# feature for the data you need to update frequently.
+#
+# For technical reasons, this file is *NOT* reloaded automatically when you use
+# 'bundle exec jekyll serve'. If you change this file, please restart the server process.
+#
+# If you need help with YAML syntax, here are some quick references for you:
+# https://learn-the-web.algonquindesign.ca/topics/markdown-yaml-cheat-sheet/#yaml
+# https://learnxinyminutes.com/docs/yaml/
+#
+# Site settings
+# These are used to personalize your new site. If you look in the HTML files,
+# you will see them accessed via {{ site.title }}, {{ site.email }}, and so on.
+# You can create any custom variable you would like, and they will be accessible
+# in the templates via {{ site.myvariable }}
+
+pwa:
+ enabled: false # Optional
+ sw_src_filepath: service-worker.js # Optional
+ sw_dest_filename: service-worker.js # Optional
+ dest_js_directory: assets/js # Required
+ precache_recent_posts_num: 5 # Optional
+ precache_glob_directory: / # Optional
+ precache_glob_patterns: # Optional
+ - "{js,css,fonts}/**/*.{js,css,eot,svg,ttf,woff}"
+ - index.html
+ precache_glob_ignores: # Optional
+ - sw-register.js
+ - "fonts/**/*"
+
+keywords: "precious, injection, extrusion, machine, bazar, plastichub, preciousplastic, recycling, machines, plastic recycling, machines, plastic"
+title: Plastic Hub
+logo: "assets/site/logo.png"
+email: your-email@example.com
+description: "The unofficial library for Precious Plastic"
+baseurl: "" # the subpath of your site, e.g. /blog
+social_url: "https://saturn.plastic-hub.com"
+url: "https://saturn.plastic-hub.com" # the base hostname & protocol for your site, e.g. http://example.com
+twitter_username: jekyllrb
+github_username: catx23
+relative_url: ""
+git_repo: "https://github.com/plastic-hub/lab-saturn"
+host : 0.0.0.0
+
+
+admin_url: "http://127.0.0.1:8008/admin/"
+edit_url: "http://127.0.0.1:15555/app/pp/"
+
+search : true # true, false (default)
+search_full_content : true # true, false (default)
+search_provider : "lunr"
+algolia:
+ application_id : "QB6HVGBSBA"
+ index_name : "dev_minimal-mistakes"
+ search_only_api_key : "9d5014e5bbc77372547bce778dfa5663"
+ powered_by : true
+
+comments:
+ provider : "facebook"
+ facebook:
+ # https://developers.facebook.com/docs/plugins/comments
+ appid : 598113287788244
+ num_posts : 5
+ colorscheme : "light"
+
+
+# Analytics
+analytics:
+ provider : "google"
+ google:
+ tracking_id : "UA-176859075-1"
+ anonymize_ip : false
+
+
+# Build settings
+# theme: minima
+# theme: minimal-mistakes-jekyll
+plugins:
+ - jekyll-paginate
+ - jekyll-gist
+ - jemoji
+ - jekyll-include-cache
+
+include:
+ - .htaccess
+ - _pages
+ - _machines
+ - _howto
+ - _projects
+ - _products
+
+exclude:
+ - "*.sublime-project"
+ - "*.sublime-workspace"
+ - vendor
+ - .asset-cache
+ - .bundle
+ - .jekyll-assets-cache
+ - .sass-cache
+ - assets/js/plugins
+ - templates/site/
+ - assets/js/_main.js
+ - assets/js/vendor
+ - Capfile
+ - CHANGELOG
+ - node_modules
+ - config
+ - Gemfile
+ - Gruntfile.js
+ - gulpfile.js
+ - LICENSE
+ - log
+ - node_modules
+ - package.json
+ - Rakefile
+ - README
+ - cad
+ - tests/
+ - assets/filegrid
+ - cli/
+ - lang/
+ - tasks/
+ - api/
+ - people/
+ - tmp/
+ - workshop/
+ - bazar/
+ - "*.SLDDRW"
+ - "*.sldprt"
+ - "*.step"
+ - archives/
+ - templates/jekyll
+
+# Conversion
+markdown: kramdown
+highlighter: rouge
+lsi: false
+excerpt_separator: "\n\n"
+incremental: false
+breadcrumbs: true
+markdown_ext: "markdown,mkdown,mkdn,mkd,md"
+
+# minimal_mistakes_skin : "default" # "air", "aqua", "contrast", "dark", "dirt", "neon", "mint", "plum", "sunrise"
+
+minimal_mistakes_skin : "default" # "air", "aqua", "contrast", "dark", "dirt", "neon", "mint", "plum", "sunrise"
+
+kramdown:
+ input: GFM
+ hard_wrap: false
+ auto_ids: true
+ footnote_nr: 1
+ entity_output: as_char
+ toc_levels: 1..6
+ smart_quotes: lsquo,rsquo,ldquo,rdquo
+ enable_coderay: false
+
+
+ # Site Author
+author:
+ name : *name # *name is a YAML reference pointing to the &anchor earlier
+ avatar : "/assets/images/michael-rose.jpg"
+ bio : "Just another *boring*, *tattooed*, *time traveling*, *designer*."
+ location : "Buffalo, NY"
+ links:
+ - label: "GitHub"
+ icon: "fab fa-fw fa-github"
+ url: "https://github.com/plastichub"
+ - label: "Instagram"
+ icon: "fab fa-fw fa-instagram"
+ url: "https://instagram.com/plastichubcat"
+
+
+prefixes:
+ machines: machines
+ howto: howto
+
+
+# Site Footer
+footer:
+ links:
+ - label: "GitHub"
+ icon: "fab fa-fw fa-github"
+ url: "https://github.com/plastic-hub"
+ - label: "Instagram"
+ icon: "fab fa-fw fa-instagram"
+ url: "https://instagram.com/plastichubcat"
+ - label: "EMail"
+ icon: "fab fa-fw fa-envelope-open"
+ url: "mailto://sales@plastic-hub.com"
+ - label: "Phone & Whatsapp"
+ icon: "fab fa-fw fa-phone"
+ url: "tel://0034666894789"
+
+collections:
+ docs:
+ output: true
+ permalink: /:collection/:path/
+ breadcrumbs: true
+ products:
+ output: true
+ permalink: /:collection/:path:output_ext
+ breadcrumbs: true
+ howto:
+ output: true
+ permalink: /:collection/:path:output_ext
+ breadcrumbs: true
+ machines:
+ output: true
+ permalink: /:collection/:path:output_ext
+ breadcrumbs: true
+ projects:
+ output: true
+ permalink: /:collection/:path:output_ext
+ breadcrumbs: true
+
+# Defaults
+defaults:
+ # _posts
+ - scope:
+ path: ""
+ type: posts
+ values:
+ layout: single
+ author_profile: true
+ read_time: true
+ comments: true
+ share: true
+ related: true
+ # _pages
+ - scope:
+ path: "_pages"
+ type: pages
+ values:
+ layout: single
+ author_profile: false
+ ctype: pages
+ comments: true
+ # _docs
+ - scope:
+ path: ""
+ type: docs
+ values:
+ layout: single
+ read_time: false
+ author_profile: false
+ share: false
+ comments: true
+ sidebar:
+ nav: "docs"
+ - scope:
+ path: "_howto"
+ type: howto
+ values:
+ ctype: collections
+ layout: single
+ read_time: true
+ author_profile: false
+ share: true
+ comments: true
+ related: true
+ sidebar:
+ nav: "howto"
+ - scope:
+ path: "_projects"
+ type: projects
+ values:
+ layout: single
+ read_time: true
+ author_profile: false
+ share: true
+ comments: true
+ related: true
+ ctype: collections
+ sidebar:
+ nav: "projects"
+ # products
+ - scope:
+ path: "_machines"
+ type: machines
+ values:
+ layout: single
+ author_profile: false
+ share: true
+ related: true
+ ctype: collections
+ comments: true
+ sidebar:
+ nav: "machines"
+ - scope:
+ path: "_products"
+ type: products
+ values:
+ layout: stretched
+ author_profile: false
+ pagination: false
+ share: true
+ related: false
+ ctype: collections
+ comments: true
+sass:
+ style: compact # possible values: nested expanded compact compressed
+
diff --git a/resources/workshop/.inc/saturn/building/floor_plan.pdf b/resources/workshop/.inc/saturn/building/floor_plan.pdf
new file mode 100644
index 000000000..dbdb45035
--- /dev/null
+++ b/resources/workshop/.inc/saturn/building/floor_plan.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47567f4edf0d5057952c32889d0cfc48097907d65723c18d5f928db540508620
+size 116985
diff --git a/resources/workshop/.inc/saturn/building/floor_plan_page.jpg b/resources/workshop/.inc/saturn/building/floor_plan_page.jpg
new file mode 100644
index 000000000..ebc82b4cb
--- /dev/null
+++ b/resources/workshop/.inc/saturn/building/floor_plan_page.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26ff0bfd8523072fd24a06abed766cd1d12749a865cab318de38600d64053132
+size 215851
diff --git a/resources/workshop/.inc/saturn/building/readme.md b/resources/workshop/.inc/saturn/building/readme.md
new file mode 100644
index 000000000..64e2139aa
--- /dev/null
+++ b/resources/workshop/.inc/saturn/building/readme.md
@@ -0,0 +1,42 @@
+## Building
+
+### Floorplan
+
+
+
+### 1. Entry - Lane
+
+- needs to stay free for 20T trucks
+
+### 2. Cutting area / Sheet-Stock
+
+- saw, plasma
+
+- 3kW
+
+### 3. Metal stock (standard 6m)
+
+### 4. Offices/Storage
+
+- 2kW
+
+### 5. Drilling / Abresive / Plasma
+
+- 6kW
+
+### 6. Tools / Shaper / Grinder
+
+- 5kW
+
+### 7. Lathe - CNC
+
+- 15kW
+### 8. VMC
+
+- 22kW
+### 9. Assembly tables, mobile / 2 side
+
+- 2kW
+### 10. Sheetpress - Assembly
+
+- 15kW
diff --git a/resources/workshop/.inc/saturn/docker-compose.yml b/resources/workshop/.inc/saturn/docker-compose.yml
new file mode 100644
index 000000000..6711192ae
--- /dev/null
+++ b/resources/workshop/.inc/saturn/docker-compose.yml
@@ -0,0 +1,18 @@
+version: "3"
+
+services:
+ docusaurus:
+ build: .
+ ports:
+ - 3000:3000
+ - 35729:35729
+ volumes:
+ - ./docs:/app/docs
+ - ./website/blog:/app/website/blog
+ - ./website/core:/app/website/core
+ - ./website/i18n:/app/website/i18n
+ - ./website/pages:/app/website/pages
+ - ./website/static:/app/website/static
+ - ./website/sidebars.json:/app/website/sidebars.json
+ - ./website/siteConfig.js:/app/website/siteConfig.js
+ working_dir: /app/website
diff --git a/resources/workshop/.inc/saturn/iso9001.md b/resources/workshop/.inc/saturn/iso9001.md
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/workshop/.inc/saturn/mc/fanuc2/fanuc incremental.cps b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc incremental.cps
new file mode 100644
index 000000000..96de547bf
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc incremental.cps
@@ -0,0 +1,2184 @@
+/**
+ Copyright (C) 2012-2020 by Autodesk, Inc.
+ All rights reserved.
+
+ FANUC post processor configuration.
+
+ $Revision: 42645 dab327b1b16b423b75c69877cc91aea7ea31c0ac $
+ $Date: 2020-02-06 06:32:21 $
+
+ FORKID {04622D27-72F0-45d4-85FB-DB346FD1AE22}
+*/
+
+description = "FANUC (with G91)";
+vendor = "Fanuc";
+vendorUrl = "http://www.fanuc.com";
+legal = "Copyright (C) 2012-2020 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic post for Fanuc using incremental (G91) values.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_MILLING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(180);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+highFeedrate = (unit == IN) ? 500 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: true, // write machine
+ writeTools: true, // writes the tools
+ preloadTool: true, // preloads next tool on tool change if any
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 5, // increment for sequence numbers
+ optionalStop: true, // optional stop
+ o8: false, // specifies 8-digit program number
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ allow3DArcs: false, // specifies that 3D circular arcs are allowed
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words
+ forceIJK: false, // force output of IJK for G2/G3 when not using R word
+ useIncremental: true, // specifies that incremental XYZABC should be output.
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output
+ useSmoothing: false, // specifies if smoothing should be used or not
+ usePitchForTapping: false, // enable to use pitch instead of feed for the F-word for canned tapping cycles - note that your CNC control must be setup for pitch mode!
+ useG95: false, // use IPR/MPR instead of IPM/MPM
+ useG54x4: false, // Fanuc 30i supports G54.4 for Workpiece Error Compensation
+ useRigidTapping: "yes" // output rigid tapping block
+};
+
+// user-defined property definitions
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", group:1, type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
+ o8: {title:"8 Digit program number", description:"Specifies that an 8 digit program number is needed.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ allow3DArcs: {title:"Allow 3D arcs", description:"Specifies whether 3D circular arcs are allowed.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
+ forceIJK: {title:"Force IJK", description:"Force the output of IJK for G2/G3 when not using R mode.", type:"boolean"},
+ useIncremental: {title:"Use Incremental", description:"Specifies whether incremental XYZABC should be output.", type:"boolean"},
+ useParametricFeed: {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
+ useSmoothing: {title:"Use smoothing", description:"Specifies if smoothing should be used or not.", type:"boolean"},
+ usePitchForTapping: {title:"Use pitch for tapping", description:"Enables the use of pitch instead of feed for the F-word in canned tapping cycles. Your CNC control must be setup for pitch mode!", type:"boolean"},
+ useG95: {title:"Use G95", description:"Use IPR/MPR instead of IPM/MPM.", type:"boolean"},
+ useG54x4: {title:"Use G54.4", description:"Fanuc 30i supports G54.4 for workpiece error compensation.", type:"boolean"},
+ useRigidTapping: {
+ title: "Use rigid tapping",
+ description: "Select 'Yes' to enable, 'No' to disable, or 'Without spindle direction' to enable rigid tapping without outputting the spindle direction block.",
+ type: "enum",
+ values:[
+ {title:"Yes", id:"yes"},
+ {title:"No", id:"no"},
+ {title:"Without spindle direction", id:"without"}
+ ]
+ }
+};
+
+var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
+// samples:
+// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
+// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
+var coolants = [
+ {id: COOLANT_FLOOD, on: 8},
+ {id: COOLANT_MIST},
+ {id: COOLANT_THROUGH_TOOL, on: 88, off: 89},
+ {id: COOLANT_AIR},
+ {id: COOLANT_AIR_THROUGH_TOOL},
+ {id: COOLANT_SUCTION},
+ {id: COOLANT_FLOOD_MIST},
+ {id: COOLANT_FLOOD_THROUGH_TOOL},
+ {id: COOLANT_OFF, off: 9}
+];
+
+var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
+
+var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});
+var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});
+var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1});
+var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1});
+var probe100Format = createFormat({decimals:3, zeropad:true, width:3, forceDecimal:true});
+
+var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless
+var rFormat = xyzFormat; // radius
+var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
+var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+var peckFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+// var peckFormat = createFormat({decimals:0, forceDecimal:false, trim:false, width:4, zeropad:true, scale:(unit == MM ? 1000 : 10000)});
+
+var xOutput = createVariable({prefix:"X"}, xyzFormat);
+var yOutput = createVariable({prefix:"Y"}, xyzFormat);
+var zOutput = createVariable({onchange: function() {retracted = false;}, prefix:"Z"}, xyzFormat);
+var aOutput = createVariable({prefix:"A"}, abcFormat);
+var bOutput = createVariable({prefix:"B"}, abcFormat);
+var cOutput = createVariable({prefix:"C"}, abcFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var dOutput = createVariable({}, dFormat);
+var peckOutput = createVariable({prefix:"Q", force:true}, peckFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat);
+var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
+var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G94-95
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
+var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69
+
+// fixed settings
+var firstFeedParameter = 500;
+var useMultiAxisFeatures = true;
+var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
+var cancelTiltFirst = false; // cancel G68.2 with G69 prior to G54-G59 WCS block
+var useABCPrepositioning = false; // position ABC axes prior to G68.2 block
+
+var WARNING_WORK_OFFSET = 0;
+
+var ANGLE_PROBE_NOT_SUPPORTED = 0;
+var ANGLE_PROBE_USE_ROTATION = 1;
+var ANGLE_PROBE_USE_CAXIS = 2;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var useIncremental = false;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var g68RotationMode = 0;
+var angularProbingMode;
+var retracted = false; // specifies that the tool has been retracted to the safe plane
+probeMultipleFeatures = true;
+
+/**
+ Writes the specified block.
+*/
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ if (properties.showSequenceNumbers) {
+ if (optionalSection) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ if (properties.showSequenceNumbers) {
+ var words = formatWords(arguments);
+ if (words) {
+ writeWords("/", "N" + sequenceNumber, words);
+ sequenceNumber += properties.sequenceNumberIncrement;
+ }
+ } else {
+ writeWords2("/", arguments);
+ }
+}
+
+function formatComment(text) {
+ return "(" + filterText(String(text).toUpperCase(), permittedCommentChars).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text));
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+ gRotationModal.format(69); // Default to G69 Rotation Off
+
+ if (false) { // note: setup your machine here
+ var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360, 360], preference:1});
+ var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360, 360], preference:1});
+ machineConfiguration = new MachineConfiguration(aAxis, cAxis);
+
+ setMachineConfiguration(machineConfiguration);
+ optimizeMachineAngles2(0); // TCP mode
+ }
+
+ if (!machineConfiguration.isMachineCoordinate(0)) {
+ aOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(1)) {
+ bOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(2)) {
+ cOutput.disable();
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ if (properties.forceIJK) {
+ iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
+ jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
+ kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (properties.o8) {
+ if (!((programId >= 1) && (programId <= 99999999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ } else {
+ if (!((programId >= 1) && (programId <= 9999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ }
+ if ((programId >= 8000) && (programId <= 9999)) {
+ warning(localize("Program number is reserved by tool builder."));
+ }
+ var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ if (programComment) {
+ writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
+ } else {
+ writeln("O" + oFormat.format(programId));
+ }
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ }
+ }
+ }
+
+ if (false) {
+ // check for duplicate tool number
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var sectioni = getSection(i);
+ var tooli = sectioni.getTool();
+ for (var j = i + 1; j < getNumberOfSections(); ++j) {
+ var sectionj = getSection(j);
+ var toolj = sectionj.getTool();
+ if (tooli.number == toolj.number) {
+ if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
+ xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
+ abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
+ (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
+ error(
+ subst(
+ localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
+ sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
+ sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
+ )
+ );
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(properties.useG95 ? 95 : 94), gPlaneModal.format(17), gFormat.format(49), gFormat.format(40), gFormat.format(80));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.useG95 && properties.useParametricFeed) {
+ error(localize("Parametric feed is not supported when using G95."));
+ return;
+ }
+
+ if (properties.useG95) {
+ feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+ feedOutput = createVariable({prefix:"F"}, feedFormat);
+ }
+}
+
+function onComment(message) {
+ var comments = String(message).split(";");
+ for (comment in comments) {
+ writeComment(comments[comment]);
+ }
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+/** Force output of A, B, and C. */
+function forceABC() {
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, A, B, C, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceABC();
+ forceFeed();
+}
+
+var lengthCompensationActive = false;
+
+/** Disables length compensation if currently active or if forced. */
+function disableLengthCompensation(force) {
+ if (lengthCompensationActive || force) {
+ validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted.");
+ writeBlock(gFormat.format(49));
+ lengthCompensationActive = false;
+ }
+}
+
+var currentSmoothing = false;
+
+function setSmoothing(mode) {
+ if (mode == currentSmoothing) {
+ return false;
+ }
+
+ // 1) Make sure G49 is called before the execution of G05.1 Q1 Rx
+ // 2) G05.1 Q1 Rx must be engaged BEFORE G43-Tool Length Comp
+ // 3) AICC and AIAPC need to be turned on and off for each tool
+ // 4) AICC and AIAPC does not apply to canned drilling cycles
+ validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing.");
+
+ currentSmoothing = mode;
+ writeBlock(gFormat.format(5.1), mode ? "Q1" : "Q0");
+ return true;
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (properties.useG95) {
+ return feedOutput.format(f / spindleSpeed); // use feed value
+ }
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function cancelWorkPlane() {
+ writeBlock(gRotationModal.format(69)); // cancel frame
+ forceWorkPlane();
+}
+
+function setWorkPlane(abc) {
+ if (!forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
+ return; // no change
+ }
+
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ if (!retracted) {
+ writeRetract(Z);
+ }
+
+ if (useMultiAxisFeatures) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ if (machineConfiguration.isMultiAxisConfiguration() && useABCPrepositioning) {
+ var angles = abc.isNonZero() ? getWorkPlaneMachineABC(currentSection.workPlane, false, false) : abc;
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(angles.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(angles.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(angles.z))
+ );
+ }
+ if (abc.isNonZero()) {
+ gRotationModal.reset();
+ writeBlock(gRotationModal.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)); // set frame
+ writeBlock(gFormat.format(53.1)); // turn machine
+ } else {
+ if (!cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ }
+ } else {
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+
+ currentWorkPlaneABC = abc;
+}
+
+var closestABC = false; // choose closest machine angles
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane, rotate) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ if (rotate) {
+ var tcp = false;
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+ }
+
+ return abc;
+}
+
+function isProbeOperation() {
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = (value > 0) ? value : 1;
+ }
+}
+
+function onSection() {
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number);
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
+ (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
+ Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
+ (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
+ (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
+ getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
+ var forceSmoothing = properties.useSmoothing &&
+ (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill") ||
+ !isFirstSection() && getPreviousSection().hasParameter("operation-strategy") && (getPreviousSection().getParameter("operation-strategy") == "drill")); // force smoothing in case !insertToolCall (2d chamfer)
+ if (insertToolCall || newWorkOffset || newWorkPlane || forceSmoothing) {
+
+ // stop spindle before retract during tool change
+ if (insertToolCall && !isFirstSection()) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ }
+
+ // retract to safe plane
+ writeRetract(Z);
+ writeBlock(gAbsIncModal.format(90));
+ forceXYZ();
+ if ((insertToolCall && !isFirstSection()) || forceSmoothing) {
+ disableLengthCompensation();
+ setSmoothing(false);
+ }
+ }
+
+ writeln("");
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ forceWorkPlane();
+
+ setCoolant(COOLANT_OFF);
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (tool.number > 99) {
+ warning(localize("Tool number exceeds maximum value."));
+ }
+
+ disableLengthCompensation();
+ writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ var showToolZMin = false;
+ if (showToolZMin) {
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ var zRange = currentSection.getGlobalZRange();
+ var number = tool.number;
+ for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getTool().number != number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+ writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
+ }
+ }
+
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ writeBlock("T" + toolFormat.format(nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ if (tool.number != firstToolNumber) {
+ writeBlock("T" + toolFormat.format(firstToolNumber));
+ }
+ }
+ }
+ }
+
+ if (!isProbeOperation() &&
+ (insertToolCall ||
+ forceSpindleSpeed ||
+ isFirstSection() ||
+ (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise))) {
+ forceSpindleSpeed = false;
+
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 99999) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ var tapping = hasParameter("operation:cycleType") &&
+ ((getParameter("operation:cycleType") == "tapping") ||
+ (getParameter("operation:cycleType") == "right-tapping") ||
+ (getParameter("operation:cycleType") == "left-tapping") ||
+ (getParameter("operation:cycleType") == "tapping-with-chip-breaking"));
+ if (!tapping || (tapping && !(properties.useRigidTapping == "without"))) {
+ writeBlock(
+ sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
+ );
+ }
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
+ // writeBlock(mFormat.format(xxx)); // shortest path traverse
+ }
+ }
+
+ // wcs
+ if (insertToolCall) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset != currentWorkOffset) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ forceWorkPlane();
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var p = workOffset - 6; // 1->...
+ if (p > 300) {
+ error(localize("Work offset out of range."));
+ return;
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(54.1), "P" + p); // G54.1P
+ currentWorkOffset = workOffset;
+ }
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ forceXYZ();
+
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ // set working plane after datum shift
+
+ if (currentSection.isMultiAxis()) {
+ forceWorkPlane();
+ cancelTransformation();
+ } else {
+ var abc = new Vector(0, 0, 0);
+ if (useMultiAxisFeatures) {
+ var euler = currentSection.workPlane.getEuler2(EULER_ZXZ_R);
+ abc = new Vector(euler.x, euler.y, euler.z);
+ cancelTransformation();
+ } else {
+ abc = getWorkPlaneMachineABC(currentSection.workPlane, true, true);
+ }
+ setWorkPlane(abc);
+ }
+ } else { // pure 3D
+ var remaining = currentSection.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return;
+ }
+ setRotation(remaining);
+ }
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ if (properties.useSmoothing) {
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) {
+ if (setSmoothing(true)) {
+ // we force G43 using lengthCompensationActive
+ }
+ } else {
+ if (setSmoothing(false)) {
+ // we force G43 using lengthCompensationActive
+ }
+ }
+ }
+
+ forceAny();
+ gMotionModal.reset();
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(0), zOutput.format(initialPosition.z));
+ }
+ }
+
+ if (insertToolCall || !lengthCompensationActive || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) {
+ var lengthOffset = tool.lengthOffset;
+ if (lengthOffset > 99) {
+ error(localize("Length offset out of range."));
+ return;
+ }
+
+ gMotionModal.reset();
+ writeBlock(gPlaneModal.format(17));
+
+ // cancel compensation prior to enabling it, required when switching G43/G43.4 modes
+ disableLengthCompensation(false);
+
+ // assumes a Head configuration uses TCP on a Fanuc controller
+ var offsetCode = 43;
+ if (currentSection.isMultiAxis()) {
+ if (machineConfiguration.isMultiAxisConfiguration() && (currentSection.getOptimizedTCPMode() == 0)) {
+ offsetCode = 43.4;
+ } else if (!machineConfiguration.isMultiAxisConfiguration()) {
+ offsetCode = 43.5;
+ }
+ }
+
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
+ );
+ writeBlock(
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y),
+ zOutput.format(initialPosition.z), hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ }
+
+ gMotionModal.reset();
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y)
+ );
+ }
+
+ validate(lengthCompensationActive, "Length compensation is not active.");
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ if (isProbeOperation()) {
+ if (g68RotationMode != 0) {
+ error(localize("You cannot probe while G68 Rotation is in effect."));
+ return;
+ }
+ angularProbingMode = getAngularProbingMode();
+ writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
+ }
+
+ retracted = false;
+
+ if (properties.useIncremental && !isProbeOperation()) {
+ writeBlock(gAbsIncModal.format(91));
+ xOutput = createIncrementalVariable({prefix:"X"}, xyzFormat);
+ xOutput.format(initialPosition.x);
+ xOutput.format(initialPosition.x);
+ yOutput = createIncrementalVariable({prefix:"Y"}, xyzFormat);
+ yOutput.format(initialPosition.y);
+ yOutput.format(initialPosition.y);
+ zOutput = createIncrementalVariable({prefix:"Z"}, xyzFormat);
+ zOutput.format(initialPosition.z);
+ zOutput.format(initialPosition.z);
+
+ var abc = new Vector(); // TAG: set if using multi-axis machine
+ aOutput = createIncrementalVariable({prefix:"A"}, abcFormat);
+ aOutput.format(abc.x);
+ aOutput.format(abc.x);
+ bOutput = createIncrementalVariable({prefix:"B"}, abcFormat);
+ bOutput.format(abc.y);
+ bOutput.format(abc.y);
+ cOutput = createIncrementalVariable({prefix:"C"}, abcFormat);
+ cOutput.format(abc.z);
+ cOutput.format(abc.z);
+
+ useIncremental = true;
+ } else {
+ xOutput = createVariable({prefix:"X"}, xyzFormat);
+ yOutput = createVariable({prefix:"Y"}, xyzFormat);
+ zOutput = createVariable({prefix:"Z"}, xyzFormat);
+ aOutput = createVariable({prefix:"A"}, abcFormat);
+ bOutput = createVariable({prefix:"B"}, abcFormat);
+ cOutput = createVariable({prefix:"C"}, abcFormat);
+ }
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ milliseconds = clamp(1, seconds * 1000, 99999999);
+ writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(milliseconds));
+ writeBlock(gFeedModeModal.format(properties.useG95 ? 95 : 94)); // back to G95
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(sOutput.format(spindleSpeed));
+}
+
+function onCycle() {
+ writeBlock(gPlaneModal.format(17));
+}
+
+function getCommonCycle(x, y, z, r) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ if (useIncremental) {
+ return [xOutput.format(x), yOutput.format(y),
+ "Z" + xyzFormat.format(z - r),
+ "R" + xyzFormat.format(r - zOutput.getCurrent())];
+ } else {
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + xyzFormat.format(r)];
+ }
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+/**
+ Determine if angular probing is supported
+*/
+function getAngularProbingMode() {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ if (machineConfiguration.isMachineCoordinate(2)) {
+ return ANGLE_PROBE_USE_CAXIS;
+ } else {
+ return ANGLE_PROBE_NOT_SUPPORTED;
+ }
+ } else {
+ return ANGLE_PROBE_USE_ROTATION;
+ }
+}
+
+/**
+ Output rotation offset based on angular probing cycle.
+*/
+function setProbingAngle() {
+ if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
+ if (!properties.useG54x4) {
+ gRotationModal.reset();
+ gAbsIncModal.reset();
+ writeBlock(
+ gRotationModal.format(68), gAbsIncModal.format(90),
+ (g68RotationMode == 1) ? "X0" : "X[#135]",
+ (g68RotationMode == 1) ? "Y0" : "Y[#136]",
+ "Z0", "I0.0", "J0.0", "K1.0", "R[#139]"
+ );
+ g68RotationMode = 3;
+ } else if (angularProbingMode != ANGLE_PROBE_NOT_SUPPORTED) {
+ writeBlock("#26010=#135");
+ writeBlock("#26011=#136");
+ writeBlock("#26012=#137");
+ writeBlock("#26015=#139");
+ writeBlock(gFormat.format(54.4), "P1");
+ g68RotationMode = 0;
+ } else {
+ error(localize("Angular probing is not supported for this machine configuration."));
+ return;
+ }
+ }
+}
+
+function protectedProbeMove(_cycle, x, y, z) {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (_z && z >= getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+ if (_x || _y) {
+ writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
+ }
+ if (_z && z < getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+}
+
+function onCyclePoint(x, y, z) {
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+ var probeWorkOffsetCode;
+ if (isProbeOperation()) {
+ if (!useMultiAxisFeatures && !isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) && (!cycle.probeMode || (cycle.probeMode == 0))) {
+ error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
+ return;
+ }
+ protectedProbeMove(cycle, x, y, z);
+
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 99) {
+ error(localize("Work offset is out of range."));
+ return;
+ } else if (workOffset > 6) {
+ probeWorkOffsetCode = probe100Format.format(workOffset - 6 + 100);
+ } else {
+ probeWorkOffsetCode = workOffset + "."; // G54->G59
+ }
+ }
+
+ if (isFirstCyclePoint() || isProbeOperation()) {
+ if (!isProbeOperation()) {
+ // return to initial Z which is clearance plane and set absolute mode
+ repositionToCycleClearance(cycle, x, y, z);
+ }
+
+ var F = cycle.feedrate;
+ if (properties.useG95) {
+ F /= spindleSpeed;
+ }
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ // cycle.accumulatedDepth is ignored
+ if ((cycle.accumulatedDepth < cycle.depth) || (P > 0)) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ // conditional(P > 0, "P" + milliFormat.format(P)),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "left-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "right-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ if (cycle.accumulatedDepth < cycle.depth) {
+ error(localize("Accumulated pecking depth is not supported for tapping cycles with chip breaking."));
+ return;
+ } else {
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ }
+ break;
+ case "fine-boring":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ break;
+ case "back-boring":
+ var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
+ var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
+ var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(87),
+ getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom),
+ "Q" + xyzFormat.format(cycle.shift),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "reaming":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "manual-boring":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(88),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(useIncremental ? 91 : 90), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+
+ case "probing-x":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ xOutput.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ yOutput.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-z":
+ protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+
+ case "probing-xy-inner-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-xy-outer-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-x-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ xOutput.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ case "probing-y-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ yOutput.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ default:
+ expandCyclePoint(x, y, z);
+ }
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(xOutput.format(x), yOutput.format(y));
+ }
+ }
+}
+
+function getProbingArguments(cycle, probeWorkOffsetCode) {
+ var probeWCS = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe");
+ return [
+ (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
+ ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
+ (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
+ (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
+ ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
+ ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
+ (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
+ (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
+ conditional(probeWorkOffsetCode && probeWCS, "S" + probeWorkOffsetCode)
+ ];
+}
+
+function onCycleEnd() {
+ if (isProbeOperation()) {
+ zOutput.reset();
+ gMotionModal.reset();
+ writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
+ } else if (!cycleExpanded) {
+ writeBlock(conditional(!properties.useG95, gFeedModeModal.format(94)), gCycleModal.format(80));
+ zOutput.reset();
+ }
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ var d = tool.diameterOffset;
+ if (d > 99) {
+ warning(localize("The diameter offset exceeds the maximum value."));
+ }
+ writeBlock(gPlaneModal.format(17));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f);
+ break;
+ default:
+ writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gMotionModal.format(1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+}
+
+function onRapid5D(_x, _y, _z, _a, _b, _c) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k);
+ }
+ forceFeed();
+}
+
+function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || a || b || c) {
+ writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || i || j || k) {
+ writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gAbsIncModal.format(useIncremental ? 91 : 90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+var coolantOff = undefined;
+
+function setCoolant(coolant) {
+ var coolantCodes = getCoolantCodes(coolant);
+ if (Array.isArray(coolantCodes)) {
+ if (singleLineCoolant) {
+ writeBlock(coolantCodes.join(getWordSeparator()));
+ } else {
+ for (var c in coolantCodes) {
+ writeBlock(coolantCodes[c]);
+ }
+ }
+ return undefined;
+ }
+ return coolantCodes;
+}
+
+function getCoolantCodes(coolant) {
+ var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
+ if (!coolants) {
+ error(localize("Coolants have not been defined."));
+ }
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+ if (coolant == currentCoolantMode) {
+ return undefined; // coolant is already active
+ }
+ if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined)) {
+ if (Array.isArray(coolantOff)) {
+ for (var i in coolantOff) {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff));
+ }
+ }
+
+ var m;
+ var coolantCodes = {};
+ for (var c in coolants) { // find required coolant codes into the coolants array
+ if (coolants[c].id == coolant) {
+ coolantCodes.on = coolants[c].on;
+ if (coolants[c].off != undefined) {
+ coolantCodes.off = coolants[c].off;
+ break;
+ } else {
+ for (var i in coolants) {
+ if (coolants[i].id == COOLANT_OFF) {
+ coolantCodes.off = coolants[i].off;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (coolant == COOLANT_OFF) {
+ m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
+ } else {
+ coolantOff = coolantCodes.off;
+ m = coolantCodes.on;
+ }
+
+ if (!m) {
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ } else {
+ if (Array.isArray(m)) {
+ for (var i in m) {
+ multipleCoolantBlocks.push(mFormat.format(m[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(m));
+ }
+ currentCoolantMode = coolant;
+ return multipleCoolantBlocks; // return the single formatted coolant value
+ }
+ return undefined;
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:2,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ COMMAND_STOP_SPINDLE:5,
+ COMMAND_ORIENTATE_SPINDLE:19
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ return;
+ case COMMAND_BREAK_CONTROL:
+ return;
+ case COMMAND_TOOL_MEASURE:
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+function onSectionEnd() {
+ writeBlock(gPlaneModal.format(17));
+
+ xOutput = createVariable({prefix:"X"}, xyzFormat);
+ yOutput = createVariable({prefix:"Y"}, xyzFormat);
+ zOutput = createVariable({prefix:"Z"}, xyzFormat);
+ aOutput = createVariable({prefix:"A"}, abcFormat);
+ bOutput = createVariable({prefix:"B"}, abcFormat);
+ cOutput = createVariable({prefix:"C"}, abcFormat);
+ useIncremental = false;
+
+ if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
+ setCoolant(COOLANT_OFF);
+ }
+ if (((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
+ (tool.number != getNextSection().getTool().number)) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ }
+
+ if (isProbeOperation()) {
+ writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
+ setProbingAngle(); // define rotation of part
+ }
+ forceAny();
+}
+
+/** Output block to do safe retract and/or move to home position. */
+function writeRetract() {
+ if (arguments.length == 0) {
+ error(localize("No axis specified for writeRetract()."));
+ return;
+ }
+ var words = []; // store all retracted axes in an array
+ for (var i = 0; i < arguments.length; ++i) {
+ let instances = 0; // checks for duplicate retract calls
+ for (var j = 0; j < arguments.length; ++j) {
+ if (arguments[i] == arguments[j]) {
+ ++instances;
+ }
+ }
+ if (instances > 1) { // error if there are multiple retract calls for the same axis
+ error(localize("Cannot retract the same axis twice in one line"));
+ return;
+ }
+ switch (arguments[i]) {
+ case X:
+ words.push("X" + xyzFormat.format(machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : 0));
+ break;
+ case Y:
+ words.push("Y" + xyzFormat.format(machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : 0));
+ break;
+ case Z:
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(machineConfiguration.getRetractPlane())); // retract
+ zOutput.reset();
+ retracted = true; // specifies that the tool has been retracted to the safe plane
+ break;
+ default:
+ error(localize("Bad axis specified for writeRetract()."));
+ return;
+ }
+ }
+ if (words.length > 0) {
+ gMotionModal.reset();
+ if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), words); // retract
+ if (!properties.useIncremental) {
+ writeBlock(gAbsIncModal.format(90));
+ }
+ } else {
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words); // retract
+ writeBlock(gAbsIncModal.format(91));
+ }
+ }
+}
+
+function onClose() {
+ writeln("");
+ optionalSection = false;
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ writeRetract(Z);
+
+ disableLengthCompensation(true);
+ setSmoothing(false);
+ zOutput.reset();
+
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+
+ if (properties.useG54x4) {
+ writeBlock(gFormat.format(54.4), "P0");
+ }
+
+ writeRetract(X, Y);
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ writeln("%");
+}
diff --git a/resources/workshop/.inc/saturn/mc/fanuc2/fanuc turning.cps b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc turning.cps
new file mode 100644
index 000000000..9a423490c
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc turning.cps
@@ -0,0 +1,1676 @@
+/**
+ Copyright (C) 2012-2019 by Autodesk, Inc.
+ All rights reserved.
+
+ FANUC Lathe post processor configuration.
+
+ $Revision: 42631 621a6aaa12feb9f27eb24e2b06cf85758a41d354 $
+ $Date: 2020-01-21 06:14:08 $
+
+ FORKID {88B77760-269E-4d46-8588-30814E7FE9A1}
+*/
+
+description = "FANUC Turning";
+vendor = "Fanuc";
+vendorUrl = "http://www.fanuc.com";
+legal = "Copyright (C) 2012-2019 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic turning post for FANUC. Use the property 'type' to switch the FANUC mode A, B, and C. The default mode is A. Use Turret 0 for Positional Turret, Turret 101 for QCTP on X- Post, Turret 102 for QCTP on X+ Post, Turret 103 for Gang Tooling on X- Post, Turret 104 for Gang Tooling on X+ Tool Post.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_TURNING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(180);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+
+// user-defined properties
+properties = {
+ writeMachine: false, // write machine
+ writeTools: false, // writes the tools
+ preloadTool: false, // preloads next tool on tool change if any
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 1, // increment for sequence numbers
+ optionalStop: true, // optional stop
+ o8: false, // specifies 8-digit program number
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
+ maximumSpindleSpeed: 100 * 60, // specifies the maximum spindle speed
+ type: "A", // specifies the type A, B, C
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output.
+ g53HomePositionX: 0, // home position for X-axis
+ g53HomePositionZ: 0, // home position for Z-axis
+ useRigidTapping: "yes" // output rigid tapping block
+};
+
+// user-defined property definitions
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", group:1, type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
+ o8: {title:"8 Digit program number", description:"Specifies that an 8 digit program number is needed.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
+ maximumSpindleSpeed: {title:"Max spindle speed", description:"Defines the maximum spindle speed allowed by your machines.", type:"integer", range:[0, 999999999]},
+ type: {title:"Type", description:"Specifies the type A, B or C.", type:"enum", values:["A", "B", "C"]},
+ useParametricFeed: {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
+ g53HomePositionX: {title:"G53 home position X", description:"G53 X-axis home position.", type:"number"},
+ g53HomePositionZ: {title:"G53 home position Z", description:"G53 Z-axis home position.", type:"number"},
+ useRigidTapping: {
+ title: "Use rigid tapping",
+ description: "Select 'Yes' to enable, 'No' to disable, or 'Without spindle direction' to enable rigid tapping without outputting the spindle direction block.",
+ type: "enum",
+ values:[
+ {title:"Yes", id:"yes"},
+ {title:"No", id:"no"},
+ {title:"Without spindle direction", id:"without"}
+ ]
+ }
+};
+
+var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
+
+var gFormat = createFormat({prefix:"G", decimals:1});
+var mFormat = createFormat({prefix:"M", decimals:1});
+
+var spatialFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2}); // diameter mode
+var yFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var zFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var rFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); // radius
+var feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+var pitchFormat = createFormat({decimals:6, forceDecimal:true});
+var toolFormat = createFormat({decimals:0, width:4, zeropad:true});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+var peckFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+// var peckFormat = createFormat({decimals:0, forceDecimal:false, trim:false, width:4, zeropad:true, scale:(unit == MM ? 1000 : 10000)});
+
+var xOutput = createVariable({prefix:"X"}, xFormat);
+var yOutput = createVariable({prefix:"Y"}, yFormat);
+var zOutput = createVariable({prefix:"Z"}, zFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+
+// circular output
+var kOutput = createReferenceVariable({prefix:"K"}, spatialFormat);
+var iOutput = createReferenceVariable({prefix:"I"}, spatialFormat); // no scaling
+
+var g92ROutput = createVariable({prefix:"R"}, zFormat); // no scaling
+var peckOutput = createVariable({prefix:"Q", force:true}, peckFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91 // only for B and C mode
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G98-99 / G94-95
+var gSpindleModeModal = createModal({}, gFormat); // modal group 5 // G96-97
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
+
+// fixed settings
+var firstFeedParameter = 500;
+var gotSecondarySpindle = true;
+var gotTailStock = false;
+
+var WARNING_WORK_OFFSET = 0;
+
+var QCTP = 0;
+var TURRET = 1;
+var GANG = 2;
+
+var FRONT = -1;
+var REAR = 1;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var toolingData;
+var previousToolingData;
+
+function getCode(code) {
+ switch (code) {
+ // case "PART_CATCHER_ON":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ // case "PART_CATCHER_OFF":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ // case "TAILSTOCK_ON":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ // case "TAILSTOCK_OFF":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ // case "ENGAGE_C_AXIS":
+ // machineState.cAxisIsEngaged = true;
+ // return cAxisEngageModal.format(UNSUPPORTED);
+ // case "DISENGAGE_C_AXIS":
+ // machineState.cAxisIsEngaged = false;
+ // return cAxisEngageModal.format(UNSUPPORTED);
+ // case "POLAR_INTERPOLATION_ON":
+ // return gPolarModal.format(UNSUPPORTED);
+ // case "POLAR_INTERPOLATION_OFF":
+ // return gPolarModal.format(UNSUPPORTED);
+ // case "STOP_LIVE_TOOL":
+ // machineState.liveToolIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_MAIN_SPINDLE":
+ // machineState.mainSpindleIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_SUB_SPINDLE":
+ // machineState.subSpindleIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "START_LIVE_TOOL_CW":
+ // machineState.liveToolIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ // case "START_LIVE_TOOL_CCW":
+ // machineState.liveToolIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ case "START_MAIN_SPINDLE_CW":
+ // machineState.mainSpindleIsActive = true;
+ return mFormat.format(3);
+ case "START_MAIN_SPINDLE_CCW":
+ // machineState.mainSpindleIsActive = true;
+ return mFormat.format(4);
+ // case "START_SUB_SPINDLE_CW":
+ // machineState.subSpindleIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ // case "START_SUB_SPINDLE_CCW":
+ // machineState.subSpindleIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ // case "MAIN_SPINDLE_BRAKE_ON":
+ // machineState.mainSpindleBrakeIsActive = true;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "MAIN_SPINDLE_BRAKE_OFF":
+ // machineState.mainSpindleBrakeIsActive = false;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "SUB_SPINDLE_BRAKE_ON":
+ // machineState.subSpindleBrakeIsActive = true;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "SUB_SPINDLE_BRAKE_OFF":
+ // machineState.subSpindleBrakeIsActive = false;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ case "FEED_MODE_UNIT_REV":
+ return gFeedModeModal.format((properties.type == "A") ? 99 : 95);
+ case "FEED_MODE_UNIT_MIN":
+ return gFeedModeModal.format((properties.type == "A") ? 98 : 94);
+ case "CONSTANT_SURFACE_SPEED_ON":
+ return gSpindleModeModal.format(96);
+ case "CONSTANT_SURFACE_SPEED_OFF":
+ return gSpindleModeModal.format(97);
+ // case "MAINSPINDLE_AIR_BLAST_ON":
+ // return mFormat.format(UNSUPPORTED);
+ // case "MAINSPINDLE_AIR_BLAST_OFF":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SUBSPINDLE_AIR_BLAST_ON":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SUBSPINDLE_AIR_BLAST_OFF":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLAMP_PRIMARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "UNCLAMP_PRIMARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLAMP_SECONDARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "UNCLAMP_SECONDARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SPINDLE_SYNCHRONIZATION_ON":
+ // machineState.spindleSynchronizationIsActive = true;
+ // return gSynchronizedSpindleModal.format(UNSUPPORTED);
+ // case "SPINDLE_SYNCHRONIZATION_OFF":
+ // machineState.spindleSynchronizationIsActive = false;
+ // return gSynchronizedSpindleModal.format(UNSUPPORTED);
+ // case "START_CHIP_TRANSPORT":
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_CHIP_TRANSPORT":
+ // return mFormat.format(UNSUPPORTED);
+ // case "OPEN_DOOR":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLOSE_DOOR":
+ // return mFormat.format(UNSUPPORTED);
+ case "COOLANT_FLOOD_ON":
+ return mFormat.format(8);
+ case "COOLANT_FLOOD_OFF":
+ return mFormat.format(9);
+ // case "COOLANT_AIR_ON":
+ // return mFormat.format(UNSUPPORTED);
+ // case "COOLANT_AIR_OFF":
+ // return mFormat.format(UNSUPPORTED);
+ case "COOLANT_THROUGH_TOOL_ON":
+ return mFormat.format(88);
+ case "COOLANT_THROUGH_TOOL_OFF":
+ return mFormat.format(89);
+ case "COOLANT_OFF":
+ return mFormat.format(9);
+ default:
+ error(localize("Command " + code + " is not defined."));
+ return 0;
+ }
+}
+
+/**
+ Writes the specified block.
+*/
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ if (properties.showSequenceNumbers) {
+ if (optionalSection) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ if (properties.showSequenceNumbers) {
+ var words = formatWords(arguments);
+ if (words) {
+ writeWords("/", "N" + sequenceNumber, words);
+ sequenceNumber += properties.sequenceNumberIncrement;
+ }
+ } else {
+ writeWords2("/", arguments);
+ }
+}
+
+function formatComment(text) {
+ return "(" + filterText(String(text).toUpperCase(), permittedCommentChars).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text));
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+
+ yOutput.disable();
+
+ if (!(properties.type in {"A":0, "B":0, "C":0})) {
+ error(localize("Unsupported type. Only A, B, and C are allowed."));
+ return;
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (properties.o8) {
+ if (!((programId >= 1) && (programId <= 99999999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ } else {
+ if (!((programId >= 1) && (programId <= 9999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ }
+ if ((programId >= 8000) && (programId <= 9999)) {
+ warning(localize("Program number is reserved by tool builder."));
+ }
+ var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ if (programComment) {
+ writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
+ } else {
+ writeln("O" + oFormat.format(programId));
+ }
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var compensationOffset = tool.isTurningTool() ? tool.compensationOffset : tool.lengthOffset;
+ var comment = "T" + toolFormat.format(tool.number * 100 + compensationOffset % 100) + " " +
+ (tool.diameter != 0 ? "D=" + spatialFormat.format(tool.diameter) + " " : "") +
+ (tool.isTurningTool() ? localize("NR") + "=" + spatialFormat.format(tool.noseRadius) : localize("CR") + "=" + spatialFormat.format(tool.cornerRadius)) +
+ (tool.taperAngle > 0 && (tool.taperAngle < Math.PI) ? " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg") : "") +
+ (zRanges[tool.number] ? " - " + localize("ZMIN") + "=" + spatialFormat.format(zRanges[tool.number].getMinimum()) : "") +
+ " - " + localize(getToolTypeName(tool.type));
+ writeComment(comment);
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ if (properties.type == "A") {
+ writeBlock(gFeedModeModal.format(98), gPlaneModal.format(18));
+ } else {
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(95), gPlaneModal.format(18));
+ }
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.type == "A") {
+ writeBlock(gFormat.format(50), sOutput.format(properties.maximumSpindleSpeed));
+ } else {
+ writeBlock(gFormat.format(92), sOutput.format(properties.maximumSpindleSpeed));
+ }
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+}
+
+function onComment(message) {
+ writeComment(message);
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceFeed();
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+ var feedPerRev = currentSection.feedMode == FEED_PER_REVOLUTION;
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var finishFeedrateRel;
+ if (hasParameter("operation:finishFeedrateRel")) {
+ finishFeedrateRel = getParameter("operation:finishFeedrateRel");
+ } else if (hasParameter("operation:finishFeedratePerRevolution")) {
+ finishFeedrateRel = getParameter("operation:finishFeedratePerRevolution");
+ }
+ var feedContext = new FeedContext(id, localize("Finish"), feedPerRev ? finishFeedrateRel : getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), feedPerRev ? getParameter("operation:tool_feedEntryRel") : getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), feedPerRev ? getParameter("operation:tool_feedExitRel") : getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), feedPerRev ? getParameter("operation:noEngagementFeedrateRel") : getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(
+ id,
+ localize("Direct"),
+ Math.max(
+ feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"),
+ feedPerRev ? getParameter("operation:tool_feedEntryRel") : getParameter("operation:tool_feedEntry"),
+ feedPerRev ? getParameter("operation:tool_feedExitRel") : getParameter("operation:tool_feedExit")
+ )
+ );
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), feedPerRev ? getParameter("operation:reducedFeedrateRel") : getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), feedPerRev ? getParameter("operation:tool_feedRampRel") : getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), feedPerRev ? getParameter("operation:tool_feedPlungeRel") : getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+function getSpindle() {
+ if (getNumberOfSections() == 0) {
+ return SPINDLE_PRIMARY;
+ }
+ if (getCurrentSectionId() < 0) {
+ return getSection(getNumberOfSections() - 1).spindle == 0;
+ }
+ if (currentSection.getType() == TYPE_TURNING) {
+ return currentSection.spindle;
+ } else {
+ if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1))) {
+ return SPINDLE_PRIMARY;
+ } else if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
+ if (!gotSecondarySpindle) {
+ error(localize("Secondary spindle is not available."));
+ }
+ return SPINDLE_SECONDARY;
+ } else {
+ return SPINDLE_PRIMARY;
+ }
+ }
+}
+
+function ToolingData(_tool) {
+ switch (_tool.turret) {
+ // Positional Turret
+ case 0:
+ this.tooling = TURRET;
+ this.toolPost = REAR;
+ break;
+ // QCTP X-
+ case 101:
+ this.tooling = QCTP;
+ this.toolPost = FRONT;
+ break;
+ // QCTP X+
+ case 102:
+ this.tooling = QCTP;
+ this.toolPost = REAR;
+ break;
+ // Gang Tooling X-
+ case 103:
+ this.tooling = GANG;
+ this.toolPost = FRONT;
+ break;
+ // Gang Tooling X+
+ case 104:
+ this.tooling = GANG;
+ this.toolPost = REAR;
+ break;
+ default:
+ error(localize("Turret number must be 0 (main turret), 101 (QCTP X-), 102 (QCTP X+, 103 (gang tooling X-), or 104 (gang tooling X+)."));
+ break;
+ }
+ this.number = _tool.number;
+ this.comment = _tool.comment;
+ this.toolLength = _tool.bodyLength;
+ // HSMWorks returns 0 in tool.bodyLength
+ if ((tool.bodyLength == 0) && hasParameter("operation:tool_bodyLength")) {
+ this.toolLength = getParameter("operation:tool_bodyLength");
+ }
+}
+
+function onSection() {
+ if (currentSection.getType() != TYPE_TURNING) {
+ if (!hasParameter("operation-strategy") || (getParameter("operation-strategy") != "drill")) {
+ if (currentSection.getType() == TYPE_MILLING) {
+ error(localize("Milling toolpath is not supported."));
+ } else {
+ error(localize("Non-turning toolpath is not supported."));
+ }
+ return;
+ }
+ }
+
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var turning = (currentSection.getType() == TYPE_TURNING);
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number) ||
+ (tool.compensationOffset != getPreviousSection().getTool().compensationOffset) ||
+ (tool.diameterOffset != getPreviousSection().getTool().diameterOffset) ||
+ (tool.lengthOffset != getPreviousSection().getTool().lengthOffset);
+
+ var retracted = false; // specifies that the tool has been retracted to the safe plane
+ var newSpindle = isFirstSection() ||
+ (getPreviousSection().spindle != currentSection.spindle);
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+
+ // determine which tooling holder is used
+ if (!isFirstSection()) {
+ previousToolingData = toolingData;
+ }
+ toolingData = new ToolingData(tool);
+ toolingData.operationComment = "";
+ if (hasParameter("operation-comment")) {
+ toolingData.operationComment = getParameter("operation-comment");
+ }
+ toolingData.toolChange = insertToolCall;
+ if (isFirstSection()) {
+ previousToolingData = toolingData;
+ }
+
+ // turning using front tool post
+ if (toolingData.toolPost == FRONT) {
+ xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-2});
+ xOutput = createVariable({prefix:"X"}, xFormat);
+ iFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-1}); // radius mode
+ iOutput = createReferenceVariable({prefix:"I"}, iFormat);
+
+ // turning using rear tool post
+ } else {
+ xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2});
+ xOutput = createVariable({prefix:"X"}, xFormat);
+ iFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:1}); // radius mode
+ iOutput = createReferenceVariable({prefix:"I"}, iFormat);
+ }
+
+ if (insertToolCall || newSpindle || newWorkOffset) {
+ // retract to safe plane
+ retracted = true;
+ if (!isFirstSection() && insertToolCall) {
+ onCommand(COMMAND_COOLANT_OFF);
+ }
+ writeBlock(gFormat.format(28), "U" + xFormat.format(0)); // retract
+ forceXYZ();
+ }
+
+ writeln("");
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ retracted = true;
+ // onCommand(COMMAND_COOLANT_OFF);
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (tool.number > 99) {
+ warning(localize("Tool number exceeds maximum value."));
+ }
+
+ if ((toolingData.tooling == QCTP) || tool.getManualToolChange()) {
+ var comment = formatComment(localize("CHANGE TO T") + tool.number + " " + localize("ON") + " " +
+ localize((toolingData.toolPost == REAR) ? "REAR TOOL POST" : "FRONT TOOL POST"));
+ writeBlock(mFormat.format(0), comment);
+ }
+
+ var compensationOffset = tool.isTurningTool() ? tool.compensationOffset : tool.lengthOffset;
+ if (compensationOffset > 99) {
+ error(localize("Compensation offset is out of range."));
+ return;
+ }
+ writeBlock("T" + toolFormat.format(tool.number * 100 + compensationOffset));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ var compensationOffset = nextTool.isTurningTool() ? nextTool.compensationOffset : nextTool.lengthOffset;
+ if (compensationOffset > 99) {
+ error(localize("Compensation offset is out of range."));
+ return;
+ }
+ writeBlock("T" + toolFormat.format(nextTool.number * 100 + compensationOffset));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstTool = section.getTool().number;
+ if (tool.number != firstTool.number) {
+ var compensationOffset = firstTool.isTurningTool() ? firstTool.compensationOffset : firstTool.lengthOffset;
+ if (compensationOffset > 99) {
+ error(localize("Compensation offset is out of range."));
+ return;
+ }
+ writeBlock("T" + toolFormat.format(firstTool.number * 100 + compensationOffset));
+ }
+ }
+ }
+ }
+
+ // wcs
+ if (insertToolCall) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var p = workOffset - 6; // 1->...
+ if (p > 300) {
+ error(localize("Work offset out of range."));
+ return;
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(54.1), "P" + p); // G54.1P
+ currentWorkOffset = workOffset;
+ }
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ forceAny();
+ gMotionModal.reset();
+
+ gFeedModeModal.reset();
+ if (currentSection.feedMode == FEED_PER_REVOLUTION) {
+ writeBlock(getCode("FEED_MODE_UNIT_REV"));
+ } else {
+ writeBlock(getCode("FEED_MODE_UNIT_MIN"));
+ }
+
+ if (gotTailStock) {
+ writeBlock(currentSection.tailstock ? getCode("TAILSTOCK_ON") : getCode("TAILSTOCK_OFF"));
+ }
+ // writeBlock(mFormat.format(clampPrimaryChuck ? x : x));
+ // writeBlock(mFormat.format(clampSecondaryChuck ? x : x));
+
+ var tapping = hasParameter("operation:cycleType") &&
+ ((getParameter("operation:cycleType") == "tapping") ||
+ (getParameter("operation:cycleType") == "right-tapping") ||
+ (getParameter("operation:cycleType") == "left-tapping") ||
+ (getParameter("operation:cycleType") == "tapping-with-chip-breaking"));
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!tapping || (tapping && !(properties.useRigidTapping == "without"))) {
+ startSpindle(false, true, initialPosition);
+ }
+
+ setRotation(currentSection.workPlane);
+
+ if (currentSection.partCatcher) {
+ engagePartCatcher(true);
+ }
+
+ if (!retracted) {
+ // TAG: need to retract along X or Z
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ }
+ }
+
+ if (insertToolCall || tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ gMotionModal.reset();
+
+ if (properties.type == "A") {
+ writeBlock(
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y), zOutput.format(initialPosition.z)
+ );
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y), zOutput.format(initialPosition.z)
+ );
+ }
+
+ gMotionModal.reset();
+ }
+
+ // enable SFM spindle speed
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ startSpindle(false, false);
+ }
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ if (insertToolCall || retracted) {
+ gPlaneModal.reset();
+ }
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ milliseconds = clamp(1, seconds * 1000, 99999999);
+ writeBlock(/*gFeedModeModal.format(94),*/ gFormat.format(4), "P" + milliFormat.format(milliseconds));
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ writeBlock(gMotionModal.format(0), gFormat.format(41), x, y, z);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ writeBlock(gMotionModal.format(0), gFormat.format(42), x, y, z);
+ break;
+ default:
+ writeBlock(gMotionModal.format(0), gFormat.format(40), x, y, z);
+ }
+ } else {
+ writeBlock(gMotionModal.format(0), x, y, z);
+ }
+ forceFeed();
+ }
+}
+
+var resetFeed = false;
+
+function onLinear(_x, _y, _z, feed) {
+ if (isSpeedFeedSynchronizationActive()) {
+ resetFeed = true;
+ var threadPitch = getParameter("operation:threadPitch");
+ var threadsPerInch = 1.0 / threadPitch; // per mm for metric
+ writeBlock(gMotionModal.format(32), xOutput.format(_x), yOutput.format(_y), zOutput.format(_z), pitchOutput.format(1 / threadsPerInch));
+ return;
+ }
+ if (resetFeed) {
+ resetFeed = false;
+ forceFeed();
+ }
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ writeBlock(gPlaneModal.format(18));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(41), x, y, z, f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(42), x, y, z, f);
+ break;
+ default:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), f);
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (isSpeedFeedSynchronizationActive()) {
+ error(localize("Speed-feed synchronization is not supported for circular moves."));
+ return;
+ }
+
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+ var directionCode = (toolingData.toolPost == REAR) ? (clockwise ? 2 : 3) : (clockwise ? 3 : 2);
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(17), gMotionModal.format(directionCode), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(18), gMotionModal.format(directionCode), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(19), gMotionModal.format(directionCode), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(17), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(18), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(conditional(properties.type != "A", gAbsIncModal.format(90)), gPlaneModal.format(19), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ }
+}
+
+function onCycle() {
+}
+
+var saveShowSequenceNumbers = true;
+var xyzFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+var pathBlockNumber = {start: 0, end: 0};
+
+function onCyclePath() {
+ saveShowSequenceNumbers = properties.showSequenceNumbers;
+
+ // buffer all paths and stop feeds being output
+ feedOutput.disable();
+ properties.showSequenceNumbers = false;
+ redirectToBuffer();
+ gMotionModal.reset();
+ if ((hasParameter("operation:grooving") && getParameter("operation:grooving").toUpperCase() != "OFF")) {
+ forceXYZ();
+ }
+}
+
+function onCyclePathEnd() {
+ properties.showSequenceNumbers = saveShowSequenceNumbers; // reset property to initial state
+ feedOutput.enable();
+ var cyclePath = String(getRedirectionBuffer()).split(EOL); // get cycle path from buffer
+ closeRedirection();
+ for (line in cyclePath) { // remove empty elements
+ if (cyclePath[line] == "") {
+ cyclePath.splice(line);
+ }
+ }
+
+ var verticalPasses;
+ if (cycle.profileRoughingCycle == 0) {
+ verticalPasses = false;
+ } else if (cycle.profileRoughingCycle == 1) {
+ verticalPasses = true;
+ } else {
+ error(localize("Unsupported passes type."));
+ return;
+ }
+ // output cycle data
+ switch (cycleType) {
+ case "turning-canned-rough":
+ writeBlock(gFormat.format(verticalPasses ? 72 : 71),
+ (verticalPasses ? "W" : "U") + xyzFormat.format(cycle.depthOfCut),
+ "R" + xyzFormat.format(cycle.retractLength)
+ );
+ writeBlock(gFormat.format(verticalPasses ? 72 : 71),
+ "P" + (getStartEndSequenceNumber(cyclePath, true)),
+ "Q" + (getStartEndSequenceNumber(cyclePath, false)),
+ "U" + xFormat.format(cycle.xStockToLeave),
+ "W" + xyzFormat.format(cycle.zStockToLeave),
+ getFeed(cycle.cutfeedrate)
+ );
+ break;
+ default:
+ error(localize("Unsupported turning canned cycle."));
+ }
+
+ for (var i = 0; i < cyclePath.length; ++i) {
+ if (i == 0 || i == (cyclePath.length - 1)) { // write sequence number on first and last line of the cycle path
+ properties.showSequenceNumbers = true;
+ if ((i == 0 && pathBlockNumber.start != sequenceNumber) || (i == (cyclePath.length - 1) && pathBlockNumber.end != sequenceNumber)) {
+ error(localize("Mismatch of start/end block number in turning canned cycle."));
+ return;
+ }
+ }
+ writeBlock(cyclePath[i]); // output cycle path
+ properties.showSequenceNumbers = saveShowSequenceNumbers; // reset property to initial state
+ }
+}
+
+function getStartEndSequenceNumber(cyclePath, start) {
+ if (start) {
+ pathBlockNumber.start = sequenceNumber + conditional(saveShowSequenceNumbers, properties.sequenceNumberIncrement);
+ return pathBlockNumber.start;
+ } else {
+ pathBlockNumber.end = sequenceNumber + properties.sequenceNumberIncrement + conditional(saveShowSequenceNumbers, (cyclePath.length - 1) * properties.sequenceNumberIncrement);
+ return pathBlockNumber.end;
+ }
+}
+
+function getCommonCycle(x, y, z, r) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + spatialFormat.format(r)];
+}
+
+function onCyclePoint(x, y, z) {
+ if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) ||
+ isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
+ gPlaneModal.format(17); // 2-axis lathes typically don't use G17
+ } else {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+
+ switch (cycleType) {
+ case "thread-turning":
+ var inverted = (toolingData.toolPost == REAR) ? 1 : -1;
+ var r = -cycle.incrementalX * inverted; // positive if taper goes down - delta radius
+ var threadsPerInch = 1.0 / cycle.pitch; // per mm for metric
+ var f = 1 / threadsPerInch;
+ var codes = {A: 92, B: 78, C: 21};
+ writeBlock(
+ gMotionModal.format(codes[properties.type]),
+ xOutput.format(x - cycle.incrementalX),
+ yOutput.format(y),
+ zOutput.format(z),
+ conditional(zFormat.isSignificant(r), g92ROutput.format(r)),
+ feedOutput.format(f)
+ );
+ return;
+ }
+
+ if (isFirstCyclePoint()) {
+ repositionToCycleClearance(cycle, x, y, z);
+
+ var F = cycle.feedrate;
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ if ((cycle.accumulatedDepth < cycle.depth) || (P > 0)) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ // conditional(P > 0, "P" + milliFormat.format(P)),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ if (properties.useRigidTapping != "no") {
+ startSpindle(true, false);
+ }
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ break;
+ case "left-tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ if (properties.useRigidTapping != "no") {
+ startSpindle(true, false);
+ }
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ break;
+ case "right-tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ if (properties.useRigidTapping != "no") {
+ startSpindle(true, false);
+ }
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ if (properties.useRigidTapping != "no") {
+ startSpindle(true, false);
+ }
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ break;
+ case "fine-boring":
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ break;
+ case "reaming":
+ if (P > 0) {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "boring":
+ if (P > 0) {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ (properties.type == "A") ? "" : gRetractModal.format(98), conditional(properties.type != "A", gAbsIncModal.format(90)), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ default:
+ expandCyclePoint(x, y, z);
+ }
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (!_x && !_y && !_z) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ xOutput.reset(); // at least one axis is required
+ _x = xOutput.format(x);
+ break;
+ case 18: // ZX
+ zOutput.reset(); // at least one axis is required
+ _z = zOutput.format(z);
+ break;
+ case 19: // YZ
+ yOutput.reset(); // at least one axis is required
+ _y = yOutput.format(y);
+ break;
+ }
+ }
+ writeBlock(_x, _y, _z);
+ }
+ }
+}
+
+function onCycleEnd() {
+ if (!cycleExpanded) {
+ switch (cycleType) {
+ case "thread-turning":
+ forceFeed();
+ xOutput.reset();
+ zOutput.reset();
+ g92ROutput.reset();
+ break;
+ default:
+ writeBlock(gCycleModal.format(80));
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+
+function setCoolant(coolant) {
+ if (coolant == currentCoolantMode) {
+ return; // coolant is already active
+ }
+
+ var m = undefined;
+ if (coolant == COOLANT_OFF) {
+ writeBlock((currentCoolantMode == COOLANT_THROUGH_TOOL) ? getCode("COOLANT_THROUGH_TOOL_OFF") : getCode("COOLANT_OFF"));
+ currentCoolantMode = COOLANT_OFF;
+ return;
+ }
+
+ switch (coolant) {
+ case COOLANT_FLOOD:
+ m = getCode("COOLANT_FLOOD_ON");
+ break;
+ case COOLANT_THROUGH_TOOL:
+ m = getCode("COOLANT_THROUGH_TOOL_ON");
+ break;
+ default:
+ onUnsupportedCoolant(coolant);
+ m = getCode("COOLANT_OFF");
+ }
+
+ if (m) {
+ writeBlock(m);
+ currentCoolantMode = coolant;
+ }
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ if (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) {
+ writeBlock(sOutput.format(spindleSpeed));
+ }
+}
+
+function startSpindle(tappingMode, forceRPMMode, initialPosition) {
+ var spindleDir;
+ var _spindleSpeed;
+ var spindleMode;
+ var maxSpeed = "";
+ gSpindleModeModal.reset();
+ gSpindleModeModal.reset();
+
+ if ((getSpindle() == SPINDLE_SECONDARY) && !gotSecondarySpindle) {
+ error(localize("Secondary spindle is not available."));
+ return;
+ }
+
+ if (tappingMode) {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ return;
+ } else {
+ if (getSpindle() == SPINDLE_SECONDARY) {
+ spindleDir = tool.clockwise ? getCode("START_SUB_SPINDLE_CW") : getCode("START_SUB_SPINDLE_CCW");
+ } else {
+ spindleDir = tool.clockwise ? getCode("START_MAIN_SPINDLE_CW") : getCode("START_MAIN_SPINDLE_CCW");
+ }
+ }
+
+ var maximumSpindleSpeed = (tool.maximumSpindleSpeed > 0) ? Math.min(tool.maximumSpindleSpeed, properties.maximumSpindleSpeed) : properties.maximumSpindleSpeed;
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ _spindleSpeed = tool.surfaceSpeed * ((unit == MM) ? 1 / 1000.0 : 1 / 12.0);
+ if (forceRPMMode) { // RPM mode is forced until move to initial position
+ if (xFormat.getResultingValue(initialPosition.x) == 0) {
+ _spindleSpeed = maximumSpindleSpeed;
+ } else {
+ _spindleSpeed = Math.min((_spindleSpeed * ((unit == MM) ? 1000.0 : 12.0) / (Math.PI * Math.abs(initialPosition.x * 2))), maximumSpindleSpeed);
+ }
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_OFF");
+ } else {
+ if (properties.type == "A") {
+ writeBlock(gFormat.format(50), sOutput.format(maximumSpindleSpeed));
+ } else {
+ writeBlock(gFormat.format(92), sOutput.format(maximumSpindleSpeed));
+ }
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_ON");
+ }
+ } else {
+ _spindleSpeed = spindleSpeed;
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_OFF");
+ }
+ if (getSpindle(true) == SPINDLE_SECONDARY) {
+ writeBlock(
+ spindleMode,
+ sOutput.format(_spindleSpeed),
+ spindleDir
+ );
+ } else {
+ writeBlock(
+ spindleMode,
+ sOutput.format(_spindleSpeed),
+ spindleDir
+ );
+ }
+ // wait for spindle here if required
+}
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ // getCode("START_CHIP_TRANSPORT");
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ // getCode("STOP_CHIP_TRANSPORT");
+ return;
+ case COMMAND_BREAK_CONTROL:
+ return;
+ case COMMAND_TOOL_MEASURE:
+ return;
+ case COMMAND_ACTIVATE_SPEED_FEED_SYNCHRONIZATION:
+ return;
+ case COMMAND_DEACTIVATE_SPEED_FEED_SYNCHRONIZATION:
+ return;
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_OPTIONAL_STOP:
+ writeBlock(mFormat.format(1));
+ break;
+ case COMMAND_END:
+ writeBlock(mFormat.format(2));
+ break;
+ case COMMAND_SPINDLE_CLOCKWISE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(3));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(143));
+ break;
+ }
+ break;
+ case COMMAND_SPINDLE_COUNTERCLOCKWISE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(4));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(144));
+ break;
+ }
+ break;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_STOP_SPINDLE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(5));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(145));
+ break;
+ }
+ break;
+ case COMMAND_ORIENTATE_SPINDLE:
+ if (getSpindle() == 0) {
+ writeBlock(mFormat.format(19)); // use P or R to set angle (optional)
+ } else {
+ writeBlock(mFormat.format(119));
+ }
+ break;
+ //case COMMAND_CLAMP: // TAG: add support for clamping
+ //case COMMAND_UNCLAMP: // TAG: add support for clamping
+ default:
+ onUnsupportedCommand(command);
+ }
+}
+
+function engagePartCatcher(engage) {
+ if (engage) {
+ // catch part here
+ writeBlock(getCode("PART_CATCHER_ON"), formatComment(localize("PART CATCHER ON")));
+ } else {
+ onCommand(COMMAND_COOLANT_OFF);
+ writeBlock(gFormat.format(28), gMotionModal.format(0), "U" + xFormat.format(properties.g53HomePositionX)); // retract
+ writeBlock(gFormat.format(28), gMotionModal.format(0), "W" + zFormat.format(properties.g53HomePositionZ)); // retract
+ writeBlock(getCode("PART_CATCHER_OFF"), formatComment(localize("PART CATCHER OFF")));
+ forceXYZ();
+ }
+}
+
+function onSectionEnd() {
+
+ // cancel SFM mode to preserve spindle speed
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ startSpindle(false, true, getFramePosition(currentSection.getFinalPosition()));
+ }
+
+ if (currentSection.partCatcher) {
+ engagePartCatcher(false);
+ }
+
+ forceAny();
+}
+
+function onClose() {
+ writeln("");
+
+ optionalSection = false;
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ onCommand(COMMAND_STOP_CHIP_TRANSPORT);
+
+ // we might want to retract in Z before X
+ // writeBlock(gFormat.format(28), "U" + xFormat.format(0)); // retract
+
+ forceXYZ();
+ if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
+ writeBlock(gFormat.format(28), "U" + xFormat.format(0), conditional(yOutput.isEnabled(), "V" + yFormat.format(0)), "W" + zFormat.format(0)); // return to home
+ } else {
+ var homeX;
+ if (machineConfiguration.hasHomePositionX()) {
+ homeX = xOutput.format(machineConfiguration.getHomePositionX());
+ }
+ var homeY;
+ if (yOutput.isEnabled() && machineConfiguration.hasHomePositionY()) {
+ homeY = yOutput.format(machineConfiguration.getHomePositionY());
+ }
+ if (properties.type == "A") {
+ writeBlock(gFormat.format(53), gMotionModal.format(0), homeX, homeY, zOutput.format(machineConfiguration.getRetractPlane()));
+ } else {
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), homeX, homeY, zOutput.format(machineConfiguration.getRetractPlane()));
+ }
+ }
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ writeln("%");
+}
diff --git a/resources/workshop/.inc/saturn/mc/fanuc2/fanuc with subprograms.cps b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc with subprograms.cps
new file mode 100644
index 000000000..bd38d7159
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc with subprograms.cps
@@ -0,0 +1,2087 @@
+/**
+ Copyright (C) 2012-2020 by Autodesk, Inc.
+ All rights reserved.
+
+ FANUC post processor configuration.
+
+ $Revision: 42645 dab327b1b16b423b75c69877cc91aea7ea31c0ac $
+ $Date: 2020-02-06 06:32:21 $
+
+ FORKID {04622D27-72F0-45d4-85FB-DB346FD1AE22}
+*/
+
+description = "FANUC with subprograms";
+vendor = "Fanuc";
+vendorUrl = "http://www.fanuc.com";
+legal = "Copyright (C) 2012-2020 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic FANUC post which has built-in support for subprograms. By default each operation will be output in separate files. If you turn off the 'useFilesForSubprograms' property you will get the subprograms embedded in the main program.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_MILLING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(180);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+highFeedrate = (unit == IN) ? 500 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: true, // write machine
+ writeTools: true, // writes the tools
+ preloadTool: true, // preloads next tool on tool change if any
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 5, // increment for sequence numbers
+ optionalStop: true, // optional stop
+ o8: false, // specifies 8-digit program number
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ useFilesForSubprograms: true, // specifies that one file should be generated to section
+ allow3DArcs: false, // specifies that 3D circular arcs are allowed
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words
+ forceIJK: false, // force output of IJK for G2/G3 when not using R word
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output
+ useSmoothing: false, // specifies if smoothing should be used or not
+ usePitchForTapping: false, // enable to use pitch instead of feed for the F-word for canned tapping cycles - note that your CNC control must be setup for pitch mode!
+ useG95: false, // use IPR/MPR instead of IPM/MPM
+ useG54x4: false, // Fanuc 30i supports G54.4 for Workpiece Error Compensation
+ useRigidTapping: "yes" // output rigid tapping block
+};
+
+// user-defined property definitions
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", group:1, type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
+ o8: {title:"8 Digit program number", description:"Specifies that an 8 digit program number is needed.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ useFilesForSubprograms: {title:"Use files for subprograms", description:"Specifies that one file should be generated for each section.", type:"boolean"},
+ allow3DArcs: {title:"Allow 3D arcs", description:"Specifies whether 3D circular arcs are allowed.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
+ forceIJK: {title:"Force IJK", description:"Force the output of IJK for G2/G3 when not using R mode.", type:"boolean"},
+ useParametricFeed: {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
+ useSmoothing: {title:"Use smoothing", description:"Specifies if smoothing should be used or not.", type:"boolean"},
+ usePitchForTapping: {title:"Use pitch for tapping", description:"Enables the use of pitch instead of feed for the F-word in canned tapping cycles. Your CNC control must be setup for pitch mode!", type:"boolean"},
+ useG95: {title:"Use G95", description:"Use IPR/MPR instead of IPM/MPM.", type:"boolean"},
+ useG54x4: {title:"Use G54.4", description:"Fanuc 30i supports G54.4 for workpiece error compensation.", type:"boolean"},
+ useRigidTapping: {
+ title: "Use rigid tapping",
+ description: "Select 'Yes' to enable, 'No' to disable, or 'Without spindle direction' to enable rigid tapping without outputting the spindle direction block.",
+ type: "enum",
+ values:[
+ {title:"Yes", id:"yes"},
+ {title:"No", id:"no"},
+ {title:"Without spindle direction", id:"without"}
+ ]
+ }
+};
+
+var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
+
+var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});
+var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});
+var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1});
+var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1});
+var probe100Format = createFormat({decimals:3, zeropad:true, width:3, forceDecimal:true});
+
+var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless
+var rFormat = xyzFormat; // radius
+var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
+var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+var peckFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+// var peckFormat = createFormat({decimals:0, forceDecimal:false, trim:false, width:4, zeropad:true, scale:(unit == MM ? 1000 : 10000)});
+
+var xOutput = createVariable({prefix:"X"}, xyzFormat);
+var yOutput = createVariable({prefix:"Y"}, xyzFormat);
+var zOutput = createVariable({prefix:"Z"}, xyzFormat);
+var aOutput = createVariable({prefix:"A"}, abcFormat);
+var bOutput = createVariable({prefix:"B"}, abcFormat);
+var cOutput = createVariable({prefix:"C"}, abcFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var dOutput = createVariable({}, dFormat);
+var peckOutput = createVariable({prefix:"Q", force:true}, peckFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat);
+var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
+var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G94-95
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
+var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69
+
+// fixed settings
+var firstFeedParameter = 500;
+var useMultiAxisFeatures = true;
+var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
+var cancelTiltFirst = false; // cancel G68.2 with G69 prior to G54-G59 WCS block
+var useABCPrepositioning = false; // position ABC axes prior to G68.2 block
+
+var WARNING_WORK_OFFSET = 0;
+
+var ANGLE_PROBE_NOT_SUPPORTED = 0;
+var ANGLE_PROBE_USE_ROTATION = 1;
+var ANGLE_PROBE_USE_CAXIS = 2;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var previousSequenceNumber;
+var subprograms = "";
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var g68RotationMode = 0;
+var angularProbingMode;
+probeMultipleFeatures = true;
+
+/**
+ Writes the specified block.
+*/
+function writeBlock() {
+ if (properties.showSequenceNumbers) {
+ if (optionalSection) {
+ var text = formatWords(arguments);
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ if (properties.showSequenceNumbers) {
+ var words = formatWords(arguments);
+ if (words) {
+ writeWords("/", "N" + sequenceNumber, words);
+ sequenceNumber += properties.sequenceNumberIncrement;
+ }
+ } else {
+ writeWords2("/", arguments);
+ }
+}
+
+function formatComment(text) {
+ return "(" + filterText(String(text).toUpperCase(), permittedCommentChars).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text));
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+ gRotationModal.format(69); // Default to G69 Rotation Off
+
+ if (false) { // note: setup your machine here
+ var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360, 360], preference:1});
+ var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360, 360], preference:1});
+ machineConfiguration = new MachineConfiguration(aAxis, cAxis);
+
+ setMachineConfiguration(machineConfiguration);
+ optimizeMachineAngles2(0); // TCP mode
+ }
+
+ if (!machineConfiguration.isMachineCoordinate(0)) {
+ aOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(1)) {
+ bOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(2)) {
+ cOutput.disable();
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ if (properties.forceIJK) {
+ iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
+ jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
+ kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (properties.o8) {
+ if (!((programId >= 1) && (programId <= 99999999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ } else {
+ if (!((programId >= 1) && (programId <= 9999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ }
+ if ((programId >= 8000) && (programId <= 9999)) {
+ warning(localize("Program number is reserved by tool builder."));
+ }
+ var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ if (programComment) {
+ writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
+ } else {
+ writeln("O" + oFormat.format(programId));
+ }
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ }
+ }
+ }
+
+ if (false) {
+ // check for duplicate tool number
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var sectioni = getSection(i);
+ var tooli = sectioni.getTool();
+ for (var j = i + 1; j < getNumberOfSections(); ++j) {
+ var sectionj = getSection(j);
+ var toolj = sectionj.getTool();
+ if (tooli.number == toolj.number) {
+ if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
+ xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
+ abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
+ (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
+ error(
+ subst(
+ localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
+ sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
+ sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
+ )
+ );
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(properties.useG95 ? 95 : 94), gPlaneModal.format(17), gFormat.format(49), gFormat.format(40), gFormat.format(80));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.useG95 && properties.useParametricFeed) {
+ error(localize("Parametric feed is not supported when using G95."));
+ return;
+ }
+
+ if (properties.useG95) {
+ feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+ feedOutput = createVariable({prefix:"F"}, feedFormat);
+ }
+}
+
+function onComment(message) {
+ var comments = String(message).split(";");
+ for (comment in comments) {
+ writeComment(comments[comment]);
+ }
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+/** Force output of A, B, and C. */
+function forceABC() {
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, A, B, C, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceABC();
+ forceFeed();
+}
+
+var lengthCompensationActive = false;
+var retracted = false; // specifies that the tool has been retracted to the safe plane
+
+/** Disables length compensation if currently active or if forced. */
+function disableLengthCompensation(force) {
+ if (lengthCompensationActive || force) {
+ validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted.");
+ writeBlock(gFormat.format(49));
+ lengthCompensationActive = false;
+ }
+}
+
+var currentSmoothing = false;
+
+function setSmoothing(mode) {
+ if (mode == currentSmoothing) {
+ return false;
+ }
+
+ // 1) Make sure G49 is called before the execution of G05.1 Q1 Rx
+ // 2) G05.1 Q1 Rx must be engaged BEFORE G43-Tool Length Comp
+ // 3) AICC and AIAPC need to be turned on and off for each tool
+ // 4) AICC and AIAPC does not apply to canned drilling cycles
+ validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing.");
+
+ currentSmoothing = mode;
+ writeBlock(gFormat.format(5.1), mode ? "Q1" : "Q0");
+ return true;
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (properties.useG95) {
+ return feedOutput.format(f / spindleSpeed); // use feed value
+ }
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function cancelWorkPlane() {
+ writeBlock(gRotationModal.format(69)); // cancel frame
+ forceWorkPlane();
+}
+
+function setWorkPlane(abc) {
+ if (!forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
+ return; // no change
+ }
+
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ if (!retracted) {
+ writeRetract(Z);
+ }
+
+ if (useMultiAxisFeatures) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ if (machineConfiguration.isMultiAxisConfiguration() && useABCPrepositioning) {
+ var angles = abc.isNonZero() ? getWorkPlaneMachineABC(currentSection.workPlane, false, false) : abc;
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(angles.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(angles.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(angles.z))
+ );
+ }
+ if (abc.isNonZero()) {
+ gRotationModal.reset();
+ writeBlock(gRotationModal.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)); // set frame
+ writeBlock(gFormat.format(53.1)); // turn machine
+ } else {
+ if (!cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ }
+ } else {
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+
+ currentWorkPlaneABC = abc;
+}
+
+var closestABC = false; // choose closest machine angles
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane, rotate) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ if (rotate) {
+ var tcp = false;
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+ }
+
+ return abc;
+}
+
+function isProbeOperation() {
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = (value > 0) ? value : 1;
+ }
+}
+
+function onSection() {
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number);
+
+ if (insertToolCall) {
+ forceWorkPlane();
+
+ writeComment("T" + toolFormat.format(tool.number));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ }
+
+ var makeSubprogram = true;
+ if (false) {
+ var subprogramLevel = 3;
+ makeSubprogram = false;
+ if (hasParameter("hsmworks:path")) { // autodeskcam
+ var path = getParameter("hsmworks:path"); // autodeskcam
+ var sections = path.split("\\");
+ var level = sections.length;
+ makeSubprogram = level >= subprogramLevel;
+ }
+ }
+
+ if (makeSubprogram) { // when to do a subprogram
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+
+ var subprogram = programId + 1 + getCurrentSectionId();
+ var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ writeBlock(mFormat.format(98), "P" + oFormat.format(subprogram)); // call subprogram
+
+ previousSequenceNumber = sequenceNumber;
+ sequenceNumber = properties.sequenceNumberStart;
+ if (properties.useFilesForSubprograms) {
+ var path = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), subprogram + "." + extension);
+ redirectToFile(path);
+ writeln("%");
+ } else {
+ redirectToBuffer();
+ writeln(""); // separate subprograms
+ }
+
+ var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ writeln("O" + oFormat.format(subprogram));
+ }
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
+ var forceSmoothing = properties.useSmoothing &&
+ (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill") ||
+ !isFirstSection() && getPreviousSection().hasParameter("operation-strategy") && (getPreviousSection().getParameter("operation-strategy") == "drill")); // force smoothing in case !insertToolCall (2d chamfer)
+ if (insertToolCall || newWorkOffset || newWorkPlane || forceSmoothing) {
+
+ // stop spindle before retract during tool change
+ if (insertToolCall && !isFirstSection()) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ }
+
+ // retract to safe plane
+ retracted = true;
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
+ writeBlock(gAbsIncModal.format(90));
+ forceXYZ();
+ if ((insertToolCall && !isFirstSection()) || forceSmoothing) {
+ disableLengthCompensation();
+ setSmoothing(false);
+ }
+ }
+
+ writeln("");
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ forceWorkPlane();
+
+ retracted = true;
+ onCommand(COMMAND_COOLANT_OFF);
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (tool.number > 99) {
+ warning(localize("Tool number exceeds maximum value."));
+ }
+
+ disableLengthCompensation();
+ writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ var showToolZMin = false;
+ if (showToolZMin) {
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ var zRange = currentSection.getGlobalZRange();
+ var number = tool.number;
+ for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getTool().number != number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+ writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
+ }
+ }
+
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ writeBlock("T" + toolFormat.format(nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ if (tool.number != firstToolNumber) {
+ writeBlock("T" + toolFormat.format(firstToolNumber));
+ }
+ }
+ }
+ } else {
+ writeComment("T" + toolFormat.format(tool.number));
+ }
+
+ if (!isProbeOperation() &&
+ (insertToolCall ||
+ forceSpindleSpeed ||
+ isFirstSection() ||
+ (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise))) {
+ forceSpindleSpeed = false;
+
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 99999) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ var tapping = hasParameter("operation:cycleType") &&
+ ((getParameter("operation:cycleType") == "tapping") ||
+ (getParameter("operation:cycleType") == "right-tapping") ||
+ (getParameter("operation:cycleType") == "left-tapping") ||
+ (getParameter("operation:cycleType") == "tapping-with-chip-breaking"));
+ if (!tapping || (tapping && !(properties.useRigidTapping == "without"))) {
+ writeBlock(
+ sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
+ );
+ }
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
+ // writeBlock(mFormat.format(xxx)); // shortest path traverse
+ }
+ }
+
+ // wcs
+ if (insertToolCall) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset != currentWorkOffset) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ forceWorkPlane();
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var p = workOffset - 6; // 1->...
+ if (p > 300) {
+ error(localize("Work offset out of range."));
+ return;
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(54.1), "P" + p); // G54.1P
+ currentWorkOffset = workOffset;
+ }
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ forceXYZ();
+
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ // set working plane after datum shift
+
+ if (currentSection.isMultiAxis()) {
+ forceWorkPlane();
+ cancelTransformation();
+ } else {
+ var abc = new Vector(0, 0, 0);
+ if (useMultiAxisFeatures) {
+ var euler = currentSection.workPlane.getEuler2(EULER_ZXZ_R);
+ abc = new Vector(euler.x, euler.y, euler.z);
+ cancelTransformation();
+ } else {
+ abc = getWorkPlaneMachineABC(currentSection.workPlane, true, true);
+ }
+ setWorkPlane(abc);
+ }
+ } else { // pure 3D
+ var remaining = currentSection.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return;
+ }
+ setRotation(remaining);
+ }
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ if (properties.useSmoothing) {
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) {
+ if (setSmoothing(true)) {
+ // we force G43 using lengthCompensationActive
+ }
+ } else {
+ if (setSmoothing(false)) {
+ // we force G43 using lengthCompensationActive
+ }
+ }
+ }
+
+ forceAny();
+ gMotionModal.reset();
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ }
+ }
+
+ if (insertToolCall || !lengthCompensationActive || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) {
+ var lengthOffset = tool.lengthOffset;
+ if (lengthOffset > 99) {
+ error(localize("Length offset out of range."));
+ return;
+ }
+
+ gMotionModal.reset();
+ writeBlock(gPlaneModal.format(17));
+
+ // cancel compensation prior to enabling it, required when switching G43/G43.4 modes
+ disableLengthCompensation(false);
+
+ // assumes a Head configuration uses TCP on a Fanuc controller
+ var offsetCode = 43;
+ if (currentSection.isMultiAxis()) {
+ if (machineConfiguration.isMultiAxisConfiguration() && (currentSection.getOptimizedTCPMode() == 0)) {
+ offsetCode = 43.4;
+ } else if (!machineConfiguration.isMultiAxisConfiguration()) {
+ offsetCode = 43.5;
+ }
+ }
+
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
+ );
+ writeBlock(
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y),
+ zOutput.format(initialPosition.z), hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ }
+
+ gMotionModal.reset();
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y)
+ );
+ }
+
+ validate(lengthCompensationActive, "Length compensation is not active.");
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ if (isProbeOperation()) {
+ if (g68RotationMode != 0) {
+ error(localize("You cannot probe while G68 Rotation is in effect."));
+ return;
+ }
+ angularProbingMode = getAngularProbingMode();
+ writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
+ }
+
+ retracted = false;
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ milliseconds = clamp(1, seconds * 1000, 99999999);
+ writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(milliseconds));
+ writeBlock(gFeedModeModal.format(properties.useG95 ? 95 : 94)); // back to G95
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(sOutput.format(spindleSpeed));
+}
+
+function onCycle() {
+ writeBlock(gPlaneModal.format(17));
+}
+
+function getCommonCycle(x, y, z, r) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + xyzFormat.format(r)];
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+/**
+ Determine if angular probing is supported
+*/
+function getAngularProbingMode() {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ if (machineConfiguration.isMachineCoordinate(2)) {
+ return ANGLE_PROBE_USE_CAXIS;
+ } else {
+ return ANGLE_PROBE_NOT_SUPPORTED;
+ }
+ } else {
+ return ANGLE_PROBE_USE_ROTATION;
+ }
+}
+
+/**
+ Output rotation offset based on angular probing cycle.
+*/
+function setProbingAngle() {
+ if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
+ if (!properties.useG54x4) {
+ gRotationModal.reset();
+ gAbsIncModal.reset();
+ writeBlock(
+ gRotationModal.format(68), gAbsIncModal.format(90),
+ (g68RotationMode == 1) ? "X0" : "X[#135]",
+ (g68RotationMode == 1) ? "Y0" : "Y[#136]",
+ "Z0", "I0.0", "J0.0", "K1.0", "R[#139]"
+ );
+ g68RotationMode = 3;
+ } else if (angularProbingMode != ANGLE_PROBE_NOT_SUPPORTED) {
+ writeBlock("#26010=#135");
+ writeBlock("#26011=#136");
+ writeBlock("#26012=#137");
+ writeBlock("#26015=#139");
+ writeBlock(gFormat.format(54.4), "P1");
+ g68RotationMode = 0;
+ } else {
+ error(localize("Angular probing is not supported for this machine configuration."));
+ return;
+ }
+ }
+}
+
+function protectedProbeMove(_cycle, x, y, z) {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (_z && z >= getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+ if (_x || _y) {
+ writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
+ }
+ if (_z && z < getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+}
+
+function onCyclePoint(x, y, z) {
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+ var probeWorkOffsetCode;
+ if (isProbeOperation()) {
+ protectedProbeMove(cycle, x, y, z);
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 99) {
+ error(localize("Work offset is out of range."));
+ return;
+ } else if (workOffset > 6) {
+ probeWorkOffsetCode = probe100Format.format(workOffset - 6 + 100);
+ } else {
+ probeWorkOffsetCode = workOffset + "."; // G54->G59
+ }
+ }
+
+ if (isFirstCyclePoint() || isProbeOperation()) {
+ if (!isProbeOperation()) {
+ // return to initial Z which is clearance plane and set absolute mode
+ repositionToCycleClearance(cycle, x, y, z);
+ }
+
+ var F = cycle.feedrate;
+ if (properties.useG95) {
+ F /= spindleSpeed;
+ }
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ if ((cycle.accumulatedDepth < cycle.depth) || (P > 0)) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract),
+ peckOutput.format(cycle.incrementalDepth),
+ // conditional(P > 0, "P" + milliFormat.format(P)),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "left-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(90), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "right-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(90), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ if (cycle.accumulatedDepth < cycle.depth) {
+ error(localize("Accumulated pecking depth is not supported for tapping cycles with chip breaking."));
+ return;
+ } else {
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ }
+ break;
+ case "fine-boring":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ break;
+ case "back-boring":
+ var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
+ var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
+ var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(87),
+ getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom),
+ "Q" + xyzFormat.format(cycle.shift),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "reaming":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "manual-boring":
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(88),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+
+ case "probing-x":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-z":
+ protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+
+ case "probing-xy-inner-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-xy-outer-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-x-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ case "probing-y-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ default:
+ expandCyclePoint(x, y, z);
+ }
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(xOutput.format(x), yOutput.format(y));
+ }
+ }
+}
+
+function getProbingArguments(cycle, probeWorkOffsetCode) {
+ var probeWCS = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe");
+ return [
+ (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
+ ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
+ (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
+ (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
+ ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
+ ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
+ (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
+ (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
+ conditional(probeWorkOffsetCode && probeWCS, "S" + probeWorkOffsetCode)
+ ];
+}
+
+function onCycleEnd() {
+ if (isProbeOperation()) {
+ zOutput.reset();
+ gMotionModal.reset();
+ writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
+ } else if (!cycleExpanded) {
+ writeBlock(conditional(!properties.useG95, gFeedModeModal.format(94)), gCycleModal.format(80));
+ zOutput.reset();
+ }
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ var d = tool.diameterOffset;
+ if (d > 99) {
+ warning(localize("The diameter offset exceeds the maximum value."));
+ }
+ writeBlock(gPlaneModal.format(17));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f);
+ break;
+ default:
+ writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gMotionModal.format(1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+}
+
+function onRapid5D(_x, _y, _z, _a, _b, _c) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k);
+ }
+ forceFeed();
+}
+
+function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || a || b || c) {
+ writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || i || j || k) {
+ writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+
+function setCoolant(coolant) {
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+
+ if (coolant == currentCoolantMode) {
+ return; // coolant is already active
+ }
+
+ if (coolant == COOLANT_OFF) {
+ writeBlock(mFormat.format((currentCoolantMode == COOLANT_THROUGH_TOOL) ? 89 : 9));
+ currentCoolantMode = COOLANT_OFF;
+ return;
+ }
+
+ var m;
+ switch (coolant) {
+ case COOLANT_FLOOD:
+ m = 8;
+ break;
+ case COOLANT_THROUGH_TOOL:
+ m = 88;
+ break;
+ default:
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ }
+
+ if (m) {
+ writeBlock(mFormat.format(m));
+ currentCoolantMode = coolant;
+ }
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:2,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ COMMAND_STOP_SPINDLE:5,
+ COMMAND_ORIENTATE_SPINDLE:19
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ return;
+ case COMMAND_BREAK_CONTROL:
+ return;
+ case COMMAND_TOOL_MEASURE:
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+function onSectionEnd() {
+ writeBlock(gPlaneModal.format(17));
+
+ if (((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
+ (tool.number != getNextSection().getTool().number)) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ }
+ if (isProbeOperation()) {
+ writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
+ setProbingAngle(); // define rotation of part
+ }
+ if (isRedirecting()) {
+ writeBlock(mFormat.format(99)); // end subprogram
+ if (properties.useFilesForSubprograms) {
+ writeln("%");
+ }
+ subprograms += getRedirectionBuffer();
+ closeRedirection();
+ sequenceNumber = previousSequenceNumber;
+ }
+ forceAny();
+}
+
+function onClose() {
+ writeln("");
+ optionalSection = false;
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
+ retracted = true;
+
+ disableLengthCompensation(true);
+ setSmoothing(false);
+ zOutput.reset();
+
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+
+ if (properties.useG54x4) {
+ writeBlock(gFormat.format(54.4), "P0");
+ }
+
+ if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
+ // 90/91 mode is don't care
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0)); // return to home
+ } else {
+ var homeX;
+ if (machineConfiguration.hasHomePositionX()) {
+ homeX = "X" + xyzFormat.format(machineConfiguration.getHomePositionX());
+ }
+ var homeY;
+ if (machineConfiguration.hasHomePositionY()) {
+ homeY = "Y" + xyzFormat.format(machineConfiguration.getHomePositionY());
+ }
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), homeX, homeY);
+ }
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ write(subprograms);
+ writeln("%");
+}
diff --git a/resources/workshop/.inc/saturn/mc/fanuc2/fanuc.cps b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc.cps
new file mode 100644
index 000000000..89f1cb4d0
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/fanuc2/fanuc.cps
@@ -0,0 +1,2599 @@
+/**
+ Copyright (C) 2012-2019 by Autodesk, Inc.
+ All rights reserved.
+
+ FANUC post processor configuration.
+
+ $Revision: 42622 c34293f826e4bfeffedc4842dce8aafb1fb3293e $
+ $Date: 2020-01-09 08:05:53 $
+
+ FORKID {04622D27-72F0-45d4-85FB-DB346FD1AE22}
+*/
+
+description = "FANUC";
+vendor = "Fanuc";
+vendorUrl = "http://www.fanuc.com";
+legal = "Copyright (C) 2012-2019 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic post for Fanuc.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_MILLING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(180);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+highFeedrate = (unit == IN) ? 500 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: true, // write machine
+ writeTools: true, // writes the tools
+ preloadTool: true, // preloads next tool on tool change if any
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 5, // increment for sequence numbers
+ optionalStop: true, // optional stop
+ o8: false, // specifies 8-digit program number
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ allow3DArcs: false, // specifies that 3D circular arcs are allowed
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words
+ forceIJK: false, // force output of IJK for G2/G3 when not using R word
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output
+ useSmoothing: false, // specifies if smoothing should be used or not
+ usePitchForTapping: false, // enable to use pitch instead of feed for the F-word for canned tapping cycles - note that your CNC control must be setup for pitch mode!
+ useG95: false, // use IPR/MPR instead of IPM/MPM
+ useG28: true, // specifies that G28 should be used instead of G53
+ useG54x4: false, // Fanuc 30i supports G54.4 for Workpiece Error Compensation
+ useSubroutines: false, // specifies that subroutines per each operation should be generated
+ useSubroutinePatterns: false, // generates subroutines for patterned operation
+ useSubroutineCycles: false, // generates subroutines for cycle operations on same holes
+ useRigidTapping: "yes" // output rigid tapping block
+};
+
+// user-defined property definitions
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", group:1, type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
+ o8: {title:"8 Digit program number", description:"Specifies that an 8 digit program number is needed.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ allow3DArcs: {title:"Allow 3D arcs", description:"Specifies whether 3D circular arcs are allowed.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
+ forceIJK: {title:"Force IJK", description:"Force the output of IJK for G2/G3 when not using R mode.", type:"boolean"},
+ useParametricFeed: {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
+ useSmoothing: {title:"Use smoothing", description:"Specifies if smoothing should be used or not.", type:"boolean"},
+ usePitchForTapping: {title:"Use pitch for tapping", description:"Enables the use of pitch instead of feed for the F-word in canned tapping cycles. Your CNC control must be setup for pitch mode!", type:"boolean"},
+ useG95: {title:"Use G95", description:"Use IPR/MPR instead of IPM/MPM.", type:"boolean"},
+ useG54x4: {title:"Use G54.4", description:"Fanuc 30i supports G54.4 for workpiece error compensation.", type:"boolean"},
+ useSubroutines: {title:"Use subroutines", description:"Specifies that subroutines per each operation should be generated.", type:"boolean"},
+ useSubroutinePatterns: {title:"Use subroutine patterns", description:"Generates subroutines for patterned operation.", type:"boolean"},
+ useSubroutineCycles: {title: "Use subroutine cycles", description: "Generates subroutines for cycle operations on same holes.", type: "boolean"},
+ useG28: {title: "G28 Safe retracts", description: "Disable to use G53 instead of G28 for retracts.", type: "boolean"},
+ useRigidTapping: {
+ title: "Use rigid tapping",
+ description: "Select 'Yes' to enable, 'No' to disable, or 'Without spindle direction' to enable rigid tapping without outputting the spindle direction block.",
+ type: "enum",
+ values:[
+ {title:"Yes", id:"yes"},
+ {title:"No", id:"no"},
+ {title:"Without spindle direction", id:"without"}
+ ]
+ }
+};
+
+var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
+// samples:
+// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
+// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
+var coolants = [
+ {id: COOLANT_FLOOD, on: 8},
+ {id: COOLANT_MIST},
+ {id: COOLANT_THROUGH_TOOL, on: 88, off: 89},
+ {id: COOLANT_AIR},
+ {id: COOLANT_AIR_THROUGH_TOOL},
+ {id: COOLANT_SUCTION},
+ {id: COOLANT_FLOOD_MIST},
+ {id: COOLANT_FLOOD_THROUGH_TOOL, on: [8, 88], off: [9, 89]},
+ {id: COOLANT_OFF, off: 9}
+];
+
+var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
+
+var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});
+var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});
+var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1});
+var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1});
+var probe100Format = createFormat({decimals:3, zeropad:true, width:3, forceDecimal:true});
+
+var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless
+var rFormat = xyzFormat; // radius
+var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
+var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+var oFormat = createFormat({width:4, zeropad:true, decimals:0});
+var peckFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+// var peckFormat = createFormat({decimals:0, forceDecimal:false, trim:false, width:4, zeropad:true, scale:(unit == MM ? 1000 : 10000)});
+
+var xOutput = createVariable({prefix:"X"}, xyzFormat);
+var yOutput = createVariable({prefix:"Y"}, xyzFormat);
+var zOutput = createVariable({onchange: function() {retracted = false;}, prefix:"Z"}, xyzFormat);
+var aOutput = createVariable({prefix:"A"}, abcFormat);
+var bOutput = createVariable({prefix:"B"}, abcFormat);
+var cOutput = createVariable({prefix:"C"}, abcFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var dOutput = createVariable({}, dFormat);
+var peckOutput = createVariable({prefix:"Q", force:true}, peckFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat);
+var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
+var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G94-95
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99
+var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69
+
+// fixed settings
+var firstFeedParameter = 500;
+var useMultiAxisFeatures = true;
+var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs
+var maximumLineLength = 80; // the maximum number of charaters allowed in a line
+var minimumCyclePoints = 5; // minimum number of points in cycle operation to consider for subprogram
+var cancelTiltFirst = false; // cancel G68.2 with G69 prior to G54-G59 WCS block
+var useABCPrepositioning = false; // position ABC axes prior to G68.2 block
+
+var WARNING_WORK_OFFSET = 0;
+
+var ANGLE_PROBE_NOT_SUPPORTED = 0;
+var ANGLE_PROBE_USE_ROTATION = 1;
+var ANGLE_PROBE_USE_CAXIS = 2;
+
+var SUB_UNKNOWN = 0;
+var SUB_PATTERN = 1;
+var SUB_CYCLE = 2;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var g68RotationMode = 0;
+var angularProbingMode;
+var subprograms = [];
+var currentPattern = -1;
+var firstPattern = false;
+var currentSubprogram;
+var lastSubprogram;
+var definedPatterns = new Array();
+var incrementalMode = false;
+var saveShowSequenceNumbers;
+var cycleSubprogramIsActive = false;
+var patternIsActive = false;
+var lastOperationComment = "";
+var incrementalSubprogram;
+probeMultipleFeatures = true;
+
+/**
+ Writes the specified block.
+*/
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ if (properties.showSequenceNumbers) {
+ if (optionalSection) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ if (properties.showSequenceNumbers) {
+ var words = formatWords(arguments);
+ if (words) {
+ writeWords("/", "N" + sequenceNumber, words);
+ sequenceNumber += properties.sequenceNumberIncrement;
+ }
+ } else {
+ writeWords2("/", arguments);
+ }
+}
+
+function formatComment(text) {
+ return "(" + filterText(String(text).toUpperCase(), permittedCommentChars).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text));
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+ gRotationModal.format(69); // Default to G69 Rotation Off
+
+ if (false) { // note: setup your machine here
+ var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360, 360], preference:1});
+ var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360, 360], preference:1});
+ machineConfiguration = new MachineConfiguration(aAxis, cAxis);
+
+ setMachineConfiguration(machineConfiguration);
+ optimizeMachineAngles2(0); // TCP mode
+ }
+
+ if (!machineConfiguration.isMachineCoordinate(0)) {
+ aOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(1)) {
+ bOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(2)) {
+ cOutput.disable();
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ if (properties.forceIJK) {
+ iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
+ jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
+ kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (properties.o8) {
+ if (!((programId >= 1) && (programId <= 99999999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ } else {
+ if (!((programId >= 1) && (programId <= 9999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ }
+ if ((programId >= 8000) && (programId <= 9999)) {
+ warning(localize("Program number is reserved by tool builder."));
+ }
+ oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0});
+ if (programComment) {
+ writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
+ } else {
+ writeln("O" + oFormat.format(programId));
+ }
+ lastSubprogram = programId;
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ //Probing Surface Inspection
+ if (typeof inspectionWriteVariables == "function") {
+ inspectionWriteVariables();
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ }
+ }
+ }
+
+ if (false) {
+ // check for duplicate tool number
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var sectioni = getSection(i);
+ var tooli = sectioni.getTool();
+ for (var j = i + 1; j < getNumberOfSections(); ++j) {
+ var sectionj = getSection(j);
+ var toolj = sectionj.getTool();
+ if (tooli.number == toolj.number) {
+ if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
+ xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
+ abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
+ (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
+ error(
+ subst(
+ localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
+ sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
+ sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
+ )
+ );
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(properties.useG95 ? 95 : 94), gPlaneModal.format(17), gFormat.format(49), gFormat.format(40), gFormat.format(80));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.useG95 && properties.useParametricFeed) {
+ error(localize("Parametric feed is not supported when using G95."));
+ return;
+ }
+
+ if (properties.useG95) {
+ feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+ feedOutput = createVariable({prefix:"F"}, feedFormat);
+ }
+}
+
+function onComment(message) {
+ var comments = String(message).split(";");
+ for (comment in comments) {
+ writeComment(comments[comment]);
+ }
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+/** Force output of A, B, and C. */
+function forceABC() {
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, A, B, C, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceABC();
+ forceFeed();
+}
+
+var lengthCompensationActive = false;
+var retracted = false; // specifies that the tool has been retracted to the safe plane
+
+/** Disables length compensation if currently active or if forced. */
+function disableLengthCompensation(force) {
+ if (lengthCompensationActive || force) {
+ validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted.");
+ writeBlock(gFormat.format(49));
+ lengthCompensationActive = false;
+ }
+}
+
+var currentSmoothing = false;
+
+function setSmoothing(mode) {
+ if (mode == currentSmoothing) {
+ return false;
+ }
+
+ // 1) Make sure G49 is called before the execution of G05.1 Q1 Rx
+ // 2) G05.1 Q1 Rx must be engaged BEFORE G43-Tool Length Comp
+ // 3) AICC and AIAPC need to be turned on and off for each tool
+ // 4) AICC and AIAPC does not apply to canned drilling cycles
+ validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing.");
+
+ currentSmoothing = mode;
+ writeBlock(gFormat.format(5.1), mode ? "Q1" : "Q0");
+ return true;
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (properties.useG95) {
+ return feedOutput.format(f / spindleSpeed); // use feed value
+ }
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function defineWorkPlane(_section, _setWorkPlane) {
+ var abc = new Vector(0, 0, 0);
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ // set working plane after datum shift
+
+ if (_section.isMultiAxis()) {
+ cancelTransformation();
+ if (_setWorkPlane) {
+ forceWorkPlane();
+ }
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ abc = _section.getInitialToolAxisABC();
+ if (_setWorkPlane) {
+ if (!retracted) {
+ writeRetract(Z);
+ }
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+ } else {
+ if (_setWorkPlane) {
+ var d = _section.getGlobalInitialToolAxis();
+ // position
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ "I" + xyzFormat.format(d.x), "J" + xyzFormat.format(d.y), "K" + xyzFormat.format(d.z)
+ );
+ }
+ }
+ } else {
+ if (useMultiAxisFeatures) {
+ var euler = _section.workPlane.getEuler2(EULER_ZXZ_R);
+ abc = new Vector(euler.x, euler.y, euler.z);
+ cancelTransformation();
+ } else {
+ abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane, true);
+ }
+ if (_setWorkPlane) {
+ setWorkPlane(abc);
+ }
+ }
+ } else { // pure 3D
+ var remaining = _section.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return abc;
+ }
+ setRotation(remaining);
+ }
+ return abc;
+}
+
+function cancelWorkPlane() {
+ writeBlock(gRotationModal.format(69)); // cancel frame
+ forceWorkPlane();
+}
+
+function setWorkPlane(abc) {
+ if (!forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
+ return; // no change
+ }
+
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ if (!retracted) {
+ writeRetract(Z);
+ }
+
+ if (useMultiAxisFeatures) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ if (machineConfiguration.isMultiAxisConfiguration() && useABCPrepositioning) {
+ var angles = abc.isNonZero() ? getWorkPlaneMachineABC(currentSection.workPlane, false) : abc;
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(angles.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(angles.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(angles.z))
+ );
+ }
+ if (abc.isNonZero()) {
+ gRotationModal.reset();
+ writeBlock(gRotationModal.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)); // set frame
+ writeBlock(gFormat.format(53.1)); // turn machine
+ } else {
+ if (!cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ }
+ } else {
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+
+ currentWorkPlaneABC = abc;
+}
+
+var closestABC = false; // choose closest machine angles
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane, rotate) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ if (rotate) {
+ var tcp = false;
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+ }
+
+ return abc;
+}
+
+function isProbeOperation() {
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+function isInspectionOperation(section) {
+ return section.hasParameter("operation-strategy") && (section.getParameter("operation-strategy") == "inspectSurface");
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = (value > 0) ? value : 1;
+ }
+}
+
+/** Returns true if the spatial vectors are significantly different. */
+function areSpatialVectorsDifferent(_vector1, _vector2) {
+ return (xyzFormat.getResultingValue(_vector1.x) != xyzFormat.getResultingValue(_vector2.x)) ||
+ (xyzFormat.getResultingValue(_vector1.y) != xyzFormat.getResultingValue(_vector2.y)) ||
+ (xyzFormat.getResultingValue(_vector1.z) != xyzFormat.getResultingValue(_vector2.z));
+}
+
+/** Returns true if the spatial boxes are a pure translation. */
+function areSpatialBoxesTranslated(_box1, _box2) {
+ return !areSpatialVectorsDifferent(Vector.diff(_box1[1], _box1[0]), Vector.diff(_box2[1], _box2[0])) &&
+ !areSpatialVectorsDifferent(Vector.diff(_box2[0], _box1[0]), Vector.diff(_box2[1], _box1[1]));
+}
+
+/** Returns true if the spatial boxes are same. */
+function areSpatialBoxesSame(_box1, _box2) {
+ return !areSpatialVectorsDifferent(_box1[0], _box2[0]) && !areSpatialVectorsDifferent(_box1[1], _box2[1]);
+}
+
+function subprogramDefine(_initialPosition, _abc, _retracted, _zIsOutput) {
+ // convert patterns into subprograms
+ var usePattern = false;
+ patternIsActive = false;
+ if (currentSection.isPatterned && currentSection.isPatterned() && properties.useSubroutinePatterns) {
+ currentPattern = currentSection.getPatternId();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_PATTERN) && (currentPattern == definedPatterns[i].patternId)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_PATTERN);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_PATTERN,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: _initialPosition
+ });
+ }
+
+ if (usePattern) {
+ // make sure Z-position is output prior to subprogram call
+ if (!_retracted && !_zIsOutput) {
+ writeBlock(gMotionModal.format(0), zOutput.format(_initialPosition.z));
+ }
+
+ // call subprogram
+ writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
+ patternIsActive = true;
+
+ if (firstPattern) {
+ subprogramStart(_initialPosition, _abc, incrementalSubprogram);
+ } else {
+ skipRemainingSection();
+ setCurrentPosition(getFramePosition(currentSection.getFinalPosition()));
+ }
+ }
+ }
+
+ // Output cycle operation as subprogram
+ if (!usePattern && properties.useSubroutineCycles && currentSection.doesStrictCycle &&
+ (currentSection.getNumberOfCycles() == 1) && currentSection.getNumberOfCyclePoints() >= minimumCyclePoints) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ currentPattern = currentSection.getNumberOfCyclePoints();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_CYCLE) && (currentPattern == definedPatterns[i].patternId) &&
+ !areSpatialVectorsDifferent(_initialPosition, definedPatterns[i].initialPosition) &&
+ !areSpatialVectorsDifferent(finalPosition, definedPatterns[i].finalPosition)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_CYCLE);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_CYCLE,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: finalPosition
+ });
+ }
+ cycleSubprogramIsActive = usePattern;
+ }
+
+ // Output each operation as a subprogram
+ if (!usePattern && properties.useSubroutines) {
+ currentSubprogram = ++lastSubprogram;
+ writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
+ firstPattern = true;
+ subprogramStart(_initialPosition, _abc, false);
+ }
+}
+
+function subprogramStart(_initialPosition, _abc, _incremental) {
+ redirectToBuffer();
+ var comment = "";
+ if (hasParameter("operation-comment")) {
+ comment = getParameter("operation-comment");
+ }
+ writeln(
+ "O" + oFormat.format(currentSubprogram) +
+ conditional(comment, formatComment(comment.substr(0, maximumLineLength - 2 - 6 - 1)))
+ );
+ saveShowSequenceNumbers = properties.showSequenceNumbers;
+ properties.showSequenceNumbers = false;
+ if (_incremental) {
+ setIncrementalMode(_initialPosition, _abc);
+ }
+ gPlaneModal.reset();
+ gMotionModal.reset();
+}
+
+function subprogramEnd() {
+ if (firstPattern) {
+ writeBlock(mFormat.format(99));
+ writeln("");
+ subprograms += getRedirectionBuffer();
+ }
+ forceAny();
+ firstPattern = false;
+ properties.showSequenceNumbers = saveShowSequenceNumbers;
+ closeRedirection();
+}
+
+function subprogramIsValid(_section, _patternId, _patternType) {
+ var sectionId = _section.getId();
+ var numberOfSections = getNumberOfSections();
+ var validSubprogram = _patternType != SUB_CYCLE;
+
+ var masterPosition = new Array();
+ masterPosition[0] = getFramePosition(_section.getInitialPosition());
+ masterPosition[1] = getFramePosition(_section.getFinalPosition());
+ var tempBox = _section.getBoundingBox();
+ var masterBox = new Array();
+ masterBox[0] = getFramePosition(tempBox[0]);
+ masterBox[1] = getFramePosition(tempBox[1]);
+
+ var rotation = getRotation();
+ var translation = getTranslation();
+ incrementalSubprogram = undefined;
+
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getId() != sectionId) {
+ defineWorkPlane(section, false);
+ // check for valid pattern
+ if (_patternType == SUB_PATTERN) {
+ if (section.getPatternId() == _patternId) {
+ var patternPosition = new Array();
+ patternPosition[0] = getFramePosition(section.getInitialPosition());
+ patternPosition[1] = getFramePosition(section.getFinalPosition());
+ tempBox = section.getBoundingBox();
+ var patternBox = new Array();
+ patternBox[0] = getFramePosition(tempBox[0]);
+ patternBox[1] = getFramePosition(tempBox[1]);
+
+ if (areSpatialBoxesSame(masterPosition, patternPosition) && areSpatialBoxesSame(masterBox, patternBox)) {
+ incrementalSubprogram = incrementalSubprogram ? incrementalSubprogram : false;
+ } else if (!areSpatialBoxesTranslated(masterPosition, patternPosition) || !areSpatialBoxesTranslated(masterBox, patternBox)) {
+ validSubprogram = false;
+ break;
+ } else {
+ incrementalSubprogram = true;
+ }
+ }
+
+ // check for valid cycle operation
+ } else if (_patternType == SUB_CYCLE) {
+ if ((section.getNumberOfCyclePoints() == _patternId) && (section.getNumberOfCycles() == 1)) {
+ var patternInitial = getFramePosition(section.getInitialPosition());
+ var patternFinal = getFramePosition(section.getFinalPosition());
+ if (!areSpatialVectorsDifferent(patternInitial, masterPosition[0]) && !areSpatialVectorsDifferent(patternFinal, masterPosition[1])) {
+ validSubprogram = true;
+ break;
+ }
+ }
+ }
+ }
+ }
+ setRotation(rotation);
+ setTranslation(translation);
+ return (validSubprogram);
+}
+
+function setAxisMode(_format, _output, _prefix, _value, _incr) {
+ var i = _output.isEnabled();
+ _output = _incr ? createIncrementalVariable({prefix: _prefix}, _format) : createVariable({prefix: _prefix}, _format);
+ _output.format(_value);
+ _output.format(_value);
+ i = i ? _output.enable() : _output.disable();
+ return _output;
+}
+
+function setIncrementalMode(xyz, abc) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, true);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, true);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, true);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, true);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, true);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, true);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(91));
+ incrementalMode = true;
+}
+
+function setAbsoluteMode(xyz, abc) {
+ if (incrementalMode) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, false);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, false);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, false);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, false);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, false);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, false);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(90));
+ incrementalMode = false;
+ }
+}
+
+function onSection() {
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number);
+
+ var zIsOutput = false; // true if the Z-position has been output, used for patterns
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
+ (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
+ Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
+ (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
+ (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
+ var forceSmoothing = properties.useSmoothing &&
+ (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill") ||
+ !isFirstSection() && getPreviousSection().hasParameter("operation-strategy") && (getPreviousSection().getParameter("operation-strategy") == "drill")); // force smoothing in case !insertToolCall (2d chamfer)
+ if (insertToolCall || newWorkOffset || newWorkPlane || forceSmoothing) {
+
+ // stop spindle before retract during tool change
+ if (insertToolCall && !isFirstSection()) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ }
+
+ // retract to safe plane
+ writeRetract(Z); // retract
+ forceXYZ();
+ if ((insertToolCall && !isFirstSection()) || forceSmoothing) {
+ disableLengthCompensation();
+ setSmoothing(false);
+ }
+ }
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment && ((comment !== lastOperationComment) || !patternIsActive || insertToolCall)) {
+ writeln("");
+ writeComment(comment);
+ lastOperationComment = comment;
+ } else if (!patternIsActive || insertToolCall) {
+ writeln("");
+ }
+ } else {
+ writeln("");
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ forceWorkPlane();
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (tool.number > 99) {
+ warning(localize("Tool number exceeds maximum value."));
+ }
+
+ disableLengthCompensation();
+ writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ var showToolZMin = false;
+ if (showToolZMin) {
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ var zRange = currentSection.getGlobalZRange();
+ var number = tool.number;
+ for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getTool().number != number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+ writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
+ }
+ }
+
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ writeBlock("T" + toolFormat.format(nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ if (tool.number != firstToolNumber) {
+ writeBlock("T" + toolFormat.format(firstToolNumber));
+ }
+ }
+ }
+ }
+
+ if (!isProbeOperation() &&
+ !isInspectionOperation(currentSection) &&
+ (insertToolCall ||
+ forceSpindleSpeed ||
+ isFirstSection() ||
+ (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise))) {
+ forceSpindleSpeed = false;
+
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 99999) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ var tapping = hasParameter("operation:cycleType") &&
+ ((getParameter("operation:cycleType") == "tapping") ||
+ (getParameter("operation:cycleType") == "right-tapping") ||
+ (getParameter("operation:cycleType") == "left-tapping") ||
+ (getParameter("operation:cycleType") == "tapping-with-chip-breaking"));
+ if (!tapping || (tapping && !(properties.useRigidTapping == "without"))) {
+ writeBlock(
+ sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
+ );
+ }
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
+ // writeBlock(mFormat.format(xxx)); // shortest path traverse
+ }
+ }
+
+ // wcs
+ if (insertToolCall) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset != currentWorkOffset) {
+ if (cancelTiltFirst) {
+ cancelWorkPlane();
+ }
+ forceWorkPlane();
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var p = workOffset - 6; // 1->...
+ if (p > 300) {
+ error(localize("Work offset out of range."));
+ return;
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(54.1), "P" + p); // G54.1P
+ currentWorkOffset = workOffset;
+ }
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ forceXYZ();
+
+ var abc = defineWorkPlane(currentSection, true);
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ if (properties.useSmoothing) {
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) {
+ if (setSmoothing(true)) {
+ // we force G43 using lengthCompensationActive
+ }
+ } else {
+ if (setSmoothing(false)) {
+ // we force G43 using lengthCompensationActive
+ }
+ }
+ }
+
+ forceAny();
+ gMotionModal.reset();
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ zIsOutput = true;
+ }
+ }
+
+ if (insertToolCall || !lengthCompensationActive || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) {
+ var lengthOffset = tool.lengthOffset;
+ if (lengthOffset > 99) {
+ error(localize("Length offset out of range."));
+ return;
+ }
+
+ gMotionModal.reset();
+ writeBlock(gPlaneModal.format(17));
+
+ // cancel compensation prior to enabling it, required when switching G43/G43.4 modes
+ disableLengthCompensation(false);
+
+ // assumes a Head configuration uses TCP on a Fanuc controller
+ var offsetCode = 43;
+ if (currentSection.isMultiAxis()) {
+ if (machineConfiguration.isMultiAxisConfiguration() && (currentSection.getOptimizedTCPMode() == 0)) {
+ offsetCode = 43.4;
+ } else if (!machineConfiguration.isMultiAxisConfiguration()) {
+ offsetCode = 43.5;
+ }
+ }
+
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
+ );
+ writeBlock(
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ gFormat.format(offsetCode),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y),
+ zOutput.format(initialPosition.z), hFormat.format(lengthOffset)
+ );
+ lengthCompensationActive = true;
+ }
+ zIsOutput = true;
+
+ gMotionModal.reset();
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y)
+ );
+ }
+
+ validate(lengthCompensationActive, "Length compensation is not active.");
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ if (isProbeOperation()) {
+ if (g68RotationMode != 0) {
+ error(localize("You cannot probe while G68 Rotation is in effect."));
+ return;
+ }
+ angularProbingMode = getAngularProbingMode();
+ writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
+ }
+
+ // surface Inspection
+ if (isInspectionOperation(currentSection) && (typeof inspectionProcessSectionStart == "function")) {
+ inspectionProcessSectionStart();
+ }
+
+ // define subprogram
+ subprogramDefine(initialPosition, abc, retracted, zIsOutput);
+
+ retracted = false;
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ milliseconds = clamp(1, seconds * 1000, 99999999);
+ writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(milliseconds));
+ writeBlock(gFeedModeModal.format(properties.useG95 ? 95 : 94)); // back to G95
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(sOutput.format(spindleSpeed));
+}
+
+function onCycle() {
+ writeBlock(gPlaneModal.format(17));
+}
+
+function getCommonCycle(x, y, z, r, c) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ if (incrementalMode) {
+ zOutput.format(c);
+ return [xOutput.format(x), yOutput.format(y),
+ "Z" + xyzFormat.format(z - r),
+ "R" + xyzFormat.format(r - c)];
+ } else {
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + xyzFormat.format(r)];
+ }
+}
+
+function setCyclePosition(_position) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ zOutput.format(_position);
+ break;
+ case 18: // ZX
+ yOutput.format(_position);
+ break;
+ case 19: // YZ
+ xOutput.format(_position);
+ break;
+ }
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+/**
+ Determine if angular probing is supported
+*/
+function getAngularProbingMode() {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ if (machineConfiguration.isMachineCoordinate(2)) {
+ return ANGLE_PROBE_USE_CAXIS;
+ } else {
+ return ANGLE_PROBE_NOT_SUPPORTED;
+ }
+ } else {
+ return ANGLE_PROBE_USE_ROTATION;
+ }
+}
+
+/**
+ Output rotation offset based on angular probing cycle.
+*/
+function setProbingAngle() {
+ if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
+ if (!properties.useG54x4) {
+ gRotationModal.reset();
+ gAbsIncModal.reset();
+ writeBlock(
+ gRotationModal.format(68), gAbsIncModal.format(90),
+ (g68RotationMode == 1) ? "X0" : "X[#135]",
+ (g68RotationMode == 1) ? "Y0" : "Y[#136]",
+ "Z0", "I0.0", "J0.0", "K1.0", "R[#139]"
+ );
+ g68RotationMode = 3;
+ } else if (angularProbingMode != ANGLE_PROBE_NOT_SUPPORTED) {
+ writeBlock("#26010=#135");
+ writeBlock("#26011=#136");
+ writeBlock("#26012=#137");
+ writeBlock("#26015=#139");
+ writeBlock(gFormat.format(54.4), "P1");
+ g68RotationMode = 0;
+ } else {
+ error(localize("Angular probing is not supported for this machine configuration."));
+ return;
+ }
+ }
+}
+
+function protectedProbeMove(_cycle, x, y, z) {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (_z && z >= getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+ if (_x || _y) {
+ writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
+ }
+ if (_z && z < getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+}
+
+function onCyclePoint(x, y, z) {
+ if (cycleType == "inspect") {
+ if (typeof inspectionCycleInspect == "function") {
+ inspectionCycleInspect(cycle, x, y, z);
+ return;
+ } else {
+ cycleNotSupported();
+ }
+ }
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+ var probeWorkOffsetCode;
+ if (isProbeOperation()) {
+ if (!useMultiAxisFeatures && !isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) && (!cycle.probeMode || (cycle.probeMode == 0))) {
+ error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
+ return;
+ }
+ protectedProbeMove(cycle, x, y, z);
+
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 99) {
+ error(localize("Work offset is out of range."));
+ return;
+ } else if (workOffset > 6) {
+ probeWorkOffsetCode = probe100Format.format(workOffset - 6 + 100);
+ } else {
+ probeWorkOffsetCode = workOffset + "."; // G54->G59
+ }
+ }
+
+ if (isFirstCyclePoint() || isProbeOperation()) {
+ if (!isProbeOperation()) {
+ // return to initial Z which is clearance plane and set absolute mode
+ repositionToCycleClearance(cycle, x, y, z);
+ }
+
+ var F = cycle.feedrate;
+ if (properties.useG95) {
+ F /= spindleSpeed;
+ }
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ var forceCycle = false;
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ if ((cycle.accumulatedDepth < cycle.depth) || (P > 0)) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ peckOutput.format(cycle.incrementalDepth),
+ // conditional(P > 0, "P" + milliFormat.format(P)),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "left-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "right-tapping":
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ if (cycle.accumulatedDepth < cycle.depth) {
+ error(localize("Accumulated pecking depth is not supported for tapping cycles with chip breaking."));
+ return;
+ } else {
+ if (properties.useRigidTapping != "no") {
+ writeBlock(mFormat.format(29), sOutput.format(spindleSpeed));
+ }
+ if (properties.usePitchForTapping) {
+ writeBlock(
+ gRetractModal.format(98), gFeedModeModal.format(95), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ pitchOutput.format(tool.threadPitch)
+ );
+ forceFeed();
+ } else {
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95 ? tool.getThreadPitch() : tappingFPM);
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ peckOutput.format(cycle.incrementalDepth),
+ feedOutput.format(F)
+ );
+ }
+ }
+ break;
+ case "fine-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ break;
+ case "back-boring":
+ var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
+ var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
+ var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(87),
+ getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom, cycle.clearance),
+ "Q" + xyzFormat.format(cycle.shift),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "reaming":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "manual-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(88),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+
+ case "probing-x":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-z":
+ protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+
+ case "probing-xy-inner-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-xy-outer-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing !== undefined) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-x-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ case "probing-y-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ default:
+ expandCyclePoint(x, y, z);
+ }
+
+ // place cycle operation in subprogram
+ if (cycleSubprogramIsActive) {
+ if (forceCycle || cycleExpanded || isProbeOperation()) {
+ cycleSubprogramIsActive = false;
+ } else {
+ // call subprogram
+ writeBlock(mFormat.format(98), "P" + oFormat.format(currentSubprogram));
+ subprogramStart(new Vector(x, y, z), new Vector(0, 0, 0), false);
+ }
+ }
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+
+ // 2nd through nth cycle point
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ if (!xyzFormat.areDifferent(x, xOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(y, yOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(z, zOutput.getCurrent())) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ xOutput.reset(); // at least one axis is required
+ break;
+ case 18: // ZX
+ zOutput.reset(); // at least one axis is required
+ break;
+ case 19: // YZ
+ yOutput.reset(); // at least one axis is required
+ break;
+ }
+ }
+ if (incrementalMode) { // set current position to retract height
+ setCyclePosition(cycle.retract);
+ }
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+ }
+ }
+}
+
+function getProbingArguments(cycle, probeWorkOffsetCode) {
+ var probeWCS = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe");
+ return [
+ (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
+ ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
+ (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
+ (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
+ ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
+ ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
+ (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
+ (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
+ conditional(probeWorkOffsetCode && probeWCS, "S" + probeWorkOffsetCode)
+ ];
+}
+
+function onCycleEnd() {
+ if (isProbeOperation()) {
+ zOutput.reset();
+ gMotionModal.reset();
+ writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
+ } else {
+ if (cycleSubprogramIsActive) {
+ subprogramEnd();
+ cycleSubprogramIsActive = false;
+ }
+ if (!cycleExpanded) {
+ writeBlock(conditional(!properties.useG95, gFeedModeModal.format(94)), gCycleModal.format(80));
+ zOutput.reset();
+ }
+ }
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ var d = tool.diameterOffset;
+ if (d > 99) {
+ warning(localize("The diameter offset exceeds the maximum value."));
+ }
+ writeBlock(gPlaneModal.format(17));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ dOutput.reset();
+ writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f);
+ break;
+ default:
+ writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gMotionModal.format(1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+}
+
+function onRapid5D(_x, _y, _z, _a, _b, _c) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k);
+ }
+ forceFeed();
+}
+
+function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ if (currentSection.isOptimizedForMachine()) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || a || b || c) {
+ writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ } else {
+ forceXYZ();
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var i = ijkFormat.format(_a);
+ var j = ijkFormat.format(_b);
+ var k = ijkFormat.format(_c);
+ var f = getFeed(feed);
+ if (x || y || z || i || j || k) {
+ writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ if (properties.allow3DArcs) {
+ // make sure maximumCircularSweep is well below 360deg
+ // we could use G02.4 or G03.4 - direction is calculated
+ var ip = getPositionU(0.5);
+ writeBlock(gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed));
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ } else {
+ linearize(tolerance);
+ }
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+var coolantOff = undefined;
+
+function setCoolant(coolant) {
+ var coolantCodes = getCoolantCodes(coolant);
+ if (Array.isArray(coolantCodes)) {
+ if (singleLineCoolant) {
+ writeBlock(coolantCodes.join(getWordSeparator()));
+ } else {
+ for (var c in coolantCodes) {
+ writeBlock(coolantCodes[c]);
+ }
+ }
+ return undefined;
+ }
+ return coolantCodes;
+}
+
+function getCoolantCodes(coolant) {
+ var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
+ if (!coolants) {
+ error(localize("Coolants have not been defined."));
+ }
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+ if (coolant == currentCoolantMode) {
+ return undefined; // coolant is already active
+ }
+ if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined)) {
+ if (Array.isArray(coolantOff)) {
+ for (var i in coolantOff) {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff));
+ }
+ }
+
+ var m;
+ var coolantCodes = {};
+ for (var c in coolants) { // find required coolant codes into the coolants array
+ if (coolants[c].id == coolant) {
+ coolantCodes.on = coolants[c].on;
+ if (coolants[c].off != undefined) {
+ coolantCodes.off = coolants[c].off;
+ break;
+ } else {
+ for (var i in coolants) {
+ if (coolants[i].id == COOLANT_OFF) {
+ coolantCodes.off = coolants[i].off;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (coolant == COOLANT_OFF) {
+ m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
+ } else {
+ coolantOff = coolantCodes.off;
+ m = coolantCodes.on;
+ }
+
+ if (!m) {
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ } else {
+ if (Array.isArray(m)) {
+ for (var i in m) {
+ multipleCoolantBlocks.push(mFormat.format(m[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(m));
+ }
+ currentCoolantMode = coolant;
+ return multipleCoolantBlocks; // return the single formatted coolant value
+ }
+ return undefined;
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:2,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ COMMAND_STOP_SPINDLE:5,
+ COMMAND_ORIENTATE_SPINDLE:19
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ return;
+ case COMMAND_BREAK_CONTROL:
+ return;
+ case COMMAND_TOOL_MEASURE:
+ return;
+ case COMMAND_PROBE_ON:
+ return;
+ case COMMAND_PROBE_OFF:
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+function onSectionEnd() {
+ if (typeof inspectionProcessSectionEnd == "function") {
+ inspectionProcessSectionEnd();
+ }
+ writeBlock(gPlaneModal.format(17));
+
+ if (((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
+ (tool.number != getNextSection().getTool().number)) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ }
+ if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
+ setCoolant(COOLANT_OFF);
+ }
+
+ if (true) {
+ if (isRedirecting()) {
+ if (firstPattern) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ var abc;
+ if (currentSection.isMultiAxis() && machineConfiguration.isMultiAxisConfiguration()) {
+ abc = currentSection.getFinalToolAxisABC();
+ } else {
+ abc = currentWorkPlaneABC;
+ }
+ if (abc == undefined) {
+ abc = new Vector(0, 0, 0);
+ }
+ setAbsoluteMode(finalPosition, abc);
+ subprogramEnd();
+ }
+ }
+ }
+ if (isProbeOperation()) {
+ writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
+ setProbingAngle(); // define rotation of part
+ }
+ forceAny();
+}
+
+/** Output block to do safe retract and/or move to home position. */
+function writeRetract() {
+ // initialize routine
+ var _xyzMoved = new Array(false, false, false);
+ var _useG28 = properties.useG28; // can be either true or false
+
+ // check syntax of call
+ if (arguments.length == 0) {
+ error(localize("No axis specified for writeRetract()."));
+ return;
+ }
+ for (var i = 0; i < arguments.length; ++i) {
+ if ((arguments[i] < 0) || (arguments[i] > 2)) {
+ error(localize("Bad axis specified for writeRetract()."));
+ return;
+ }
+ if (_xyzMoved[arguments[i]]) {
+ error(localize("Cannot retract the same axis twice in one line"));
+ return;
+ }
+ _xyzMoved[arguments[i]] = true;
+ }
+
+ // special conditions
+
+ // define home positions
+ var _xHome;
+ var _yHome;
+ var _zHome;
+ if (_useG28) {
+ _xHome = 0;
+ _yHome = 0;
+ _zHome = 0;
+ } else {
+ _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : 0;
+ _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : 0;
+ _zHome = machineConfiguration.getRetractPlane();
+ }
+
+ // format home positions
+ var words = []; // store all retracted axes in an array
+ for (var i = 0; i < arguments.length; ++i) {
+ // define the axes to move
+ switch (arguments[i]) {
+ case X:
+ if (!machineConfiguration.hasHomePositionX()) {
+ _useG28 = true;
+ }
+ words.push("X" + xyzFormat.format(_xHome));
+ break;
+ case Y:
+ if (!machineConfiguration.hasHomePositionY()) {
+ _useG28 = true;
+ }
+ words.push("Y" + xyzFormat.format(_yHome));
+ break;
+ case Z:
+ words.push("Z" + xyzFormat.format(_zHome));
+ retracted = true;
+ break;
+ }
+ }
+
+ // output move to home
+ if (words.length > 0) {
+ if (_useG28) {
+ gAbsIncModal.reset();
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
+ writeBlock(gAbsIncModal.format(90));
+ } else {
+ gMotionModal.reset();
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
+ }
+
+ // force any axes that move to home on next block
+ if (_xyzMoved[0]) {
+ xOutput.reset();
+ }
+ if (_xyzMoved[1]) {
+ yOutput.reset();
+ }
+ if (_xyzMoved[2]) {
+ zOutput.reset();
+ }
+ }
+}
+
+function onClose() {
+ writeln("");
+ optionalSection = false;
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ writeRetract(Z); // retract
+
+ disableLengthCompensation(true);
+ setSmoothing(false);
+ zOutput.reset();
+
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+
+ if (properties.useG54x4) {
+ writeBlock(gFormat.format(54.4), "P0");
+ }
+
+ writeRetract(X, Y); // return to home
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ if (subprograms.length > 0) {
+ writeln("");
+ write(subprograms);
+ }
+ writeln("%");
+}
diff --git a/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-2007-template.xlsx b/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-2007-template.xlsx
new file mode 100644
index 000000000..151919727
Binary files /dev/null and b/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-2007-template.xlsx differ
diff --git a/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-template.xls b/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-template.xls
new file mode 100644
index 000000000..bff71e433
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/meta/setup-sheet-excel-template.xls
@@ -0,0 +1,1484 @@
+
+
+
+
+ Autodesk CAM - Setup Sheet
+ Autodesk, Inc.
+ autodesk cam post processor
+ 2010-05-28T13:23:03Z
+ 2010-05-28T12:41:38Z
+ Autodesk, Inc.
+ 11.9999
+
+
+ 10005
+ 10005
+ 120
+ 135
+ 2
+ False
+ False
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Program |
+ Setup Sheet |
+ Date |
+
+
+ $program.name |
+ $program.generationTime |
+
+
+ Comment |
+ Overview |
+ Part |
+
+
+ $program.comment |
+ $program.partName |
+
+
+ |
+ |
+
+
+ Reference |
+ Job |
+ $program.jobDescription |
+
+
+ Programmer |
+ $program.user |
+
+
+ Part |
+ DX |
+ $program.partDX |
+
+
+ DY |
+ $program.partDY |
+
+
+ DZ |
+ $program.partDZ |
+
+
+ Stock |
+ DX |
+ #VALUE! |
+
+
+ DY |
+ #VALUE! |
+
+
+ DZ |
+ #VALUE! |
+
+
+ X min |
+ $program.stockLowerX |
+
+
+ Y min |
+ $program.stockLowerY |
+
+
+ Z min |
+ $program.stockLowerZ |
+
+
+ X max |
+ $program.stockUpperX |
+
+
+ Y max |
+ $program.stockUpperY |
+
+
+ Z max |
+ $program.stockUpperZ |
+
+
+ Toolpath |
+ WCS # |
+ $program.workOffset |
+
+
+ |
+ # Operations |
+ $program.numberOfSections |
+
+
+ # Tools |
+ $program.numberOfTools |
+
+
+ Machining Time |
+ $program.cycleTime |
+
+
+ Feed Distance |
+ $program.cuttingDistance |
+
+
+ Rapid Distance |
+ $program.rapidDistance |
+
+
+
+
+
+
+ 9
+ 600
+ 600
+
+
+
+ 3
+ R1C1:R1C3
+
+
+ False
+ False
+
+
+
+
+
+
+
+ Program |
+ Setup Sheet |
+ Date |
+
+
+ $program.name |
+ $program.generationTime |
+
+
+ Comment |
+ Operations |
+ Part |
+
+
+ $program.comment |
+ $program.partName |
+
+
+ |
+
+
+ ID |
+ Operation |
+ WCS # |
+ Tool # |
+ Strategy |
+ Machining Time |
+ Feed Distance |
+ Coolant |
+ Stock to Leave |
+ Axial Stock to Leave |
+ Tolerance |
+ Stepdown |
+ Stepover |
+ Spindle Speed |
+ Maximum Feed |
+
+
+ $operation.id |
+ $operation.description |
+ $operation.workOffset |
+ $operation.tool.number |
+ $operation.strategy |
+ $operation.cycleTime |
+ $operation.cuttingDistance |
+ $operation.tool.coolant |
+ $operation.stockToLeave |
+ $operation.axialStockToLeave |
+ $operation.tolerance |
+ $operation.maximumStepdown |
+ $operation.maximumStepover |
+ $operation.maximumSpindleSpeed |
+ $operation.maximumFeed |
+ $OPERATION_ROW |
+
+
+ |
+ |
+ |
+ |
+ |
+
+
+
+
+
+
+ 9
+ 600
+ 600
+
+ 60
+ 6
+ 6
+ 2
+
+
+ 3
+
+
+ 2
+ 14
+ R7C2:R7C15
+
+
+ False
+ False
+
+
+
+
+
+
+
+ Program |
+ Setup Sheet |
+ Date |
+ |
+ |
+ |
+
+
+ $program.name |
+ $program.generationTime |
+ |
+ |
+ |
+
+
+ Comment |
+ Tools |
+ Part |
+ |
+ |
+ |
+
+
+ $program.comment |
+ $program.partName |
+ |
+ |
+ |
+
+
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+ |
+
+
+ Tool # |
+ Length # |
+ Diameter # |
+ Diameter |
+ Corner Radius |
+ Taper Angle |
+ Type |
+ Holder |
+ Body Length |
+ Feed Distance |
+ Maximum Spindle Speed |
+ Maximum Feed |
+ Machining Time |
+
+
+ $tool.number |
+ $tool.lengthOffset |
+ $tool.diameterOffset |
+ $tool.diameter |
+ $tool.cornerRadius |
+ $tool.taperAngle |
+ $tool.type |
+ $tool.holderDescription |
+ $tool.bodyLength |
+ $tool.cuttingDistance |
+ $tool.maximumSpindleSpeed |
+ $tool.maximumFeed |
+ $tool.cycleTime |
+ $TOOL_ROW |
+
+
+
+
+
+
+ 9
+ 600
+ 600
+
+ 6
+ 6
+ 2
+
+
+ 3
+
+
+ 2
+ 7
+
+
+ False
+ False
+
+
+
diff --git a/resources/workshop/.inc/saturn/mc/st20y/post.cps b/resources/workshop/.inc/saturn/mc/st20y/post.cps
new file mode 100644
index 000000000..b82fe34e0
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/st20y/post.cps
@@ -0,0 +1,1727 @@
+/**
+ Copyright (C) 2012-2019 by Autodesk, Inc.
+ All rights reserved.
+
+ HAAS Lathe post processor configuration.
+
+ $Revision: 42631 621a6aaa12feb9f27eb24e2b06cf85758a41d354 $
+ $Date: 2020-01-21 06:14:08 $
+
+ FORKID {22A4780E-F937-4B1E-8446-D53DB2F57573}
+*/
+
+description = "HAAS Turning";
+vendor = "Haas Automation";
+vendorUrl = "https://www.haascnc.com";
+legal = "Copyright (C) 2012-2019 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic HAAS turning post. Turn on the property 'manualToolChange' if your CNC does not have an automatic tool changer. Use Turret 0 for Positional Turret, Turret 101 for QCTP on X- Post, Turret 102 for QCTP on X+ Post, Turret 103 for Gang Tooling on X- Post, Turret 104 for Gang Tooling on X+ Tool Post.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_TURNING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(355);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+allowSpiralMoves = true;
+highFeedrate = (unit == IN) ? 100 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: false, // write machine
+ writeTools: false, // writes the tools
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 1, // increment for sequence numbers
+ optionalStop: true, // optional stop
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
+ maximumSpindleSpeed: 100 * 60, // specifies the maximum spindle speed
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output.
+ useCycles: true, // specifies that drilling cycles should be used.
+ manualToolChange: false, // specifies that the machine does not have a tool changer.
+ g53HomePositionX: 0, // home position for X-axis
+ g53HomePositionZ: 0, // home position for Z-axis
+ useTailStock: true, // specifies to use the tailstock or not
+ gotChipConveyor: true // specifies to use a chip conveyor Y/N
+};
+
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ optionalStop: {title:"Optional stop", description:"Specifies that optional stops M1 should be output at tool changes.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are output using radius values rather than IJK.", type:"boolean"},
+ maximumSpindleSpeed: {title:"Maximum spindle speed", description:"The maximum spindle speed in RPM.", type:"integer"},
+ useParametricFeed: {title:"Parametric feed", description:"Parametric feed values based on movement type are output.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Enable to output notes for operations.", type:"boolean"},
+ useCycles: {title:"Use canned cycles", description:"Enable to output canned cycles.", type:"boolean"},
+ manualToolChange: {title:"Manual tool changer", description:"Enable to do manual tool changes when the CNC doesn't have an automatic tool changer.", type:"boolean"},
+ g53HomePositionX: {title:"G53 home Position X", description:"G53 X-axis home position.", type:"number"},
+ g53HomePositionZ: {title:"G53 home Position Z", description:"G53 Z-axis home position.", type:"number"},
+ useTailStock: {title:"Use tail stock", description:"Enable to use the tail stock.", type:"boolean"},
+ gotChipConveyor: {title:"Got chip conveyor", description:"Specifies whether to use a chip conveyor.", type:"boolean", presentation:"yesno"}
+};
+
+var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
+
+var gFormat = createFormat({prefix:"G", decimals:0});
+var mFormat = createFormat({prefix:"M", decimals:0});
+
+var spatialFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2}); // diameter mode
+var yFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var zFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var rFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); // radius
+var feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+
+var xOutput = createVariable({prefix:"X"}, xFormat);
+var yOutput = createVariable({prefix:"Y"}, yFormat);
+var zOutput = createVariable({prefix:"Z"}, zFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var pOutput = createVariable({prefix:"P", force:true}, rpmFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I", force:true}, spatialFormat);
+var jOutput = createReferenceVariable({prefix:"J", force:true}, spatialFormat);
+var kOutput = createReferenceVariable({prefix:"K", force:true}, spatialFormat);
+
+var g92IOutput = createVariable({prefix:"I"}, zFormat); // no scaling
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G98-99
+var gSpindleModeModal = createModal({}, gFormat); // modal group 5 // G96-97
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+
+// fixed settings
+var firstFeedParameter = 100;
+var gotSecondarySpindle = true;
+var gotDoorControl = true;
+var gotTailStock = true;
+var gotBarFeeder = true;
+
+var WARNING_WORK_OFFSET = 0;
+
+var QCTP = 0;
+var TURRET = 1;
+var GANG = 2;
+
+var FRONT = -1;
+var REAR = 1;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var maximumCircularRadiiDifference = toPreciseUnit(0.005, MM);
+var toolingData;
+var previousToolingData;
+
+function getCode(code) {
+ switch (code) {
+ // case "PART_CATCHER_ON":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ // case "PART_CATCHER_OFF":
+ // return mFormat.format(SPECIFY YOUR CODE HERE);
+ case "TAILSTOCK_ON":
+ return mFormat.format(21);
+ case "TAILSTOCK_OFF":
+ return mFormat.format(22);
+ // case "ENGAGE_C_AXIS":
+ // machineState.cAxisIsEngaged = true;
+ // return cAxisEngageModal.format(UNSUPPORTED);
+ // case "DISENGAGE_C_AXIS":
+ // machineState.cAxisIsEngaged = false;
+ // return cAxisEngageModal.format(UNSUPPORTED);
+ // case "POLAR_INTERPOLATION_ON":
+ // return gPolarModal.format(UNSUPPORTED);
+ // case "POLAR_INTERPOLATION_OFF":
+ // return gPolarModal.format(UNSUPPORTED);
+ // case "STOP_LIVE_TOOL":
+ // machineState.liveToolIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_MAIN_SPINDLE":
+ // machineState.mainSpindleIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_SUB_SPINDLE":
+ // machineState.subSpindleIsActive = false;
+ // return mFormat.format(UNSUPPORTED);
+ // case "START_LIVE_TOOL_CW":
+ // machineState.liveToolIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ // case "START_LIVE_TOOL_CCW":
+ // machineState.liveToolIsActive = true;
+ // return mFormat.format(UNSUPPORTED);
+ case "START_MAIN_SPINDLE_CW":
+ // machineState.mainSpindleIsActive = true;
+ return mFormat.format(3);
+ case "START_MAIN_SPINDLE_CCW":
+ // machineState.mainSpindleIsActive = true;
+ return mFormat.format(4);
+ case "START_SUB_SPINDLE_CW":
+ // machineState.subSpindleIsActive = true;
+ return mFormat.format(143);
+ case "START_SUB_SPINDLE_CCW":
+ // machineState.subSpindleIsActive = true;
+ return mFormat.format(144);
+ // case "MAIN_SPINDLE_BRAKE_ON":
+ // machineState.mainSpindleBrakeIsActive = true;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "MAIN_SPINDLE_BRAKE_OFF":
+ // machineState.mainSpindleBrakeIsActive = false;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "SUB_SPINDLE_BRAKE_ON":
+ // machineState.subSpindleBrakeIsActive = true;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ // case "SUB_SPINDLE_BRAKE_OFF":
+ // machineState.subSpindleBrakeIsActive = false;
+ // return cAxisBrakeModal.format(UNSUPPORTED);
+ case "FEED_MODE_UNIT_REV":
+ return gFeedModeModal.format(99);
+ case "FEED_MODE_UNIT_MIN":
+ return gFeedModeModal.format(98);
+ case "CONSTANT_SURFACE_SPEED_ON":
+ return gSpindleModeModal.format(96);
+ case "CONSTANT_SURFACE_SPEED_OFF":
+ return gSpindleModeModal.format(97);
+ // case "MAINSPINDLE_AIR_BLAST_ON":
+ // return mFormat.format(UNSUPPORTED);
+ // case "MAINSPINDLE_AIR_BLAST_OFF":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SUBSPINDLE_AIR_BLAST_ON":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SUBSPINDLE_AIR_BLAST_OFF":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLAMP_PRIMARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "UNCLAMP_PRIMARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLAMP_SECONDARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "UNCLAMP_SECONDARY_CHUCK":
+ // return mFormat.format(UNSUPPORTED);
+ // case "SPINDLE_SYNCHRONIZATION_ON":
+ // machineState.spindleSynchronizationIsActive = true;
+ // return gSynchronizedSpindleModal.format(UNSUPPORTED);
+ // case "SPINDLE_SYNCHRONIZATION_OFF":
+ // machineState.spindleSynchronizationIsActive = false;
+ // return gSynchronizedSpindleModal.format(UNSUPPORTED);
+ // case "START_CHIP_TRANSPORT":
+ // return mFormat.format(UNSUPPORTED);
+ // case "STOP_CHIP_TRANSPORT":
+ // return mFormat.format(UNSUPPORTED);
+ // case "OPEN_DOOR":
+ // return mFormat.format(UNSUPPORTED);
+ // case "CLOSE_DOOR":
+ // return mFormat.format(UNSUPPORTED);
+ case "COOLANT_FLOOD_ON":
+ return mFormat.format(8);
+ case "COOLANT_FLOOD_OFF":
+ return mFormat.format(9);
+ case "COOLANT_AIR_ON":
+ return mFormat.format(83);
+ case "COOLANT_AIR_OFF":
+ return mFormat.format(84);
+ case "COOLANT_THROUGH_TOOL_ON":
+ return mFormat.format(88);
+ case "COOLANT_THROUGH_TOOL_OFF":
+ return mFormat.format(89);
+ case "COOLANT_OFF":
+ return mFormat.format(9);
+ default:
+ error(localize("Command " + code + " is not defined."));
+ return 0;
+ }
+}
+
+/**
+ Writes the specified block.
+*/
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ if (properties.showSequenceNumbers) {
+ if (optionalSection) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ if (properties.showSequenceNumbers) {
+ var words = formatWords(arguments);
+ if (words) {
+ writeWords("/", "N" + sequenceNumber, words);
+ sequenceNumber += properties.sequenceNumberIncrement;
+ }
+ } else {
+ writeWords2("/", arguments);
+ }
+}
+
+function formatComment(text) {
+ return "(" + String(text).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text));
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+
+ yOutput.disable();
+
+ if (highFeedrate <= 0) {
+ error(localize("You must set 'highFeedrate' because axes are not synchronized for rapid traversal."));
+ return;
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (!((programId >= 1) && (programId <= 9999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ var oFormat = createFormat({width:4, zeropad:true, decimals:0});
+ if (programComment) {
+ writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")");
+ } else {
+ writeln("O" + oFormat.format(programId));
+ }
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var compensationOffset = tool.isTurningTool() ? tool.compensationOffset : tool.lengthOffset;
+ var comment = "T" + toolFormat.format(tool.number * 100 + compensationOffset % 100) + " " +
+ (tool.diameter != 0 ? "D=" + spatialFormat.format(tool.diameter) + " " : "") +
+ (tool.isTurningTool() ? localize("NR") + "=" + spatialFormat.format(tool.noseRadius) : localize("CR") + "=" + spatialFormat.format(tool.cornerRadius)) +
+ (tool.taperAngle > 0 && (tool.taperAngle < Math.PI) ? " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg") : "") +
+ (zRanges[tool.number] ? " - " + localize("ZMIN") + "=" + spatialFormat.format(zRanges[tool.number].getMinimum()) : "") +
+ " - " + localize(getToolTypeName(tool.type));
+ writeComment(comment);
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(getCode("FEED_MODE_UNIT_MIN"), gPlaneModal.format(18));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ var usesPrimarySpindle = false;
+ var usesSecondarySpindle = false;
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var section = getSection(i);
+ if (section.getType() != TYPE_TURNING) {
+ continue;
+ }
+ switch (section.spindle) {
+ case SPINDLE_PRIMARY:
+ usesPrimarySpindle = true;
+ break;
+ case SPINDLE_SECONDARY:
+ usesSecondarySpindle = true;
+ break;
+ }
+ }
+ if (usesPrimarySpindle) {
+ writeBlock(gFormat.format(50), sOutput.format(properties.maximumSpindleSpeed));
+ sOutput.reset();
+ }
+ if (gotSecondarySpindle) {
+ if (usesSecondarySpindle) {
+ writeBlock(gFormat.format(50), pOutput.format(properties.maximumSpindleSpeed));
+ pOutput.reset();
+ }
+ }
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+}
+
+function onComment(message) {
+ writeComment(message);
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceFeed();
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+ var feedPerRev = currentSection.feedMode == FEED_PER_REVOLUTION;
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var finishFeedrateRel;
+ if (hasParameter("operation:finishFeedrateRel")) {
+ finishFeedrateRel = getParameter("operation:finishFeedrateRel");
+ } else if (hasParameter("operation:finishFeedratePerRevolution")) {
+ finishFeedrateRel = getParameter("operation:finishFeedratePerRevolution");
+ }
+ var feedContext = new FeedContext(id, localize("Finish"), feedPerRev ? finishFeedrateRel : getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), feedPerRev ? getParameter("operation:tool_feedEntryRel") : getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), feedPerRev ? getParameter("operation:tool_feedExitRel") : getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), feedPerRev ? getParameter("operation:noEngagementFeedrateRel") : getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(
+ id,
+ localize("Direct"),
+ Math.max(
+ feedPerRev ? getParameter("operation:tool_feedCuttingRel") : getParameter("operation:tool_feedCutting"),
+ feedPerRev ? getParameter("operation:tool_feedEntryRel") : getParameter("operation:tool_feedEntry"),
+ feedPerRev ? getParameter("operation:tool_feedExitRel") : getParameter("operation:tool_feedExit")
+ )
+ );
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), feedPerRev ? getParameter("operation:reducedFeedrateRel") : getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), feedPerRev ? getParameter("operation:tool_feedRampRel") : getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), feedPerRev ? getParameter("operation:tool_feedPlungeRel") : getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+function getSpindle() {
+ if (getNumberOfSections() == 0) {
+ return SPINDLE_PRIMARY;
+ }
+ if (getCurrentSectionId() < 0) {
+ return getSection(getNumberOfSections() - 1).spindle == 0;
+ }
+ if (currentSection.getType() == TYPE_TURNING) {
+ return currentSection.spindle;
+ } else {
+ if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1))) {
+ return SPINDLE_PRIMARY;
+ } else if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
+ if (!gotSecondarySpindle) {
+ error(localize("Secondary spindle is not available."));
+ }
+ return SPINDLE_SECONDARY;
+ } else {
+ return SPINDLE_PRIMARY;
+ }
+ }
+}
+
+function ToolingData(_tool) {
+ switch (_tool.turret) {
+ // Positional Turret
+ case 0:
+ this.tooling = TURRET;
+ this.toolPost = REAR;
+ break;
+ // QCTP X-
+ case 101:
+ this.tooling = QCTP;
+ this.toolPost = FRONT;
+ break;
+ // QCTP X+
+ case 102:
+ this.tooling = QCTP;
+ this.toolPost = REAR;
+ break;
+ // Gang Tooling X-
+ case 103:
+ this.tooling = GANG;
+ this.toolPost = FRONT;
+ break;
+ // Gang Tooling X+
+ case 104:
+ this.tooling = GANG;
+ this.toolPost = REAR;
+ break;
+ default:
+ error(localize("Turret number must be 0 (main turret), 101 (QCTP X-), 102 (QCTP X+, 103 (gang tooling X-), or 104 (gang tooling X+)."));
+ break;
+ }
+ this.number = _tool.number;
+ this.comment = _tool.comment;
+ this.toolLength = _tool.bodyLength;
+ // HSMWorks returns 0 in tool.bodyLength
+ if ((tool.bodyLength == 0) && hasParameter("operation:tool_bodyLength")) {
+ this.toolLength = getParameter("operation:tool_bodyLength");
+ }
+}
+
+function onSection() {
+ if (currentSection.getType() != TYPE_TURNING) {
+ if (!hasParameter("operation-strategy") || (getParameter("operation-strategy") != "drill")) {
+ if (currentSection.getType() == TYPE_MILLING) {
+ error(localize("Milling toolpath is not supported."));
+ } else {
+ error(localize("Non-turning toolpath is not supported."));
+ }
+ return;
+ }
+ }
+
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var turning = (currentSection.getType() == TYPE_TURNING);
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number) ||
+ (tool.compensationOffset != getPreviousSection().getTool().compensationOffset) ||
+ (tool.diameterOffset != getPreviousSection().getTool().diameterOffset) ||
+ (tool.lengthOffset != getPreviousSection().getTool().lengthOffset);
+
+ var retracted = false; // specifies that the tool has been retracted to the safe plane
+ var newSpindle = isFirstSection() ||
+ (getPreviousSection().spindle != currentSection.spindle);
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
+
+ // determine which tooling holder is used
+ if (!isFirstSection()) {
+ previousToolingData = toolingData;
+ }
+ toolingData = new ToolingData(tool);
+ toolingData.operationComment = "";
+ if (hasParameter("operation-comment")) {
+ toolingData.operationComment = getParameter("operation-comment");
+ }
+ toolingData.toolChange = insertToolCall;
+ if (isFirstSection()) {
+ previousToolingData = toolingData;
+ }
+
+ // turning using front tool post
+ if (toolingData.toolPost == FRONT) {
+ xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-2});
+ xOutput = createVariable({prefix:"X"}, xFormat);
+ iFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:-1}); // radius mode
+ iOutput = createReferenceVariable({prefix:"I"}, iFormat);
+
+ // turning using rear tool post
+ } else {
+ xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:2});
+ xOutput = createVariable({prefix:"X"}, xFormat);
+ iFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, scale:1}); // radius mode
+ iOutput = createReferenceVariable({prefix:"I"}, iFormat);
+ }
+
+ if (insertToolCall || newSpindle || newWorkOffset || newWorkPlane) {
+
+ // retract to safe plane
+ retracted = true;
+ if (!isFirstSection() && insertToolCall) {
+ onCommand(COMMAND_COOLANT_OFF);
+ }
+ //writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + zFormat.format(properties.g53HomePositionZ)); // retract
+ //zOutput.reset();
+ writeBlock(gFormat.format(53), gMotionModal.format(0), "X" + xFormat.format(properties.g53HomePositionX)); // retract
+ xOutput.reset();
+ }
+
+ writeln("");
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ retracted = true;
+ gFeedModeModal.reset();
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (tool.number > 99) {
+ warning(localize("Tool number exceeds maximum value."));
+ }
+
+ if ((toolingData.tooling == QCTP) || tool.getManualToolChange()) {
+ var comment = formatComment(localize("CHANGE TO T") + tool.number + " " + localize("ON") + " " +
+ localize((toolingData.toolPost == REAR) ? "REAR TOOL POST" : "FRONT TOOL POST"));
+ writeBlock(mFormat.format(0), comment);
+ }
+
+ var compensationOffset = tool.isTurningTool() ? tool.compensationOffset : tool.lengthOffset;
+ if (compensationOffset > 99) {
+ error(localize("Compensation offset is out of range."));
+ return;
+ }
+ writeBlock("T" + toolFormat.format(tool.number * 100 + compensationOffset));
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ if (tool.manualToolChange || properties.manualToolChange) {
+ onCommand(COMMAND_STOP);
+ writeComment("MANUAL TOOL CHANGE TO T" + toolFormat.format(tool.number * 100 + compensationOffset));
+ }
+ }
+
+ if (newSpindle) {
+ // select spindle if required
+ }
+
+ // see page 138 in 96-8700an for stock transfer / G199/G198
+ if (currentSection.feedMode == FEED_PER_REVOLUTION) {
+ writeBlock(getCode("FEED_MODE_UNIT_REV"));
+ } else {
+ writeBlock(getCode("FEED_MODE_UNIT_MIN"));
+ }
+
+ if (insertToolCall ||
+ newSpindle ||
+ isFirstSection() ||
+ (isSpindleSpeedDifferent())) {
+
+ if (!turning) {
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 3000) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ }
+
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY: // main spindle
+ if (properties.useTailStock) {
+ if (gotTailStock) {
+ writeBlock(getCode(currentSection.tailstock ? "TAILSTOCK_ON" : "TAILSTOCK_OFF"));
+ }
+ // writeBlock(mFormat.format(clampPrimaryChuck ? 10 : 11));
+ // writeBlock(mFormat.format(clampSecondaryChuck ? 110 : 111));
+ }
+ break;
+ case SPINDLE_SECONDARY: // sub spindle
+ if (!gotSecondarySpindle) {
+ error(localize("Secondary spindle is not available."));
+ return;
+ }
+ if (properties.useTailStock) {
+ // use could also swap spindles using G14/G15
+ if (gotTailStock && currentSection.tailstock) {
+ error(localize("Tail stock is not supported for secondary spindle."));
+ return;
+ // writeBlock(getCode(currentSection.tailstock ? "TAILSTOCK_ON" : "TAILSTOCK_OFF"));
+ }
+ // writeBlock(mFormat.format(clampPrimaryChuck ? 10 : 11));
+ // writeBlock(mFormat.format(clampSecondaryChuck ? 110 : 111));
+ }
+ break;
+ }
+ startSpindle(false, true, getFramePosition(currentSection.getInitialPosition()));
+ }
+
+ // wcs
+ if (insertToolCall) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var code = workOffset - 6;
+ if (code > 99) {
+ error(localize("Work offset out of range."));
+ return;
+ }
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(154), "P" + code);
+ currentWorkOffset = workOffset;
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ forceAny();
+ gMotionModal.reset();
+
+ setRotation(currentSection.workPlane);
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted) {
+ // TAG: need to retract along X or Z
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ }
+ }
+
+ if (insertToolCall || tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y), zOutput.format(initialPosition.z)
+ );
+ gMotionModal.reset();
+ }
+
+ // enable SFM spindle speed
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ startSpindle(false, false);
+ }
+
+ if (currentSection.partCatcher) {
+ engagePartCatcher(true);
+ }
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ if (insertToolCall || retracted) {
+ gPlaneModal.reset();
+ }
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ milliseconds = clamp(1, seconds * 1000, 99999999);
+ writeBlock(/*gFeedModeModal.format(94),*/ gFormat.format(4), "P" + milliFormat.format(milliseconds));
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+var resetFeed = false;
+
+function getHighfeedrate(radius) {
+ if (currentSection.feedMode == FEED_PER_REVOLUTION) {
+ var rpm = spindleSpeed; // rev/min
+ if (currentSection.getTool().getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ var O = 2 * Math.PI * radius; // in/rev
+ rpm = tool.surfaceSpeed / O; // in/min div in/rev => rev/min
+ }
+ return highFeedrate / rpm; // in/min div rev/min => in/rev
+ }
+ return highFeedrate;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ var useG1 = ((x ? 1 : 0) + (y ? 1 : 0) + (z ? 1 : 0)) > 1 && !isCannedCycle;
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ if (useG1) {
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, getFeed(getHighfeedrate(_x)));
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, getFeed(getHighfeedrate(_x)));
+ break;
+ default:
+ writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, getFeed(getHighfeedrate(_x)));
+ }
+ } else {
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ writeBlock(gMotionModal.format(0), gFormat.format(41), x, y, z);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ writeBlock(gMotionModal.format(0), gFormat.format(42), x, y, z);
+ break;
+ default:
+ writeBlock(gMotionModal.format(0), gFormat.format(40), x, y, z);
+ }
+ }
+ }
+ if (useG1) {
+ // axes are not synchronized
+ writeBlock(gMotionModal.format(1), x, y, z, getFeed(getHighfeedrate(_x)));
+ } else {
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+ resetFeed = false;
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ if (isSpeedFeedSynchronizationActive()) {
+ resetFeed = true;
+ var threadPitch = getParameter("operation:threadPitch");
+ var threadsPerInch = 1.0 / threadPitch; // per mm for metric
+ writeBlock(gMotionModal.format(32), xOutput.format(_x), yOutput.format(_y), zOutput.format(_z), pitchOutput.format(1 / threadsPerInch));
+ return;
+ }
+ if (resetFeed) {
+ resetFeed = false;
+ forceFeed();
+ }
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ writeBlock(gPlaneModal.format(18));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(41), x, y, z, f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(42), x, y, z, f);
+ break;
+ default:
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(isSpeedFeedSynchronizationActive() ? 32 : 1), f);
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (isSpeedFeedSynchronizationActive()) {
+ error(localize("Speed-feed synchronization is not supported for circular moves."));
+ return;
+ }
+
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+ var directionCode = (toolingData.toolPost == REAR) ? (clockwise ? 2 : 3) : (clockwise ? 3 : 2);
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(directionCode), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(directionCode), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(directionCode), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gMotionModal.format(directionCode), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ }
+}
+
+function onCycle() {
+}
+
+var saveShowSequenceNumbers = true;
+var xyzFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true});
+var pathBlockNumber = {start: 0, end: 0};
+var isCannedCycle = false;
+
+function onCyclePath() {
+ saveShowSequenceNumbers = properties.showSequenceNumbers;
+ isCannedCycle = true;
+ // buffer all paths and stop feeds being output
+ feedOutput.disable();
+ properties.showSequenceNumbers = false;
+ redirectToBuffer();
+ gMotionModal.reset();
+ if ((hasParameter("operation:grooving") && getParameter("operation:grooving").toUpperCase() != "OFF")) {
+ forceXYZ();
+ }
+}
+
+function onCyclePathEnd() {
+ properties.showSequenceNumbers = saveShowSequenceNumbers; // reset property to initial state
+ feedOutput.enable();
+ var cyclePath = String(getRedirectionBuffer()).split(EOL); // get cycle path from buffer
+ closeRedirection();
+ for (line in cyclePath) { // remove empty elements
+ if (cyclePath[line] == "") {
+ cyclePath.splice(line);
+ }
+ }
+
+ var verticalPasses;
+ if (cycle.profileRoughingCycle == 0) {
+ verticalPasses = false;
+ } else if (cycle.profileRoughingCycle == 1) {
+ verticalPasses = true;
+ } else {
+ error(localize("Unsupported passes type."));
+ return;
+ }
+ // output cycle data
+ switch (cycleType) {
+ case "turning-canned-rough":
+ writeBlock(gFormat.format(verticalPasses ? 72 : 71),
+ "P" + (getStartEndSequenceNumber(cyclePath, true)),
+ "Q" + (getStartEndSequenceNumber(cyclePath, false)),
+ "U" + xFormat.format(cycle.xStockToLeave),
+ "W" + xyzFormat.format(cycle.zStockToLeave),
+ "D" + xyzFormat.format(cycle.depthOfCut),
+ getFeed(cycle.cutfeedrate)
+ );
+ break;
+ default:
+ error(localize("Unsupported turning canned cycle."));
+ }
+
+ for (var i = 0; i < cyclePath.length; ++i) {
+ if (i == 0 || i == (cyclePath.length - 1)) { // write sequence number on first and last line of the cycle path
+ properties.showSequenceNumbers = true;
+ if ((i == 0 && pathBlockNumber.start != sequenceNumber) || (i == (cyclePath.length - 1) && pathBlockNumber.end != sequenceNumber)) {
+ error(localize("Mismatch of start/end block number in turning canned cycle."));
+ return;
+ }
+ }
+ writeBlock(cyclePath[i]); // output cycle path
+ properties.showSequenceNumbers = saveShowSequenceNumbers; // reset property to initial state
+ isCannedCycle = false;
+ }
+}
+
+function getStartEndSequenceNumber(cyclePath, start) {
+ if (start) {
+ pathBlockNumber.start = sequenceNumber + conditional(saveShowSequenceNumbers, properties.sequenceNumberIncrement);
+ return pathBlockNumber.start;
+ } else {
+ pathBlockNumber.end = sequenceNumber + properties.sequenceNumberIncrement + conditional(saveShowSequenceNumbers, (cyclePath.length - 1) * properties.sequenceNumberIncrement);
+ return pathBlockNumber.end;
+ }
+}
+
+function getCommonCycle(x, y, z, r) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + spatialFormat.format(r)];
+}
+
+function onCyclePoint(x, y, z) {
+ if (!properties.useCycles || currentSection.isMultiAxis()) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+
+ if (isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) ||
+ isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, -1))) {
+ gPlaneModal.format(17); // 2-axis lathes typically don't use G17
+ } else {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+
+ switch (cycleType) {
+ case "thread-turning":
+ var inverted = (toolingData.toolPost == REAR) ? 1 : -1;
+ var i = -cycle.incrementalX * inverted; // positive if taper goes down - delta radius
+ var threadsPerInch = 1.0 / cycle.pitch; // per mm for metric
+ var f = 1 / threadsPerInch;
+ // writeBlock(mFormat.format(23)); // chamfer/fade on - fading is default behavior
+ writeBlock(gMotionModal.format(92), xOutput.format(x - cycle.incrementalX), yOutput.format(y), zOutput.format(z), conditional(zFormat.isSignificant(i), g92IOutput.format(i)), pitchOutput.format(f));
+ // writeBlock(mFormat.format(24)); // chamfer/fade off
+ forceFeed();
+ return;
+ }
+
+ if (isFirstCyclePoint()) {
+ repositionToCycleClearance(cycle, x, y, z);
+
+ var F = cycle.feedrate;
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ case "deep-drilling":
+ // either use Q or I,J,K
+ writeBlock(
+ gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract),
+ "Q" + spatialFormat.format(cycle.incrementalDepth),
+ // conditional(cycle.incrementalDepthReduction > 0, "J" + spatialFormat.format(cycle.incrementalDepthReduction)),
+ // conditional(cycle.minimumIncrementalDepth > 0, "K" + spatialFormat.format(cycle.minimumIncrementalDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)),
+ feedOutput.format(F)
+ );
+ break;
+ case "tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ writeBlock(
+ gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 184 : 84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "left-tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ writeBlock(
+ gCycleModal.format(184),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "right-tapping":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ writeBlock(
+ gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ F = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ writeBlock(
+ gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 184 : 84)),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ "Q" + spatialFormat.format(cycle.incrementalDepth),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "fine-boring":
+ writeBlock(
+ gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + spatialFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ break;
+ case "reaming":
+ if (P > 0) {
+ writeBlock(
+ gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P),
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "boring":
+ if (P > 0) {
+ writeBlock(
+ gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ default:
+ expandCyclePoint(x, y, z);
+ }
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (!_x && !_y && !_z) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ xOutput.reset(); // at least one axis is required
+ _x = xOutput.format(x);
+ break;
+ case 18: // ZX
+ zOutput.reset(); // at least one axis is required
+ _z = zOutput.format(z);
+ break;
+ case 19: // YZ
+ yOutput.reset(); // at least one axis is required
+ _y = yOutput.format(y);
+ break;
+ }
+ }
+ writeBlock(_x, _y, _z);
+ }
+ }
+}
+
+function onCycleEnd() {
+ if (!cycleExpanded) {
+ switch (cycleType) {
+ case "thread-turning":
+ forceFeed();
+ xOutput.reset();
+ zOutput.reset();
+ g92IOutput.reset();
+ break;
+ default:
+ writeBlock(gCycleModal.format(80));
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+
+function setCoolant(coolant) {
+ if (coolant == currentCoolantMode) {
+ return; // coolant is already active
+ }
+
+ var m = undefined;
+ if (coolant == COOLANT_OFF) {
+ if (currentCoolantMode == COOLANT_THROUGH_TOOL) {
+ writeBlock(getCode("COOLANT_THROUGH_TOOL_OFF"));
+ } else if (currentCoolantMode == COOLANT_AIR) {
+ writeBlock(getCode("COOLANT_AIR_OFF"));
+ } else {
+ writeBlock(getCode("COOLANT_OFF"));
+ }
+ currentCoolantMode = COOLANT_OFF;
+ return;
+ }
+
+ switch (coolant) {
+ case COOLANT_FLOOD:
+ m = getCode("COOLANT_FLOOD_ON");
+ break;
+ case COOLANT_THROUGH_TOOL:
+ m = getCode("COOLANT_THROUGH_TOOL_ON");
+ break;
+ case COOLANT_AIR:
+ m = getCode("COOLANT_AIR_ON");
+ break;
+ default:
+ onUnsupportedCoolant(coolant);
+ m = getCode("COOLANT_OFF");
+ }
+
+ if (m) {
+ writeBlock(m);
+ currentCoolantMode = coolant;
+ }
+}
+
+function isSpindleSpeedDifferent() {
+ if (isFirstSection()) {
+ return true;
+ }
+ if (getPreviousSection().getTool().clockwise != tool.clockwise) {
+ return true;
+ }
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ if ((getPreviousSection().getTool().getSpindleMode() != SPINDLE_CONSTANT_SURFACE_SPEED) ||
+ rpmFormat.areDifferent(getPreviousSection().getTool().surfaceSpeed, tool.surfaceSpeed)) {
+ return true;
+ }
+ } else {
+ if ((getPreviousSection().getTool().getSpindleMode() != SPINDLE_CONSTANT_SPINDLE_SPEED) ||
+ rpmFormat.areDifferent(getPreviousSection().getTool().spindleRPM, spindleSpeed)) {
+ return true;
+ }
+ }
+ return false;
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ if ((sOutput.getCurrent() != Number.POSITIVE_INFINITY) && rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) { // avoid redundant output of spindle speed
+ startSpindle(false, false, getFramePosition(currentSection.getInitialPosition()), spindleSpeed);
+ }
+ if ((pOutput.getCurrent() != Number.POSITIVE_INFINITY) && rpmFormat.areDifferent(spindleSpeed, pOutput.getCurrent())) { // avoid redundant output of spindle speed
+ startSpindle(false, false, getFramePosition(currentSection.getInitialPosition()), spindleSpeed);
+ }
+}
+
+function startSpindle(tappingMode, forceRPMMode, initialPosition, rpm) {
+ var spindleDir;
+ var spindleMode;
+ var _spindleSpeed = spindleSpeed;
+ if (rpm !== undefined) {
+ _spindleSpeed = rpm;
+ }
+
+ gSpindleModeModal.reset();
+
+ if ((getSpindle() == SPINDLE_SECONDARY) && !gotSecondarySpindle) {
+ error(localize("Secondary spindle is not available."));
+ return;
+ }
+
+ if (false /*tappingMode*/) {
+ spindleDir = getCode("RIGID_TAPPING");
+ } else {
+ if (getSpindle() == SPINDLE_SECONDARY) {
+ spindleDir = tool.clockwise ? getCode("START_SUB_SPINDLE_CW") : getCode("START_SUB_SPINDLE_CCW");
+ } else {
+ spindleDir = tool.clockwise ? getCode("START_MAIN_SPINDLE_CW") : getCode("START_MAIN_SPINDLE_CCW");
+ }
+ }
+
+ var maximumSpindleSpeed = (tool.maximumSpindleSpeed > 0) ? Math.min(tool.maximumSpindleSpeed, properties.maximumSpindleSpeed) : properties.maximumSpindleSpeed;
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ _spindleSpeed = tool.surfaceSpeed * ((unit == MM) ? 1 / 1000.0 : 1 / 12.0);
+ if (forceRPMMode) { // RPM mode is forced until move to initial position
+ if (xFormat.getResultingValue(initialPosition.x) == 0) {
+ _spindleSpeed = maximumSpindleSpeed;
+ } else {
+ _spindleSpeed = Math.min((_spindleSpeed * ((unit == MM) ? 1000.0 : 12.0) / (Math.PI * Math.abs(initialPosition.x * 2))), maximumSpindleSpeed);
+ }
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_OFF");
+ } else {
+ writeBlock(gFormat.format(50), sOutput.format(maximumSpindleSpeed));
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_ON");
+ }
+ } else {
+ spindleMode = getCode("CONSTANT_SURFACE_SPEED_OFF");
+ }
+ if (getSpindle(true) == SPINDLE_SECONDARY) {
+ writeBlock(
+ spindleMode,
+ pOutput.format(_spindleSpeed),
+ spindleDir
+ );
+ } else {
+ writeBlock(
+ spindleMode,
+ sOutput.format(_spindleSpeed),
+ spindleDir
+ );
+ }
+ // wait for spindle here if required
+}
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ break;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ break;
+ case COMMAND_LOCK_MULTI_AXIS:
+ writeBlock(mFormat.format((getSpindle() == 0) ? 14 : 114));
+ break;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ writeBlock(mFormat.format((getSpindle() == 0) ? 15 : 115));
+ break;
+ case COMMAND_START_CHIP_TRANSPORT:
+ if (properties.gotChipConveyor) {
+ writeBlock(mFormat.format(31));
+ }
+ break;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ if (properties.gotChipConveyor) {
+ writeBlock(mFormat.format(33));
+ }
+ break;
+ case COMMAND_OPEN_DOOR:
+ if (gotDoorControl) {
+ writeBlock(mFormat.format(85)); // optional
+ }
+ break;
+ case COMMAND_CLOSE_DOOR:
+ if (gotDoorControl) {
+ writeBlock(mFormat.format(86)); // optional
+ }
+ break;
+ case COMMAND_BREAK_CONTROL:
+ break;
+ case COMMAND_TOOL_MEASURE:
+ break;
+ case COMMAND_ACTIVATE_SPEED_FEED_SYNCHRONIZATION:
+ break;
+ case COMMAND_DEACTIVATE_SPEED_FEED_SYNCHRONIZATION:
+ break;
+
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ break;
+ case COMMAND_OPTIONAL_STOP:
+ writeBlock(mFormat.format(1));
+ break;
+ case COMMAND_END:
+ writeBlock(mFormat.format(2));
+ break;
+ case COMMAND_SPINDLE_CLOCKWISE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(3));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(143));
+ break;
+ }
+ break;
+ case COMMAND_SPINDLE_COUNTERCLOCKWISE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(4));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(144));
+ break;
+ }
+ break;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_STOP_SPINDLE:
+ switch (currentSection.spindle) {
+ case SPINDLE_PRIMARY:
+ writeBlock(mFormat.format(5));
+ break;
+ case SPINDLE_SECONDARY:
+ writeBlock(mFormat.format(145));
+ break;
+ }
+ break;
+ case COMMAND_ORIENTATE_SPINDLE:
+ if (getSpindle() == 0) {
+ writeBlock(mFormat.format(19)); // use P or R to set angle (optional)
+ } else {
+ writeBlock(mFormat.format(119));
+ }
+ break;
+ //case COMMAND_CLAMP: // add support for clamping
+ //case COMMAND_UNCLAMP: // add support for clamping
+ default:
+ onUnsupportedCommand(command);
+ }
+}
+
+function engagePartCatcher(engage) {
+ if (engage) {
+ // catch part here
+ writeBlock(getCode("PART_CATCHER_ON"), formatComment(localize("PART CATCHER ON")));
+ } else {
+ onCommand(COMMAND_COOLANT_OFF);
+ writeBlock(gFormat.format(53), gMotionModal.format(0), "X" + xFormat.format(properties.g53HomePositionX)); // retract
+ writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + zFormat.format(properties.g53HomePositionZ)); // retract
+ writeBlock(getCode("PART_CATCHER_OFF"), formatComment(localize("PART CATCHER OFF")));
+ forceXYZ();
+ }
+}
+
+function onSectionEnd() {
+
+ // cancel SFM mode to preserve spindle speed
+ if (tool.getSpindleMode() == SPINDLE_CONSTANT_SURFACE_SPEED) {
+ startSpindle(false, true, getFramePosition(currentSection.getFinalPosition()));
+ }
+
+ if (currentSection.partCatcher) {
+ engagePartCatcher(false);
+ }
+
+ forceAny();
+}
+
+function onClose() {
+ writeln("");
+
+ optionalSection = false;
+
+ onCommand(COMMAND_COOLANT_OFF);
+
+ if (properties.gotChipConveyor) {
+ onCommand(COMMAND_STOP_CHIP_TRANSPORT);
+ }
+
+ // we might want to retract in Z before X
+ writeBlock(gFormat.format(53), gMotionModal.format(0), "X" + xFormat.format(properties.g53HomePositionX)); // retract
+ xOutput.reset();
+ writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + zFormat.format(properties.g53HomePositionZ)); // retract
+ zOutput.reset();
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ writeln("%");
+}
diff --git a/resources/workshop/.inc/saturn/mc/vm3/post.cps b/resources/workshop/.inc/saturn/mc/vm3/post.cps
new file mode 100644
index 000000000..6cadb8704
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/vm3/post.cps
@@ -0,0 +1,3085 @@
+/**
+ Copyright (C) 2012-2019 by Autodesk, Inc.
+ All rights reserved.
+
+ HAAS post processor configuration.
+
+ $Revision: 42601 95324a72443c22406fe893c91f874e4f0971d5c4 $
+ $Date: 2019-12-03 22:35:42 $
+
+ FORKID {241E0993-8BE0-463b-8888-47968B9D7F9F}
+*/
+
+description = "HAAS (pre-NGC)";
+vendor = "Haas Automation";
+vendorUrl = "https://www.haascnc.com";
+legal = "Copyright (C) 2012-2019 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic post for use with all common 3-axis HAAS mills like the DM, VF, Office Mill, and Mini Mill series. This post is for the pre-Next Generation Control. By default positioning moves will be output as high feed G1s instead of G0s. You can turn on the property 'useG0' to force G0s but be careful as the CNC will follow a dogleg path rather than a direct path.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_MILLING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(355);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+allowSpiralMoves = true;
+highFeedrate = (unit == IN) ? 500 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: true, // write machine
+ writeTools: true, // writes the tools
+ writeVersion: false, // include version info
+ preloadTool: true, // preloads next tool on tool change if any
+ chipTransport: false, // turn on chip transport at start of program
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 5, // increment for sequence numbers
+ sequenceNumberOnlyOnToolChange: false, // only output sequence numbers on tool change
+ optionalStop: true, // optional stop
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output
+ useG0: false, // allow G0 when moving along more than one axis
+ useG28: false, // specifies that G28 should be used instead of G53
+ useSubroutines: false, // specifies that subroutines should be generated
+ useSubroutinePatterns: false, // generates subroutines for patterned operation
+ useSubroutineCycles: false, // generates subroutines for cycle operations on same holes
+ useG187: false, // use G187 to set smoothing on the machine
+ homePositionCenter: true, // moves the part in X in center of the door at end of program (ONLY WORKS IF THE TABLE IS MOVING)
+ optionallyCycleToolsAtStart: false, // cycle through each tool used at the beginning of the program when block delete is turned off - this allows the operator to easily measure all tools before they are used for the first run of the program
+ optionallyMeasureToolsAtStart: false, // measure each tool used at the beginning of the program when block delete is turned off - this allows the operator to easily measure all tools before they are used for the first run of the program
+ toolBreakageTolerance: 0.1, // value for which tool break detection will raise an alarm
+ safeStartAllOperations: false, // write optional blocks at the beginning of all operations that include all commands to start program
+ fastToolChange: false, // skip spindle off, coolant off, and Z retract to make tool change quicker
+ useG95forTapping: false, // use IPR/MPR instead of IPM/MPM for tapping
+ useG73Retract: false, // use G73 Q K format for accumulated depth support
+ setting34: 1.0, // diameter used by control to calculate feed rates (INCH value)
+ useDPMFeeds: false // output DPM feeds instead of Inverse Time feeds
+};
+
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ writeVersion: {title:"Write version", description:"Write the version number in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", type:"boolean"},
+ chipTransport: {title:"Use chip transport", description:"Enable to turn on chip transport at start of program.", type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ sequenceNumberOnlyOnToolChange: {title:"Block number only on tool change", description:"Specifies that block numbers should only be output at tool changes.", type:"boolean"},
+ optionalStop: {title:"Optional stop", description:"Specifies that optional stops M1 should be output at tool changes.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are output using radius values rather than IJK.", type:"boolean"},
+ useParametricFeed: {title:"Parametric feed", description:"Parametric feed values based on movement type are output.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Enable to output notes for operations.", type:"boolean"},
+ useG0: {title:"Use G0", description:"Specifies that G0s should be used for rapid moves when moving along a single axis.", type:"boolean"},
+ useG28: {title:"Use G28 instead of G53", description:"Specifies that machine retracts should be done using G28 instead of G53.", type:"boolean"},
+ useSubroutines: {title:"Use subroutines", description:"Enables output of subroutines for each operation.", type:"boolean"},
+ useSubroutinePatterns: {title:"Subroutines for patterns", description:"Enable output of subroutines for patterns.", type:"boolean"},
+ useSubroutineCycles: {title:"Subroutines for cycles", description:"Enable output of subroutines for cycles.", type:"boolean"},
+ useG187: {title:"Use G187", description:"Specifies that smoothing using G187 should be used.", type:"boolean"},
+ homePositionCenter: {title:"Home position center", description:"Enable to center the part along X at the end of program for easy access. Requires a CNC with a moving table.", type:"boolean"},
+ optionallyCycleToolsAtStart: {title:"Optionally cycle tools at start", description:"Cycle through each tool used at the beginning of the program when block delete is turned off.", type:"boolean"},
+ optionallyMeasureToolsAtStart: {title:"Optionally measure tools at start", description:"Measure each tool used at the beginning of the program when block delete is turned off.", type:"boolean"},
+ toolBreakageTolerance: {title:"Tool breakage tolerance", description:"Specifies the tolerance for which tool break detection will raise an alarm.", type:"spatial"},
+ safeStartAllOperations: {title:"Safe start all operations", description:"Write optional blocks at the beginning of all operations that include all commands to start program.", type:"boolean"},
+ fastToolChange: {title:"Fast tool change", description:"Skip spindle off, coolant off, and Z retract to make tool change quicker.", type:"boolean"},
+ useG95forTapping: {title:"Use G95 for tapping", description:"use IPR/MPR instead of IPM/MPM for tapping", type:"boolean"},
+ useG73Retract: {title:"G73 cycles include accumulated depth", description:"Use G73 Q K format for accumulated depth support.", type:"boolean"},
+ setting34: {title:"Feed rate calculation diameter", description:"Defines the part diameter in inches that the control uses to calculate feed rates (Setting 34).", type:"spatial", range:[0.1, 9999.0]},
+ useDPMFeeds: {title:"Rotary moves use IPM feeds", description:"Enable to output IPM feeds, disable for Inverse Time feeds with rotary axes moves.", type:"boolean"}
+};
+
+var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
+// samples:
+// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
+// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
+var coolants = [
+ {id: COOLANT_FLOOD, on: 8},
+ {id: COOLANT_MIST},
+ {id: COOLANT_THROUGH_TOOL, on: 88, off: 89},
+ {id: COOLANT_AIR, on: 83, off: 84},
+ {id: COOLANT_AIR_THROUGH_TOOL, on: 73, off: 74},
+ {id: COOLANT_SUCTION},
+ {id: COOLANT_FLOOD_MIST},
+ {id: COOLANT_FLOOD_THROUGH_TOOL, on: [88, 8], off: [89, 9]},
+ {id: COOLANT_OFF, off: 9}
+];
+
+// old machines only support 4 digits
+var oFormat = createFormat({width:5, zeropad:true, decimals:0});
+var nFormat = createFormat({decimals:0});
+
+var gFormat = createFormat({prefix:"G", decimals:0});
+var mFormat = createFormat({prefix:"M", decimals:0});
+var hFormat = createFormat({prefix:"H", decimals:0});
+var dFormat = createFormat({prefix:"D", decimals:0});
+var probe154Format = createFormat({decimals:0, zeropad:true, width:2});
+
+var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var rFormat = xyzFormat; // radius
+var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
+var feedFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+
+var xOutput = createVariable({prefix:"X"}, xyzFormat);
+var yOutput = createVariable({prefix:"Y"}, xyzFormat);
+var zOutput = createVariable({onchange:function () {retracted = false;}, prefix:"Z"}, xyzFormat);
+var aOutput = createVariable({prefix:"A"}, abcFormat);
+var bOutput = createVariable({prefix:"B"}, abcFormat);
+var cOutput = createVariable({prefix:"C"}, abcFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var dOutput = createVariable({}, dFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
+var jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
+var kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({force:true}, gFormat); // modal group 10 // G98-99
+var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69
+
+// fixed settings
+var firstFeedParameter = 100; // the first variable to use with parametric feed
+var forceResetWorkPlane = false; // enable to force reset of machine ABC on new orientation
+var minimumCyclePoints = 5; // minimum number of points in cycle operation to consider for subprogram
+
+var WARNING_WORK_OFFSET = 0;
+
+var ANGLE_PROBE_NOT_SUPPORTED = 0;
+var ANGLE_PROBE_USE_ROTATION = 1;
+var ANGLE_PROBE_USE_CAXIS = 2;
+
+var SUB_UNKNOWN = 0;
+var SUB_PATTERN = 1;
+var SUB_CYCLE = 2;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var maximumCircularRadiiDifference = toPreciseUnit(0.005, MM);
+var maximumLineLength = 80; // the maximum number of charaters allowed in a line
+var g68RotationMode = 0;
+var angularProbingMode;
+var subprograms = [];
+var currentPattern = -1;
+var firstPattern = false;
+var currentSubprogram;
+var lastSubprogram;
+var initialSubprogramNumber = 90000;
+var definedPatterns = new Array();
+var incrementalMode = false;
+var saveShowSequenceNumbers;
+var cycleSubprogramIsActive = false;
+var patternIsActive = false;
+var lastOperationComment = "";
+var incrementalSubprogram;
+var retracted = false; // specifies that the tool has been retracted to the safe plane
+var measureTool = false;
+probeMultipleFeatures = true;
+
+// used to convert blocks to optional for safeStartAllOperations, might get used outside of onSection
+var operationNeedsSafeStart = false;
+var operationNeedsSafeToolCall = false;
+var operationNeedsSafeWorkOffset = false;
+var operationNeedsSafeWorkPlane = false;
+var operationNeedsSafeCoolant = false;
+
+/**
+ Writes the specified block.
+*/
+var skipBlock = false;
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ var maximumSequenceNumber = (properties.useSubroutines || properties.useSubroutinePatterns ||
+ properties.useSubroutineCycles) ? initialSubprogramNumber : 99999;
+ if (properties.showSequenceNumbers) {
+ if (sequenceNumber >= maximumSequenceNumber) {
+ sequenceNumber = properties.sequenceNumberStart;
+ }
+ if (optionalSection || skipBlock) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection || skipBlock) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+ skipBlock = false;
+}
+
+/**
+ Writes the specified block - used for tool changes only.
+*/
+function writeToolBlock() {
+ var show = properties.showSequenceNumbers;
+ properties.showSequenceNumbers = show || properties.sequenceNumberOnlyOnToolChange;
+ writeBlock(arguments);
+ properties.showSequenceNumbers = show;
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ skipBlock = true;
+ writeBlock(arguments);
+}
+
+function formatComment(text) {
+ return "(" + String(text).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text.substr(0, maximumLineLength - 2)));
+}
+
+/**
+ Returns the matching HAAS tool type for the tool.
+*/
+function getHaasToolType(toolType) {
+ switch (toolType) {
+ case TOOL_DRILL:
+ case TOOL_REAMER:
+ return 1; // drill
+ case TOOL_TAP_RIGHT_HAND:
+ case TOOL_TAP_LEFT_HAND:
+ return 2; // tap
+ case TOOL_MILLING_FACE:
+ case TOOL_MILLING_SLOT:
+ case TOOL_BORING_BAR:
+ return 3; // shell mill
+ case TOOL_MILLING_END_FLAT:
+ case TOOL_MILLING_END_BULLNOSE:
+ case TOOL_MILLING_TAPERED:
+ case TOOL_MILLING_DOVETAIL:
+ return 4; // end mill
+ case TOOL_DRILL_SPOT:
+ case TOOL_MILLING_CHAMFER:
+ case TOOL_DRILL_CENTER:
+ case TOOL_COUNTER_SINK:
+ case TOOL_COUNTER_BORE:
+ case TOOL_MILLING_THREAD:
+ case TOOL_MILLING_FORM:
+ return 5; // center drill
+ case TOOL_MILLING_END_BALL:
+ case TOOL_MILLING_LOLLIPOP:
+ return 6; // ball nose
+ case TOOL_PROBE:
+ return 7; // probe
+ default:
+ error(localize("Invalid HAAS tool type."));
+ return -1;
+ }
+}
+
+function getHaasProbingType(toolType, use9023) {
+ switch (getHaasToolType(toolType)) {
+ case 3:
+ case 4:
+ return (use9023 ? 23 : 1); // rotate
+ case 1:
+ case 2:
+ case 5:
+ case 6:
+ case 7:
+ return (use9023 ? 12 : 2); // non rotate
+ case 0:
+ return (use9023 ? 13 : 3); // rotate length and dia
+ default:
+ error(localize("Invalid HAAS tool type."));
+ return -1;
+ }
+}
+
+function writeToolCycleBlock(tool) {
+ writeOptionalBlock("T" + toolFormat.format(tool.number), mFormat.format(6)); // get tool
+ writeOptionalBlock(mFormat.format(0)); // wait for operator
+}
+
+function writeToolMeasureBlock(tool) {
+ var writeFunction = measureTool ? writeBlock : writeOptionalBlock;
+ var comment = measureTool ? formatComment("MEASURE TOOL") : "";
+ if (true) { // use Macro P9023 to measure tools
+ var probingType = getHaasProbingType(tool.type, true);
+ writeFunction(
+ gFormat.format(65),
+ "P9023",
+ "A" + probingType + ".",
+ "T" + toolFormat.format(tool.number),
+ conditional((probingType != 12), "H" + xyzFormat.format(tool.bodyLength + tool.holderLength)),
+ conditional((probingType != 12), "D" + xyzFormat.format(tool.diameter)),
+ comment
+ );
+ } else { // use Macro P9995 to measure tools
+ writeFunction("T" + toolFormat.format(tool.number), mFormat.format(6)); // get tool
+ writeFunction(
+ gFormat.format(65),
+ "P9995",
+ "A0.",
+ "B" + getHaasToolType(tool.type) + ".",
+ "C" + getHaasProbingType(tool.type, false) + ".",
+ "T" + toolFormat.format(tool.number),
+ "E" + xyzFormat.format(tool.bodyLength + tool.holderLength),
+ "D" + xyzFormat.format(tool.diameter),
+ "K" + xyzFormat.format(0.1),
+ "I0.",
+ comment
+ ); // probe tool
+ }
+ measureTool = false;
+}
+
+function onOpen() {
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+ if (properties.sequenceNumberOnlyOnToolChange) {
+ properties.showSequenceNumbers = false;
+ }
+
+ gRotationModal.format(69); // Default to G69 Rotation Off
+
+ if (false) { // note: setup your machine here
+ var aAxis = createAxis({coordinate:0, table:true, axis:[-1, 0, 0], range:[-30 - 0.0001, 120 + 0.0001], preference:1});
+ var bAxis = createAxis({coordinate:1, table:true, axis:[0, 0, 1], range:[-999.999, 999.999]});
+ machineConfiguration = new MachineConfiguration(aAxis, bAxis);
+
+ setMachineConfiguration(machineConfiguration);
+ optimizeMachineAngles2(1); // map tip mode
+ }
+
+ if (!machineConfiguration.isMachineCoordinate(0)) {
+ aOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(1)) {
+ bOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(2)) {
+ cOutput.disable();
+ }
+
+ if (highFeedrate <= 0) {
+ error(localize("You must set 'highFeedrate' because axes are not synchronized for rapid traversal."));
+ return;
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (!((programId >= 1) && (programId <= 99999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+ writeln(
+ "O" + oFormat.format(programId) +
+ conditional(programComment, " " + formatComment(programComment.substr(0, maximumLineLength - 2 - ("O" + oFormat.format(programId)).length - 1)))
+ );
+ lastSubprogram = (initialSubprogramNumber - 1);
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ if (properties.useG0) {
+ writeComment(localize("Using G0 which travels along dogleg path."));
+ } else {
+ writeComment(subst(localize("Using high feed G1 F%1 instead of G0."), feedFormat.format(highFeedrate)));
+ }
+
+ if (properties.writeVersion) {
+ if ((typeof getHeaderVersion == "function") && getHeaderVersion()) {
+ writeComment(localize("post version") + ": " + getHeaderVersion());
+ }
+ if ((typeof getHeaderDate == "function") && getHeaderDate()) {
+ writeComment(localize("post modified") + ": " + getHeaderDate());
+ }
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ }
+ }
+ }
+
+ // optionally cycle through all tools
+ if (properties.optionallyCycleToolsAtStart || properties.optionallyMeasureToolsAtStart) {
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ writeln("");
+
+ writeOptionalBlock(mFormat.format(0), formatComment(localize("Read note"))); // wait for operator
+ writeComment(localize("With BLOCK DELETE turned off each tool will cycle through"));
+ writeComment(localize("the spindle to verify that the correct tool is in the tool magazine"));
+ if (properties.optionallyMeasureToolsAtStart) {
+ writeComment(localize("and to automatically measure it"));
+ }
+ writeComment(localize("Once the tools are verified turn BLOCK DELETE on to skip verification"));
+
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ if (properties.optionallyMeasureToolsAtStart && (tool.type == TOOL_PROBE)) {
+ continue;
+ }
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ if (properties.optionallyMeasureToolsAtStart) {
+ writeToolMeasureBlock(tool);
+ } else {
+ writeToolCycleBlock(tool);
+ }
+ }
+ }
+ writeln("");
+ }
+
+ if (false /*properties.useDynamicWorkOffset*/) {
+ var failed = false;
+ var dynamicWCSs = {};
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var section = getSection(i);
+ var description = section.hasParameter("operation-comment") ? section.getParameter("operation-comment") : ("#" + (i + 1));
+ if (!section.hasDynamicWorkOffset()) {
+ error(subst(localize("Dynamic work offset has not been set for operation '%1'."), description));
+ failed = true;
+ }
+
+ var o = section.getDynamicWCSOrigin();
+ var p = section.getDynamicWCSPlane();
+ if (dynamicWCSs[section.getDynamicWorkOffset()]) {
+ if ((Vector.diff(o, dynamicWCSs[section.getDynamicWorkOffset()].origin).length > 1e-9) ||
+ (Matrix.diff(p, dynamicWCSs[section.getDynamicWorkOffset()].plane).n1 > 1e-9)) {
+ error(subst(localize("Dynamic WCS mismatch for operation '%1'."), description));
+ failed = true;
+ }
+ } else {
+ dynamicWCSs[section.getDynamicWorkOffset()] = {origin:o, plane:p};
+ }
+ }
+ if (failed) {
+ return;
+ }
+ }
+
+ if (false) {
+ // check for duplicate tool number
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var sectioni = getSection(i);
+ var tooli = sectioni.getTool();
+ for (var j = i + 1; j < getNumberOfSections(); ++j) {
+ var sectionj = getSection(j);
+ var toolj = sectionj.getTool();
+ if (tooli.number == toolj.number) {
+ if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
+ xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
+ abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
+ (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
+ error(
+ subst(
+ localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
+ sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
+ sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
+ )
+ );
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.chipTransport) {
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ }
+ // Probing Surface Inspection
+ if (typeof inspectionWriteVariables == "function") {
+ inspectionWriteVariables();
+ }
+}
+
+function onComment(message) {
+ writeComment(message);
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+/** Force output of A, B, and C. */
+function forceABC() {
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ previousDPMFeed = 0;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, A, B, C, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceABC();
+ forceFeed();
+}
+
+function writeG187() {
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill")) {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ } else if (hasParameter("operation:tolerance")) {
+ var tolerance = Math.max(getParameter("operation:tolerance"), 0);
+ if (tolerance > 0) {
+ var stockToLeaveThreshold = toUnit(0.1, MM);
+ var stockToLeave = 0;
+ var verticalStockToLeave = 0;
+ if (hasParameter("operation:stockToLeave")) {
+ stockToLeave = xyzFormat.getResultingValue(getParameter("operation:stockToLeave"));
+ }
+ if (hasParameter("operation:verticalStockToLeave")) {
+ verticalStockToLeave = xyzFormat.getResultingValue(getParameter("operation:verticalStockToLeave"));
+ }
+
+ var workMode;
+ if (((stockToLeave > stockToLeaveThreshold) && (verticalStockToLeave > stockToLeaveThreshold)) ||
+ (hasParameter("operation:strategy") && getParameter("operation:strategy") == "face")) {
+ workMode = 1; // roughing
+ } else {
+ // if ((stockToLeave != 0) || (verticalStockToLeave != 0)) {
+ if ((stockToLeave > 0) || (verticalStockToLeave > 0)) {
+ workMode = 2; // default
+ } else {
+ workMode = 3; // fine
+ }
+ }
+ writeBlock(gFormat.format(187), "P" + workMode); // set tolerance mode
+ // writeBlock(gFormat.format(187), "P" + workMode, "E" + xyzFormat.format(tolerance)); // set tolerance mode
+ } else {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ }
+ } else {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ }
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (useInverseTimeFeed) {
+ forceFeed();
+ }
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function defineWorkPlane(_section, _setWorkPlane) {
+ var abc = new Vector(0, 0, 0);
+ if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ // set working plane after datum shift
+
+ if (_section.isMultiAxis()) {
+ cancelTransformation();
+ abc = _section.getInitialToolAxisABC();
+ if (_setWorkPlane) {
+ if (!retracted) {
+ writeRetract(Z);
+ }
+ forceWorkPlane();
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+ } else {
+ abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane);
+ if (_setWorkPlane) {
+ setWorkPlane(abc);
+ }
+ }
+ } else { // pure 3D
+ var remaining = _section.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return abc;
+ }
+ setRotation(remaining);
+ }
+ return abc;
+}
+
+function setWorkPlane(abc) {
+ if (!machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
+ return; // no change
+ }
+
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+
+ gMotionModal.reset();
+ writeBlock(
+ operationNeedsSafeWorkPlane ? "/" : "",
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+
+ currentWorkPlaneABC = abc;
+}
+
+var closestABC = false; // choose closest machine angles
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var tcp = false;
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+
+ return abc;
+}
+
+function isProbeOperation() {
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+function isInspectionOperation(section) {
+ return section.hasParameter("operation-strategy") && (section.getParameter("operation-strategy") == "inspectSurface");
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = (value > 0) ? value : 1;
+ }
+}
+
+/** Returns true if the spatial vectors are significantly different. */
+function areSpatialVectorsDifferent(_vector1, _vector2) {
+ return (xyzFormat.getResultingValue(_vector1.x) != xyzFormat.getResultingValue(_vector2.x)) ||
+ (xyzFormat.getResultingValue(_vector1.y) != xyzFormat.getResultingValue(_vector2.y)) ||
+ (xyzFormat.getResultingValue(_vector1.z) != xyzFormat.getResultingValue(_vector2.z));
+}
+
+/** Returns true if the spatial boxes are a pure translation. */
+function areSpatialBoxesTranslated(_box1, _box2) {
+ return !areSpatialVectorsDifferent(Vector.diff(_box1[1], _box1[0]), Vector.diff(_box2[1], _box2[0])) &&
+ !areSpatialVectorsDifferent(Vector.diff(_box2[0], _box1[0]), Vector.diff(_box2[1], _box1[1]));
+}
+
+/** Returns true if the spatial boxes are same. */
+function areSpatialBoxesSame(_box1, _box2) {
+ return !areSpatialVectorsDifferent(_box1[0], _box2[0]) && !areSpatialVectorsDifferent(_box1[1], _box2[1]);
+}
+
+function subprogramDefine(_initialPosition, _abc, _retracted, _zIsOutput) {
+ // convert patterns into subprograms
+ var usePattern = false;
+ patternIsActive = false;
+ if (currentSection.isPatterned && currentSection.isPatterned() && properties.useSubroutinePatterns) {
+ currentPattern = currentSection.getPatternId();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_PATTERN) && (currentPattern == definedPatterns[i].patternId)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_PATTERN);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_PATTERN,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: _initialPosition
+ });
+ }
+
+ if (usePattern) {
+ // make sure Z-position is output prior to subprogram call
+ if (!_retracted && !_zIsOutput) {
+ writeBlock(gMotionModal.format(0), zOutput.format(_initialPosition.z));
+ }
+
+ // call subprogram
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ patternIsActive = true;
+
+ if (firstPattern) {
+ subprogramStart(_initialPosition, _abc, incrementalSubprogram);
+ } else {
+ skipRemainingSection();
+ setCurrentPosition(getFramePosition(currentSection.getFinalPosition()));
+ }
+ }
+ }
+
+ // Output cycle operation as subprogram
+ if (!usePattern && properties.useSubroutineCycles && currentSection.doesStrictCycle &&
+ (currentSection.getNumberOfCycles() == 1) && currentSection.getNumberOfCyclePoints() >= minimumCyclePoints) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ currentPattern = currentSection.getNumberOfCyclePoints();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_CYCLE) && (currentPattern == definedPatterns[i].patternId) &&
+ !areSpatialVectorsDifferent(_initialPosition, definedPatterns[i].initialPosition) &&
+ !areSpatialVectorsDifferent(finalPosition, definedPatterns[i].finalPosition)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_CYCLE);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_CYCLE,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: finalPosition
+ });
+ }
+ cycleSubprogramIsActive = usePattern;
+ }
+
+ // Output each operation as a subprogram
+ if (!usePattern && properties.useSubroutines) {
+ currentSubprogram = ++lastSubprogram;
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ firstPattern = true;
+ subprogramStart(_initialPosition, _abc, false);
+ }
+}
+
+function subprogramStart(_initialPosition, _abc, _incremental) {
+ redirectToBuffer();
+ var comment = "";
+ if (hasParameter("operation-comment")) {
+ comment = getParameter("operation-comment");
+ }
+ writeln(
+ "N" + nFormat.format(currentSubprogram) +
+ conditional(comment, formatComment(comment.substr(0, maximumLineLength - 2 - 6 - 1)))
+ );
+ saveShowSequenceNumbers = properties.showSequenceNumbers;
+ properties.showSequenceNumbers = false;
+ if (_incremental) {
+ setIncrementalMode(_initialPosition, _abc);
+ }
+ gPlaneModal.reset();
+ gMotionModal.reset();
+}
+
+function subprogramEnd() {
+ if (firstPattern) {
+ writeBlock(mFormat.format(99));
+ writeln("");
+ subprograms += getRedirectionBuffer();
+ }
+ forceAny();
+ firstPattern = false;
+ properties.showSequenceNumbers = saveShowSequenceNumbers;
+ closeRedirection();
+}
+
+function subprogramIsValid(_section, _patternId, _patternType) {
+ var sectionId = _section.getId();
+ var numberOfSections = getNumberOfSections();
+ var validSubprogram = _patternType != SUB_CYCLE;
+
+ var masterPosition = new Array();
+ masterPosition[0] = getFramePosition(_section.getInitialPosition());
+ masterPosition[1] = getFramePosition(_section.getFinalPosition());
+ var tempBox = _section.getBoundingBox();
+ var masterBox = new Array();
+ masterBox[0] = getFramePosition(tempBox[0]);
+ masterBox[1] = getFramePosition(tempBox[1]);
+
+ var rotation = getRotation();
+ var translation = getTranslation();
+ incrementalSubprogram = undefined;
+
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getId() != sectionId) {
+ defineWorkPlane(section, false);
+ // check for valid pattern
+ if (_patternType == SUB_PATTERN) {
+ if (section.getPatternId() == _patternId) {
+ var patternPosition = new Array();
+ patternPosition[0] = getFramePosition(section.getInitialPosition());
+ patternPosition[1] = getFramePosition(section.getFinalPosition());
+ tempBox = section.getBoundingBox();
+ var patternBox = new Array();
+ patternBox[0] = getFramePosition(tempBox[0]);
+ patternBox[1] = getFramePosition(tempBox[1]);
+
+ if (areSpatialBoxesSame(masterPosition, patternPosition) && areSpatialBoxesSame(masterBox, patternBox)) {
+ incrementalSubprogram = incrementalSubprogram ? incrementalSubprogram : false;
+ } else if (!areSpatialBoxesTranslated(masterPosition, patternPosition) || !areSpatialBoxesTranslated(masterBox, patternBox)) {
+ validSubprogram = false;
+ break;
+ } else {
+ incrementalSubprogram = true;
+ }
+ }
+
+ // check for valid cycle operation
+ } else if (_patternType == SUB_CYCLE) {
+ if ((section.getNumberOfCyclePoints() == _patternId) && (section.getNumberOfCycles() == 1)) {
+ var patternInitial = getFramePosition(section.getInitialPosition());
+ var patternFinal = getFramePosition(section.getFinalPosition());
+ if (!areSpatialVectorsDifferent(patternInitial, masterPosition[0]) && !areSpatialVectorsDifferent(patternFinal, masterPosition[1])) {
+ validSubprogram = true;
+ break;
+ }
+ }
+ }
+ }
+ }
+ setRotation(rotation);
+ setTranslation(translation);
+ return (validSubprogram);
+}
+
+function setAxisMode(_format, _output, _prefix, _value, _incr) {
+ var i = _output.isEnabled();
+ _output = _incr ? createIncrementalVariable({prefix: _prefix}, _format) : createVariable({prefix: _prefix}, _format);
+ _output.format(_value);
+ _output.format(_value);
+ i = i ? _output.enable() : _output.disable();
+ return _output;
+}
+
+function setIncrementalMode(xyz, abc) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, true);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, true);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, true);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, true);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, true);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, true);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(91));
+ incrementalMode = true;
+}
+
+function setAbsoluteMode(xyz, abc) {
+ if (incrementalMode) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, false);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, false);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, false);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, false);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, false);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, false);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(90));
+ incrementalMode = false;
+ }
+}
+
+function onSection() {
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number);
+
+ retracted = false;
+ var zIsOutput = false; // true if the Z-position has been output, used for patterns
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
+ (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
+ Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
+ (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
+ (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
+ getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
+
+ if (properties.safeStartAllOperations && !isFirstSection()) { // determine what needs to be included in safe start
+ if (!insertToolCall) { // tool call required
+ operationNeedsSafeToolCall = true;
+ forceSpindleSpeed = true;
+ }
+ if (!newWorkOffset) { // offset required
+ operationNeedsSafeWorkOffset = true;
+ }
+ if (!newWorkPlane) { // workplane required
+ operationNeedsSafeWorkPlane = true;
+ }
+ operationNeedsSafeStart = true; // operation will contain safe start components
+ }
+
+ if ((insertToolCall && !properties.fastToolChange) || newWorkOffset || newWorkPlane || toolChecked) {
+
+ // stop spindle before retract during tool change
+ if (insertToolCall && !isFirstSection() && !toolChecked && !properties.fastToolChange) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ }
+
+ // retract to safe plane
+ writeRetract(Z);
+ writeBlock(gAbsIncModal.format(90));
+ zOutput.reset();
+
+ if (forceResetWorkPlane && newWorkPlane) {
+ forceWorkPlane();
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+ }
+ }
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment && ((comment !== lastOperationComment) || !patternIsActive || insertToolCall)) {
+ writeln("");
+ writeComment(comment);
+ lastOperationComment = comment;
+ } else if (!patternIsActive || insertToolCall) {
+ writeln("");
+ }
+ } else {
+ writeln("");
+ }
+
+ if (operationNeedsSafeStart && !retracted) { // retract before safestart operations
+ skipBlock = true;
+ writeRetract(Z);
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall || operationNeedsSafeStart) {
+ forceWorkPlane();
+
+ if (properties.fastToolChange && !isProbeOperation()) {
+ currentCoolantMode = COOLANT_OFF;
+ } else if (!operationNeedsSafeToolCall) { // no coolant off command if safe start operation
+ onCommand(COMMAND_COOLANT_OFF);
+ }
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if ((tool.number > 200 && tool.number < 1000) || tool.number > 9999) {
+ warning(localize("Tool number out of range."));
+ }
+
+ skipBlock = operationNeedsSafeToolCall;
+ writeToolBlock(
+ "T" + toolFormat.format(tool.number),
+ mFormat.format(6)
+ );
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ if (measureTool) {
+ writeToolMeasureBlock(tool);
+ }
+ var showToolZMin = false;
+ if (showToolZMin) {
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ var zRange = currentSection.getGlobalZRange();
+ var number = tool.number;
+ for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getTool().number != number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+ writeComment(localize("ZMIN") + "=" + xyzFormat.format(zRange.getMinimum()));
+ }
+ }
+ }
+
+ // activate those two coolant modes before the spindle is turned on
+ if ((tool.coolant == COOLANT_THROUGH_TOOL) || (tool.coolant == COOLANT_AIR_THROUGH_TOOL) || (tool.coolant == COOLANT_FLOOD_THROUGH_TOOL)) {
+ if (!isFirstSection() && !insertToolCall && (currentCoolantMode != tool.coolant)) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ forceSpindleSpeed = true;
+ }
+ setCoolant(tool.coolant);
+ } else if ((currentCoolantMode == COOLANT_THROUGH_TOOL) || (currentCoolantMode == COOLANT_AIR_THROUGH_TOOL) || (currentCoolantMode == COOLANT_FLOOD_THROUGH_TOOL)) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ setCoolant(COOLANT_OFF);
+ forceSpindleSpeed = true;
+ }
+
+ if (toolChecked) {
+ forceSpindleSpeed = true; // spindle must be restarted if tool is checked without a tool change
+ toolChecked = false; // state of tool is not known at the beginning of a section since it could be broken for the previous section
+ }
+
+ if (!isInspectionOperation(currentSection) && !isProbeOperation() &&
+ (insertToolCall ||
+ forceSpindleSpeed ||
+ isFirstSection() ||
+ (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise))) {
+ forceSpindleSpeed = false;
+
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 99999) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ writeBlock(
+ sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
+ );
+ }
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") &&
+ !(useInverseTimeFeed && currentSection.isMultiAxis()) && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ // wcs
+ if (insertToolCall || operationNeedsSafeWorkOffset) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var code = workOffset - 6;
+ if (code > 99) {
+ error(localize("Work offset out of range."));
+ return;
+ }
+ if (workOffset != currentWorkOffset) {
+ forceWorkPlane();
+ writeBlock(gFormat.format(154), "P" + code);
+ currentWorkOffset = workOffset;
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ forceWorkPlane();
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ forceXYZ();
+
+ var abc = defineWorkPlane(currentSection, true);
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ forceAny();
+ gMotionModal.reset();
+
+ if (properties.useG187) {
+ writeG187();
+ }
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ zIsOutput = true;
+ }
+ }
+
+ if (insertToolCall || retracted || operationNeedsSafeStart) {
+ var lengthOffset = tool.lengthOffset;
+ if ((lengthOffset > 200 && lengthOffset < 1000) || lengthOffset > 9999) {
+ error(localize("Length offset out of range."));
+ return;
+ }
+
+ gMotionModal.reset();
+ writeBlock(gPlaneModal.format(17));
+
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
+ );
+ writeBlock(
+ gMotionModal.format(0),
+ gFormat.format(43),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ gFormat.format(43),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ }
+ zIsOutput = true;
+
+ gMotionModal.reset();
+ } else {
+ var x = xOutput.format(initialPosition.x);
+ var y = yOutput.format(initialPosition.y);
+ if (!properties.useG0 && x && y) {
+ // axes are not synchronized
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(1), x, y, getFeed(highFeedrate));
+ } else {
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(0), x, y);
+ }
+ }
+
+ if (insertToolCall) {
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ writeBlock("T" + toolFormat.format(nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ if (tool.number != firstToolNumber) {
+ writeBlock("T" + toolFormat.format(firstToolNumber));
+ }
+ }
+ }
+ }
+
+ if (isProbeOperation()) {
+ if (g68RotationMode != 0) {
+ error(localize("You cannot probe while G68 Rotation is in effect."));
+ return;
+ }
+ angularProbingMode = getAngularProbingMode();
+ writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
+ }
+ if (isInspectionOperation(currentSection) && (typeof inspectionProcessSectionStart == "function")) {
+ inspectionProcessSectionStart();
+ }
+ // define subprogram
+ subprogramDefine(initialPosition, abc, retracted, zIsOutput);
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ seconds = clamp(0.001, seconds, 99999.999);
+ writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(seconds * 1000));
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(sOutput.format(spindleSpeed));
+}
+
+function onCycle() {
+ writeBlock(gPlaneModal.format(17));
+}
+
+function getCommonCycle(x, y, z, r, c) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ if (incrementalMode) {
+ zOutput.format(c);
+ return [xOutput.format(x), yOutput.format(y),
+ "Z" + xyzFormat.format(z - r),
+ "R" + xyzFormat.format(r - c)];
+ } else {
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + xyzFormat.format(r)];
+ }
+}
+
+function setCyclePosition(_position) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ zOutput.format(_position);
+ break;
+ case 18: // ZX
+ yOutput.format(_position);
+ break;
+ case 19: // YZ
+ xOutput.format(_position);
+ break;
+ }
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+/**
+ Determine if angular probing is supported.
+*/
+function getAngularProbingMode() {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ if (machineConfiguration.isMachineCoordinate(2)) {
+ return (ANGLE_PROBE_USE_CAXIS);
+ } else {
+ return (ANGLE_PROBE_NOT_SUPPORTED);
+ }
+ } else {
+ return (ANGLE_PROBE_USE_ROTATION);
+ }
+}
+
+/**
+ Output rotation offset based on angular probing cycle.
+*/
+function setProbingAngle() {
+ if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
+ if (angularProbingMode == ANGLE_PROBE_USE_ROTATION) {
+ gRotationModal.reset();
+ gAbsIncModal.reset();
+ var xCode = (g68RotationMode == 1) ? "X0" : "X[#185]";
+ var yCode = (g68RotationMode == 1) ? "Y0" : "Y[#186]";
+ writeBlock(gRotationModal.format(68), gAbsIncModal.format(90), xCode, yCode, "R[#189]");
+ g68RotationMode = 3;
+ } else if (angularProbingMode == ANGLE_PROBE_USE_CAXIS) {
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 6) {
+ error(localize("Angle Probing only supports work offsets 1-6."));
+ return;
+ }
+ var param = 5200 + workOffset * 20 + 5;
+ writeBlock("#" + param + "=" + "#189");
+ g68RotationMode = 0;
+ } else {
+ error(localize("Angular Probing is not supported for this machine configuration."));
+ return;
+ }
+ }
+}
+
+function protectedProbeMove(_cycle, x, y, z) {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (_z && z >= getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+ if (_x || _y) {
+ writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
+ }
+ if (_z && z < getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+}
+
+function onCyclePoint(x, y, z) {
+ if (isInspectionOperation(currentSection) && (typeof inspectionCycleInspect == "function")) {
+ inspectionCycleInspect(cycle, x, y, z);
+ return;
+ }
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+ var probeWorkOffsetCode;
+ if (isProbeOperation()) {
+ if (!isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) && (!cycle.probeMode || (cycle.probeMode == 0))) {
+ error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
+ return;
+ }
+ protectedProbeMove(cycle, x, y, z);
+
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 99) {
+ error(localize("Work offset is out of range."));
+ return;
+ } else if (workOffset > 6) {
+ probeWorkOffsetCode = "154." + probe154Format.format(workOffset - 6);
+ } else {
+ probeWorkOffsetCode = workOffset + "."; // G54->G59
+ }
+ }
+
+ var forceCycle = false;
+ switch (cycleType) {
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ if (cycle.accumulatedDepth < cycle.depth) {
+ error(localize("Accumulated pecking depth is not supported for tapping cycles with chip breaking."));
+ return;
+ } else {
+ forceCycle = true;
+ if (!isFirstCyclePoint()) {
+ writeBlock(gCycleModal.format(80));
+ gMotionModal.reset();
+ }
+ }
+ }
+ if (forceCycle || isFirstCyclePoint() || isProbeOperation()) {
+ if (!isProbeOperation()) {
+ // return to initial Z which is clearance plane and set absolute mode
+ repositionToCycleClearance(cycle, x, y, z);
+ }
+
+ var F = cycle.feedrate;
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ if ((!properties.useG73Retract && (cycle.accumulatedDepth < cycle.depth)) ||
+ (properties.useG73Retract && (cycle.accumulatedDepth < cycle.depth) &&
+ (cycle.incrementalDepthReduction > 0))) {
+ expandCyclePoint(x, y, z);
+ } else if (cycle.accumulatedDepth < cycle.depth) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ ("Q" + xyzFormat.format(cycle.incrementalDepth)),
+ ("K" + xyzFormat.format(cycle.accumulatedDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ (((cycle.incrementalDepthReduction > 0) ? "I" : "Q") + xyzFormat.format(cycle.incrementalDepth)),
+ conditional(cycle.incrementalDepthReduction > 0, "J" + xyzFormat.format(cycle.incrementalDepthReduction)),
+ conditional(cycle.incrementalDepthReduction > 0, "K" + xyzFormat.format(cycle.minimumIncrementalDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ (((cycle.incrementalDepthReduction > 0) ? "I" : "Q") + xyzFormat.format(cycle.incrementalDepth)),
+ conditional(cycle.incrementalDepthReduction > 0, "J" + xyzFormat.format(cycle.incrementalDepthReduction)),
+ conditional(cycle.incrementalDepthReduction > 0, "K" + xyzFormat.format(cycle.minimumIncrementalDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ break;
+ case "tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "left-tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "right-tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ // Parameter 57 bit 6, REPT RIG TAP, is set to 1 (On)
+ // On Mill software versions12.09 and above, REPT RIG TAP has been moved from the Parameters to Setting 133
+ var u = cycle.stock;
+ var step = cycle.incrementalDepth;
+ var first = true;
+ while (u > cycle.bottom) {
+ if (step < cycle.minimumIncrementalDepth) {
+ step = cycle.minimumIncrementalDepth;
+ }
+ u -= step;
+ step -= cycle.incrementalDepthReduction;
+ gCycleModal.reset(); // required
+ if ((u - 0.001) <= cycle.bottom) {
+ u = cycle.bottom;
+ }
+ if (first) {
+ first = false;
+ writeBlock(
+ gRetractModal.format(99), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle((gPlaneModal.getCurrent() == 19) ? u : x, (gPlaneModal.getCurrent() == 18) ? u : y, (gPlaneModal.getCurrent() == 17) ? u : z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ } else {
+ var position;
+ var depth;
+ switch (gPlaneModal.getCurrent()) {
+ case 17:
+ xOutput.reset();
+ position = xOutput.format(x);
+ depth = "Z" + xyzFormat.format(u);
+ break;
+ case 18:
+ zOutput.reset();
+ position = zOutput.format(z);
+ depth = "Y" + xyzFormat.format(u);
+ break;
+ case 19:
+ yOutput.reset();
+ position = yOutput.format(y);
+ depth = "X" + xyzFormat.format(u);
+ break;
+ }
+ writeBlock(conditional(u <= cycle.bottom, gRetractModal.format(98)), position, depth);
+ }
+ }
+ forceFeed();
+ break;
+ case "fine-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ break;
+ case "back-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
+ var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
+ var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(77),
+ getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom, cycle.clearance),
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ }
+ break;
+ case "reaming":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ }
+ break;
+ case "manual-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(88),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+
+ case "probing-x":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-z":
+ protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+
+ case "probing-xy-inner-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing && (cycle.probeSpacing != 0)) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-xy-outer-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing && (cycle.probeSpacing != 0)) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-x-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ case "probing-y-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+
+ default:
+ expandCyclePoint(x, y, z);
+ }
+
+ // place cycle operation in subprogram
+ if (cycleSubprogramIsActive) {
+ if (forceCycle || cycleExpanded || isProbeOperation()) {
+ cycleSubprogramIsActive = false;
+ } else {
+ // call subprogram
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ subprogramStart(new Vector(x, y, z), new Vector(0, 0, 0), false);
+ }
+ }
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+
+ // 2nd through nth cycle point
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var _x;
+ var _y;
+ var _z;
+ if (!xyzFormat.areDifferent(x, xOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(y, yOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(z, zOutput.getCurrent())) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ xOutput.reset(); // at least one axis is required
+ break;
+ case 18: // ZX
+ zOutput.reset(); // at least one axis is required
+ break;
+ case 19: // YZ
+ yOutput.reset(); // at least one axis is required
+ break;
+ }
+ }
+ if (incrementalMode) { // set current position to retract height
+ setCyclePosition(cycle.retract);
+ }
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+ }
+ }
+}
+
+function getProbingArguments(cycle, probeWorkOffsetCode) {
+ var probeWCS = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe");
+ return [
+ (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
+ ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
+ (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
+ (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
+ ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
+ ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
+ (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
+ (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
+ conditional(probeWorkOffsetCode && probeWCS, "S" + probeWorkOffsetCode)
+ ];
+}
+
+function onCycleEnd() {
+ if (isProbeOperation()) {
+ zOutput.reset();
+ gMotionModal.reset();
+ writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
+ } else {
+ if (cycleSubprogramIsActive) {
+ subprogramEnd();
+ cycleSubprogramIsActive = false;
+ }
+ if (!cycleExpanded) {
+ writeBlock(gCycleModal.format(80), conditional(properties.useG95forTapping, gFeedModeModal.format(94)));
+ gMotionModal.reset();
+ }
+ }
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (!properties.useG0 && (((x ? 1 : 0) + (y ? 1 : 0) + (z ? 1 : 0)) > 1)) {
+ // axes are not synchronized
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), x, y, z, getFeed(highFeedrate));
+ } else {
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ // ensure that we end at desired position when compensation is turned off
+ xOutput.reset();
+ yOutput.reset();
+ }
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ var d = tool.diameterOffset;
+ if ((d > 200 && d < 1000) || d > 9999) {
+ warning(localize("Diameter offset out of range."));
+ }
+ writeBlock(gPlaneModal.format(17));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ dOutput.reset();
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ dOutput.reset();
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f);
+ break;
+ default:
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), f);
+ }
+ }
+}
+
+function onRapid5D(_x, _y, _z, _a, _b, _c) {
+ if (!currentSection.isOptimizedForMachine()) {
+ error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
+ return;
+ }
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (!properties.useG0) {
+ // axes are not synchronized
+ onLinear5D(_x, _y, _z, _a, _b, _c, highFeedrate);
+ } else {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+
+ writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
+ forceFeed();
+ }
+}
+
+function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
+ if (!currentSection.isOptimizedForMachine()) {
+ error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
+ return;
+ }
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+
+ // get feedrate number
+ var f = {frn:0, fmode:0};
+ if (a || b || c) {
+ f = getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed);
+ if (properties.useDPMFeeds) {
+ f.frn = feedOutput.format(f.frn);
+ } else {
+ f.frn = inverseTimeOutput.format(f.frn);
+ }
+ } else {
+ f.frn = getFeed(feed);
+ f.fmode = 94;
+ }
+
+ if (x || y || z || a || b || c) {
+ writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), x, y, z, a, b, c, f.frn);
+ } else if (f.frn) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), f.frn);
+ }
+ }
+}
+
+// Start of multi-axis feedrate logic
+/***** You can add 'properties.useInverseTime' if desired. *****/
+/***** 'previousABC' can be added throughout to maintain previous rotary positions. Required for Mill/Turn machines. *****/
+/***** 'headOffset' should be defined when a head rotary axis is defined. *****/
+/***** The feedrate mode must be included in motion block output (linear, circular, etc.) for Inverse Time feedrate support. *****/
+var inverseTimeUnits = 1.0; // 1.0 = minutes, 60.0 = seconds
+var maxInverseTime = 45000; // maximum value to output for Inverse Time feeds
+var maxDPM = 9999.99; // maximum value to output for DPM feeds
+var useInverseTimeFeed = false; // use 1/T feeds
+var inverseTimeFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
+var inverseTimeOutput = createVariable({prefix:"F", force:true}, inverseTimeFormat);
+var previousDPMFeed = 0; // previously output DPM feed
+var dpmFeedToler = 0.5; // tolerance to determine when the DPM feed has changed
+// var previousABC = new Vector(0, 0, 0); // previous ABC position if maintained in post, don't define if not used
+var forceOptimized = undefined; // used to override optimized-for-angles points (XZC-mode)
+
+/** Calculate the multi-axis feedrate number. */
+function getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed) {
+ var f = {frn:0, fmode:0};
+ if (feed <= 0) {
+ error(localize("Feedrate is less than or equal to 0."));
+ return f;
+ }
+
+ var length = getMoveLength(_x, _y, _z, _a, _b, _c);
+
+ if (!properties.useDPMFeeds) { // inverse time
+ f.frn = getInverseTime(length.tool, feed);
+ f.fmode = 93;
+ feedOutput.reset();
+ } else { // degrees per minute
+ f.frn = getFeedDPM(length, feed);
+ f.fmode = 94;
+ }
+ return f;
+}
+
+/** Returns point optimization mode. */
+function getOptimizedMode() {
+ if (forceOptimized != undefined) {
+ return forceOptimized;
+ }
+ // return (currentSection.getOptimizedTCPMode() != 0); // TAG:doesn't return correct value
+ return true; // always return false for non-TCP based heads
+}
+
+/** Calculate the DPM feedrate number. */
+function getFeedDPM(_moveLength, _feed) {
+ if ((_feed == 0) || (_moveLength.tool < 0.0001) || (toDeg(_moveLength.abcLength) < 0.0005)) {
+ previousDPMFeed = 0;
+ return _feed;
+ }
+ var moveTime = _moveLength.tool / _feed;
+ if (moveTime == 0) {
+ previousDPMFeed = 0;
+ return _feed;
+ }
+
+ var dpmFeed;
+ var tcp = false; // !getOptimizedMode() && (forceOptimized == undefined); // set to false for rotary heads
+ if (tcp) { // TCP mode is supported, output feed as FPM
+ dpmFeed = _feed;
+ } else if (false) { // standard DPM
+ dpmFeed = Math.min(toDeg(_moveLength.abcLength) / moveTime, maxDPM);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ } else if (false) { // combination FPM/DPM
+ var length = Math.sqrt(Math.pow(_moveLength.xyzLength, 2.0) + Math.pow((toDeg(_moveLength.abcLength) * dpmBPW), 2.0));
+ dpmFeed = Math.min((length / moveTime), maxDPM);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ } else { // machine specific calculation
+ var feedRate = _feed / (_moveLength.radius.x / (toPreciseUnit(properties.setting34, IN) / 2.0));
+ dpmFeed = Math.min(feedRate, highFeedrate);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ }
+ previousDPMFeed = dpmFeed;
+ return dpmFeed;
+}
+
+/** Calculate the Inverse time feedrate number. */
+function getInverseTime(_length, _feed) {
+ var inverseTime;
+ if (_length < 1.e-6) { // tool doesn't move
+ if (typeof maxInverseTime === "number") {
+ inverseTime = maxInverseTime;
+ } else {
+ inverseTime = 999999;
+ }
+ } else {
+ inverseTime = _feed / _length / inverseTimeUnits;
+ if (typeof maxInverseTime === "number") {
+ if (inverseTime > maxInverseTime) {
+ inverseTime = maxInverseTime;
+ }
+ }
+ }
+ return inverseTime;
+}
+
+/** Calculate radius for each rotary axis. */
+function getRotaryRadii(startTool, endTool, startABC, endABC) {
+ var radii = new Vector(0, 0, 0);
+ var startRadius;
+ var endRadius;
+ var axis = new Array(machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW());
+ for (var i = 0; i < 3; ++i) {
+ if (axis[i].isEnabled()) {
+ var startRadius = getRotaryRadius(axis[i], startTool, startABC);
+ var endRadius = getRotaryRadius(axis[i], endTool, endABC);
+ radii.setCoordinate(axis[i].getCoordinate(), Math.max(startRadius, endRadius));
+ }
+ }
+ return radii;
+}
+
+/** Calculate the distance of the tool position to the center of a rotary axis. */
+function getRotaryRadius(axis, toolPosition, abc) {
+ if (!axis.isEnabled()) {
+ return 0;
+ }
+
+ var direction = axis.getEffectiveAxis();
+ var normal = direction.getNormalized();
+ // calculate the rotary center based on head/table
+ var center;
+ var radius;
+ if (axis.isHead()) {
+ var pivot;
+ if (typeof headOffset === "number") {
+ pivot = headOffset;
+ } else {
+ pivot = tool.getBodyLength();
+ }
+ if (axis.getCoordinate() == machineConfiguration.getAxisU().getCoordinate()) { // rider
+ center = Vector.sum(toolPosition, Vector.product(machineConfiguration.getDirection(abc), pivot));
+ center = Vector.sum(center, axis.getOffset());
+ radius = Vector.diff(toolPosition, center).length;
+ } else { // carrier
+ var angle = abc.getCoordinate(machineConfiguration.getAxisU().getCoordinate());
+ radius = Math.abs(pivot * Math.sin(angle));
+ radius += axis.getOffset().length;
+ }
+ } else {
+ center = axis.getOffset();
+ var d1 = toolPosition.x - center.x;
+ var d2 = toolPosition.y - center.y;
+ var d3 = toolPosition.z - center.z;
+ var radius = Math.sqrt(
+ Math.pow((d1 * normal.y) - (d2 * normal.x), 2.0) +
+ Math.pow((d2 * normal.z) - (d3 * normal.y), 2.0) +
+ Math.pow((d3 * normal.x) - (d1 * normal.z), 2.0)
+ );
+ }
+ return radius;
+}
+
+/** Calculate the linear distance based on the rotation of a rotary axis. */
+function getRadialDistance(radius, startABC, endABC) {
+ // calculate length of radial move
+ var delta = Math.abs(endABC - startABC);
+ if (delta > Math.PI) {
+ delta = 2 * Math.PI - delta;
+ }
+ var radialLength = (2 * Math.PI * radius) * (delta / (2 * Math.PI));
+ return radialLength;
+}
+
+/** Calculate tooltip, XYZ, and rotary move lengths. */
+function getMoveLength(_x, _y, _z, _a, _b, _c) {
+ // get starting and ending positions
+ var moveLength = {};
+ var startTool;
+ var endTool;
+ var startXYZ;
+ var endXYZ;
+ var startABC;
+ if (typeof previousABC !== "undefined") {
+ startABC = new Vector(previousABC.x, previousABC.y, previousABC.z);
+ } else {
+ startABC = getCurrentDirection();
+ }
+ var endABC = new Vector(_a, _b, _c);
+
+ if (!getOptimizedMode()) { // calculate XYZ from tool tip
+ startTool = getCurrentPosition();
+ endTool = new Vector(_x, _y, _z);
+ startXYZ = startTool;
+ endXYZ = endTool;
+
+ // adjust points for tables
+ if (!machineConfiguration.getTableABC(startABC).isZero() || !machineConfiguration.getTableABC(endABC).isZero()) {
+ startXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).getTransposed().multiply(startXYZ);
+ endXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).getTransposed().multiply(endXYZ);
+ }
+
+ // adjust points for heads
+ if (machineConfiguration.getAxisU().isEnabled() && machineConfiguration.getAxisU().isHead()) {
+ if (typeof getOptimizedHeads === "function") { // use post processor function to adjust heads
+ startXYZ = getOptimizedHeads(startXYZ.x, startXYZ.y, startXYZ.z, startABC.x, startABC.y, startABC.z);
+ endXYZ = getOptimizedHeads(endXYZ.x, endXYZ.y, endXYZ.z, endABC.x, endABC.y, endABC.z);
+ } else { // guess at head adjustments
+ var startDisplacement = machineConfiguration.getDirection(startABC);
+ startDisplacement.multiply(headOffset);
+ var endDisplacement = machineConfiguration.getDirection(endABC);
+ endDisplacement.multiply(headOffset);
+ startXYZ = Vector.sum(startTool, startDisplacement);
+ endXYZ = Vector.sum(endTool, endDisplacement);
+ }
+ }
+ } else { // calculate tool tip from XYZ, heads are always programmed in TCP mode, so not handled here
+ startXYZ = getCurrentPosition();
+ endXYZ = new Vector(_x, _y, _z);
+ startTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).multiply(startXYZ);
+ endTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).multiply(endXYZ);
+ }
+
+ // calculate axes movements
+ moveLength.xyz = Vector.diff(endXYZ, startXYZ).abs;
+ moveLength.xyzLength = moveLength.xyz.length;
+ moveLength.abc = Vector.diff(endABC, startABC).abs;
+ for (var i = 0; i < 3; ++i) {
+ if (moveLength.abc.getCoordinate(i) > Math.PI) {
+ moveLength.abc.setCoordinate(i, 2 * Math.PI - moveLength.abc.getCoordinate(i));
+ }
+ }
+ moveLength.abcLength = moveLength.abc.length;
+
+ // calculate radii
+ moveLength.radius = getRotaryRadii(startTool, endTool, startABC, endABC);
+
+ // calculate the radial portion of the tool tip movement
+ var radialLength = Math.sqrt(
+ Math.pow(getRadialDistance(moveLength.radius.x, startABC.x, endABC.x), 2.0) +
+ Math.pow(getRadialDistance(moveLength.radius.y, startABC.y, endABC.y), 2.0) +
+ Math.pow(getRadialDistance(moveLength.radius.z, startABC.z, endABC.z), 2.0)
+ );
+
+ // calculate the tool tip move length
+ // tool tip distance is the move distance based on a combination of linear and rotary axes movement
+ moveLength.tool = moveLength.xyzLength + radialLength;
+
+ // debug
+ if (false) {
+ writeComment("DEBUG - tool = " + moveLength.tool);
+ writeComment("DEBUG - xyz = " + moveLength.xyz);
+ var temp = Vector.product(moveLength.abc, 180 / Math.PI);
+ writeComment("DEBUG - abc = " + temp);
+ writeComment("DEBUG - radius = " + moveLength.radius);
+ }
+ return moveLength;
+}
+// End of multi-axis feedrate logic
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (isSpiral()) {
+ var startRadius = getCircularStartRadius();
+ var endRadius = getCircularRadius();
+ var dr = Math.abs(endRadius - startRadius);
+ if (dr > maximumCircularRadiiDifference) { // maximum limit
+ linearize(tolerance); // or alternatively use other G-codes for spiral motion
+ return;
+ }
+ }
+
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+var coolantOff = undefined;
+var isOptionalCoolant = false;
+
+function setCoolant(coolant) {
+ var coolantCodes = getCoolantCodes(coolant);
+ if (Array.isArray(coolantCodes)) {
+ if (singleLineCoolant) {
+ writeBlock((isOptionalCoolant ? "/" : ""), coolantCodes.join(getWordSeparator()));
+ } else {
+ for (var c in coolantCodes) {
+ writeBlock((isOptionalCoolant ? "/" : ""), coolantCodes[c]);
+ }
+ }
+ return undefined;
+ }
+ return coolantCodes;
+}
+
+function getCoolantCodes(coolant) {
+ isOptionalCoolant = false;
+ var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
+ if (!coolants) {
+ error(localize("Coolants have not been defined."));
+ }
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+ if (coolant == currentCoolantMode) {
+ if (properties.safeStartAllOperations) {
+ isOptionalCoolant = true;
+ } else {
+ return undefined; // coolant is already active
+ }
+ }
+ if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && !isOptionalCoolant) {
+ if (Array.isArray(coolantOff)) {
+ for (var i in coolantOff) {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff));
+ }
+ }
+
+ var m;
+ var coolantCodes = {};
+ for (var c in coolants) { // find required coolant codes into the coolants array
+ if (coolants[c].id == coolant) {
+ coolantCodes.on = coolants[c].on;
+ if (coolants[c].off != undefined) {
+ coolantCodes.off = coolants[c].off;
+ break;
+ } else {
+ for (var i in coolants) {
+ if (coolants[i].id == COOLANT_OFF) {
+ coolantCodes.off = coolants[i].off;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (coolant == COOLANT_OFF) {
+ m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
+ } else {
+ coolantOff = coolantCodes.off;
+ m = coolantCodes.on;
+ }
+
+ if (!m) {
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ } else {
+ if (Array.isArray(m)) {
+ for (var i in m) {
+ multipleCoolantBlocks.push(mFormat.format(m[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(m));
+ }
+ currentCoolantMode = coolant;
+ return multipleCoolantBlocks; // return the single formatted coolant value
+ }
+ return undefined;
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:2,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ COMMAND_STOP_SPINDLE:5,
+ COMMAND_ORIENTATE_SPINDLE:19,
+ COMMAND_LOAD_TOOL:6
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ if (machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(10)); // lock 4th-axis motion
+ if (machineConfiguration.getNumberOfAxes() == 5) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(12)); // lock 5th-axis motion
+ }
+ }
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ if (machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(11)); // unlock 4th-axis motion
+ if (machineConfiguration.getNumberOfAxes() == 5) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(13)); // unlock 5th-axis motion
+ }
+ }
+ return;
+ case COMMAND_BREAK_CONTROL:
+ if (!toolChecked) { // avoid duplicate COMMAND_BREAK_CONTROL
+ onCommand(COMMAND_STOP_SPINDLE);
+ onCommand(COMMAND_COOLANT_OFF);
+ writeBlock(
+ gFormat.format(65),
+ "P" + 9853,
+ "T" + toolFormat.format(tool.number),
+ "B" + xyzFormat.format(0),
+ "H" + xyzFormat.format(properties.toolBreakageTolerance)
+ );
+ toolChecked = true;
+ }
+ return;
+ case COMMAND_TOOL_MEASURE:
+ measureTool = true;
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ writeBlock(mFormat.format(31));
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ writeBlock(mFormat.format(33));
+ return;
+ case COMMAND_PROBE_ON:
+ return;
+ case COMMAND_PROBE_OFF:
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+var toolChecked = false; // specifies that the tool has been checked with the probe
+
+function onSectionEnd() {
+ if (currentSection.isMultiAxis()) {
+ if (useInverseTimeFeed) {
+ writeBlock(gFeedModeModal.format(94)); // inverse time feed off
+ }
+ }
+ if (typeof inspectionProcessSectionEnd == "function") {
+ inspectionProcessSectionEnd();
+ }
+ if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
+ setCoolant(COOLANT_OFF);
+ }
+ if ((((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
+ (tool.number != getNextSection().getTool().number)) &&
+ tool.breakControl) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ } else {
+ toolChecked = false;
+ }
+
+ if (true) {
+ if (isRedirecting()) {
+ if (firstPattern) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ var abc;
+ if (currentSection.isMultiAxis() && machineConfiguration.isMultiAxisConfiguration()) {
+ abc = currentSection.getFinalToolAxisABC();
+ } else {
+ abc = currentWorkPlaneABC;
+ }
+ if (abc == undefined) {
+ abc = new Vector(0, 0, 0);
+ }
+ setAbsoluteMode(finalPosition, abc);
+ subprogramEnd();
+ }
+ }
+ }
+ forceAny();
+
+ if (isProbeOperation()) {
+ writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
+ setProbingAngle(); // define rotation of part
+ }
+
+ operationNeedsSafeStart = false; // reset for next section
+ operationNeedsSafeToolCall = false;
+ operationNeedsSafeWorkOffset = false;
+ operationNeedsSafeWorkPlane = false;
+ operationNeedsSafeCoolant = false;
+}
+
+/** Output block to do safe retract and/or move to home position. */
+function writeRetract() {
+ // initialize routine
+ var _xyzMoved = new Array(false, false, false);
+ var _useG28 = properties.useG28; // can be either true or false
+
+ // check syntax of call
+ if (arguments.length == 0) {
+ error(localize("No axis specified for writeRetract()."));
+ return;
+ }
+ for (var i = 0; i < arguments.length; ++i) {
+ if ((arguments[i] < 0) || (arguments[i] > 2)) {
+ error(localize("Bad axis specified for writeRetract()."));
+ return;
+ }
+ if (_xyzMoved[arguments[i]]) {
+ error(localize("Cannot retract the same axis twice in one line"));
+ return;
+ }
+ _xyzMoved[arguments[i]] = true;
+ }
+
+ // special conditions
+ if (_useG28 && _xyzMoved[2] && (_xyzMoved[0] || _xyzMoved[1])) { // XY don't use G28
+ error(localize("You cannot move home in XY & Z in the same block."));
+ return;
+ }
+ if (_xyzMoved[0] || _xyzMoved[1]) {
+ _useG28 = false;
+ }
+
+ // define home positions
+ var _xHome;
+ var _yHome;
+ var _zHome;
+ if (_useG28) {
+ _xHome = 0;
+ _yHome = 0;
+ _zHome = 0;
+ } else {
+ if (properties.homePositionCenter &&
+ hasParameter("part-upper-x") && hasParameter("part-lower-x")) {
+ _xHome = (getParameter("part-upper-x") + getParameter("part-lower-x")) / 2;
+ } else {
+ _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : 0;
+ }
+ _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : 0;
+ _zHome = machineConfiguration.getRetractPlane();
+ }
+
+ // format home positions
+ var words = []; // store all retracted axes in an array
+ for (var i = 0; i < arguments.length; ++i) {
+ // define the axes to move
+ switch (arguments[i]) {
+ case X:
+ // special conditions
+ if (properties.homePositionCenter) { // output X in standard block by itself if centering
+ writeBlock(gMotionModal.format(0), xOutput.format(_xHome));
+ _xyzMoved[0] = false;
+ break;
+ }
+ words.push("X" + xyzFormat.format(_xHome));
+ break;
+ case Y:
+ words.push("Y" + xyzFormat.format(_yHome));
+ break;
+ case Z:
+ words.push("Z" + xyzFormat.format(_zHome));
+ retracted = true;
+ break;
+ }
+ }
+
+ // output move to home
+ if (words.length > 0) {
+ if (_useG28) {
+ gAbsIncModal.reset();
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
+ writeBlock(gAbsIncModal.format(90));
+ } else {
+ gMotionModal.reset();
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
+ }
+
+ // force any axes that move to home on next block
+ if (_xyzMoved[0]) {
+ xOutput.reset();
+ }
+ if (_xyzMoved[1]) {
+ yOutput.reset();
+ }
+ if (_xyzMoved[2]) {
+ zOutput.reset();
+ }
+ }
+}
+
+function onClose() {
+ writeln("");
+
+ optionalSection = false;
+
+ onCommand(COMMAND_STOP_SPINDLE);
+ onCommand(COMMAND_COOLANT_OFF);
+
+ // retract
+ writeRetract(Z);
+ zOutput.reset();
+
+ forceWorkPlane();
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+ writeBlock(gRotationModal.format(69));
+
+ writeRetract(X, Y);
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ if (subprograms.length > 0) {
+ writeln("");
+ write(subprograms);
+ }
+ writeln("");
+ writeln("%");
+}
+
+/*
+keywords += (keywords ? " MODEL_IMAGE" : "MODEL_IMAGE");
+
+function onTerminate() {
+ var outputPath = getOutputPath();
+ var programFilename = FileSystem.getFilename(outputPath);
+ var programSize = FileSystem.getFileSize(outputPath);
+ var postPath = findFile("setup-sheet-excel-2007.cps");
+ var intermediatePath = getIntermediatePath();
+ var a = "--property unit " + ((unit == IN) ? "0" : "1"); // use 0 for inch and 1 for mm
+ if (programName) {
+ a += " --property programName \"'" + programName + "'\"";
+ }
+ if (programComment) {
+ a += " --property programComment \"'" + programComment + "'\"";
+ }
+ a += " --property programFilename \"'" + programFilename + "'\"";
+ a += " --property programSize \"" + programSize + "\"";
+ a += " --noeditor --log temp.log \"" + postPath + "\" \"" + intermediatePath + "\" \"" + FileSystem.replaceExtension(outputPath, "xlsx") + "\"";
+ execute(getPostProcessorPath(), a, false, "");
+ executeNoWait("excel", "\"" + FileSystem.replaceExtension(outputPath, "xlsx") + "\"", false, "");
+}
+*/
diff --git a/resources/workshop/.inc/saturn/mc/vm3/post_a.cps b/resources/workshop/.inc/saturn/mc/vm3/post_a.cps
new file mode 100644
index 000000000..1c987378d
--- /dev/null
+++ b/resources/workshop/.inc/saturn/mc/vm3/post_a.cps
@@ -0,0 +1,3060 @@
+/**
+ Copyright (C) 2012-2019 by Autodesk, Inc.
+ All rights reserved.
+
+ HAAS post processor configuration.
+
+ $Revision: 42601 95324a72443c22406fe893c91f874e4f0971d5c4 $
+ $Date: 2019-12-03 22:35:42 $
+
+ FORKID {241E0993-8BE0-463b-8888-47968B9D7F9F}
+*/
+
+description = "HAAS - A-axis (pre-NGC)";
+vendor = "Haas Automation";
+vendorUrl = "https://www.haascnc.com";
+legal = "Copyright (C) 2012-2019 by Autodesk, Inc.";
+certificationLevel = 2;
+minimumRevision = 40783;
+
+longDescription = "Generic post for 4-axis HAAS mill. This post is for the pre-Next Generation Control. By default positioning moves will be output as high feed G1s instead of G0s. You can turn on the property 'useG0' to force G0s but be careful as the CNC will follow a dogleg path rather than a direct path.";
+
+extension = "nc";
+programNameIsInteger = true;
+setCodePage("ascii");
+
+capabilities = CAPABILITY_MILLING;
+tolerance = spatial(0.002, MM);
+
+minimumChordLength = spatial(0.25, MM);
+minimumCircularRadius = spatial(0.01, MM);
+maximumCircularRadius = spatial(1000, MM);
+minimumCircularSweep = toRad(0.01);
+maximumCircularSweep = toRad(355);
+allowHelicalMoves = true;
+allowedCircularPlanes = undefined; // allow any circular motion
+allowSpiralMoves = true;
+highFeedrate = (unit == IN) ? 500 : 5000;
+
+// user-defined properties
+properties = {
+ writeMachine: true, // write machine
+ writeTools: true, // writes the tools
+ writeVersion: false, // include version info
+ preloadTool: true, // preloads next tool on tool change if any
+ chipTransport: false, // turn on chip transport at start of program
+ showSequenceNumbers: true, // show sequence numbers
+ sequenceNumberStart: 10, // first sequence number
+ sequenceNumberIncrement: 5, // increment for sequence numbers
+ sequenceNumberOnlyOnToolChange: false, // only output sequence numbers on tool change
+ optionalStop: true, // optional stop
+ separateWordsWithSpace: true, // specifies that the words should be separated with a white space
+ useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
+ useParametricFeed: false, // specifies that feed should be output using Q values
+ showNotes: false, // specifies that operation notes should be output
+ useG0: false, // allow G0 when moving along more than one axis
+ useG28: false, // specifies that G28 should be used instead of G53
+ useSubroutines: false, // specifies that subroutines should be generated
+ useSubroutinePatterns: false, // generates subroutines for patterned operation
+ useSubroutineCycles: false, // generates subroutines for cycle operations on same holes
+ useG187: false, // use G187 to set smoothing on the machine
+ homePositionCenter: true, // moves the part in X in center of the door at end of program (ONLY WORKS IF THE TABLE IS MOVING)
+ optionallyCycleToolsAtStart: false, // cycle through each tool used at the beginning of the program when block delete is turned off - this allows the operator to easily measure all tools before they are used for the first run of the program
+ optionallyMeasureToolsAtStart: false, // measure each tool used at the beginning of the program when block delete is turned off - this allows the operator to easily measure all tools before they are used for the first run of the program
+ makeAAxisOtherWay: false, // make the A-axis rotate the opposite way
+ toolBreakageTolerance: 0.1, // value for which tool break detection will raise an alarm
+ safeStartAllOperations: false, // write optional blocks at the beginning of all operations that include all commands to start program
+ fastToolChange: false, // skip spindle off, coolant off, and Z retract to make tool change quicker
+ useG95forTapping: false, // use IPR/MPR instead of IPM/MPM for tapping
+ useG73Retract: false, // use G73 Q K format for accumulated depth support
+ useDPMFeeds: false, // output DPM feeds instead of Inverse Time feeds
+ setting34: 1.0 // diameter used by control to calculate feed rates (INCH value)
+};
+
+propertyDefinitions = {
+ writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
+ writeTools: {title:"Write tool list", description:"Output a tool list in the header of the code.", group:0, type:"boolean"},
+ writeVersion: {title:"Write version", description:"Write the version number in the header of the code.", group:0, type:"boolean"},
+ preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", type:"boolean"},
+ chipTransport: {title:"Use chip transport", description:"Enable to turn on chip transport at start of program.", type:"boolean"},
+ showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
+ sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
+ sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
+ sequenceNumberOnlyOnToolChange: {title:"Block number only on tool change", description:"Specifies that block numbers should only be output at tool changes.", type:"boolean"},
+ optionalStop: {title:"Optional stop", description:"Specifies that optional stops M1 should be output at tool changes.", type:"boolean"},
+ separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
+ useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are output using radius values rather than IJK.", type:"boolean"},
+ useParametricFeed: {title:"Parametric feed", description:"Parametric feed values based on movement type are output.", type:"boolean"},
+ showNotes: {title:"Show notes", description:"Enable to output notes for operations.", type:"boolean"},
+ useG0: {title:"Use G0", description:"Specifies that G0s should be used for rapid moves when moving along a single axis.", type:"boolean"},
+ useG28: {title:"Use G28 instead of G53", description:"Specifies that machine retracts should be done using G28 instead of G53.", type:"boolean"},
+ useSubroutines: {title:"Use subroutines", description:"Enables output of subroutines for each operation.", type:"boolean"},
+ useSubroutinePatterns: {title:"Subroutines for patterns", description:"Enable output of subroutines for patterns.", type:"boolean"},
+ useSubroutineCycles: {title:"Subroutines for cycles", description:"Enable output of subroutines for cycles.", type:"boolean"},
+ useG187: {title:"Use G187", description:"Specifies that smoothing using G187 should be used.", type:"boolean"},
+ homePositionCenter: {title:"Home position center", description:"Enable to center the part along X at the end of program for easy access. Requires a CNC with a moving table.", type:"boolean"},
+ optionallyCycleToolsAtStart: {title:"Optionally cycle tools at start", description:"Cycle through each tool used at the beginning of the program when block delete is turned off.", type:"boolean"},
+ optionallyMeasureToolsAtStart: {title:"Optionally measure tools at start", description:"Measure each tool used at the beginning of the program when block delete is turned off.", type:"boolean"},
+ makeAAxisOtherWay: {title:"Rotate A-axis the opposite direction", description:"Use the left hand rule for the A-axis output.", type:"boolean"},
+ toolBreakageTolerance: {title:"Tool breakage tolerance", description:"Specifies the tolerance for which tool break detection will raise an alarm.", type:"spatial"},
+ safeStartAllOperations: {title:"Safe start all operations", description:"Write optional blocks at the beginning of all operations that include all commands to start program.", type:"boolean"},
+ fastToolChange: {title:"Fast tool change", description:"Skip spindle off, coolant off, and Z retract to make tool change quicker.", type:"boolean"},
+ useG95forTapping: {title:"Use G95 for tapping", description:"use IPR/MPR instead of IPM/MPM for tapping", type:"boolean"},
+ useG73Retract: {title:"G73 cycles include accumulated depth", description:"Use G73 Q K format for accumulated depth support.", type:"boolean"},
+ useDPMFeeds: {title:"Rotary moves use IPM feeds", description:"Enable to output IPM feeds, disable for Inverse Time feeds with rotary axes moves.", type:"boolean"},
+ setting34: {title:"Feed rate calculation diameter", description:"Defines the part diameter in inches that the control uses to calculate feed rates (Setting 34).", type:"spatial", range:[0.1, 9999.0]}
+};
+
+var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
+// samples:
+// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
+// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
+var coolants = [
+ {id: COOLANT_FLOOD, on: 8},
+ {id: COOLANT_MIST},
+ {id: COOLANT_THROUGH_TOOL, on: 88, off: 89},
+ {id: COOLANT_AIR, on: 83, off: 84},
+ {id: COOLANT_AIR_THROUGH_TOOL, on: 73, off: 74},
+ {id: COOLANT_SUCTION},
+ {id: COOLANT_FLOOD_MIST},
+ {id: COOLANT_FLOOD_THROUGH_TOOL, on: [88, 8], off: [89, 9]},
+ {id: COOLANT_OFF, off: 9}
+];
+
+// old machines only support 4 digits
+var oFormat = createFormat({width:5, zeropad:true, decimals:0});
+var nFormat = createFormat({decimals:0});
+
+var gFormat = createFormat({prefix:"G", decimals:0});
+var mFormat = createFormat({prefix:"M", decimals:0});
+var hFormat = createFormat({prefix:"H", decimals:0});
+var dFormat = createFormat({prefix:"D", decimals:0});
+var probe154Format = createFormat({decimals:0, zeropad:true, width:2});
+
+var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var rFormat = xyzFormat; // radius
+var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
+var feedFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
+var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
+var toolFormat = createFormat({decimals:0});
+var rpmFormat = createFormat({decimals:0});
+var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
+var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999
+var taperFormat = createFormat({decimals:1, scale:DEG});
+
+var xOutput = createVariable({prefix:"X"}, xyzFormat);
+var yOutput = createVariable({prefix:"Y"}, xyzFormat);
+var zOutput = createVariable({onchange:function () {retracted = false;}, prefix:"Z"}, xyzFormat);
+var aOutput = createVariable({prefix:"A"}, abcFormat);
+var bOutput = createVariable({prefix:"B"}, abcFormat);
+var cOutput = createVariable({prefix:"C"}, abcFormat);
+var feedOutput = createVariable({prefix:"F"}, feedFormat);
+var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
+var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
+var dOutput = createVariable({}, dFormat);
+
+// circular output
+var iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
+var jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
+var kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);
+
+var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
+var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
+var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
+var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
+var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21
+var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ...
+var gRetractModal = createModal({force:true}, gFormat); // modal group 10 // G98-99
+var gRotationModal = createModal({}, gFormat); // modal group 16 // G68-G69
+
+// fixed settings
+var firstFeedParameter = 100; // the first variable to use with parametric feed
+var forceResetWorkPlane = false; // enable to force reset of machine ABC on new orientation
+var minimumCyclePoints = 5; // minimum number of points in cycle operation to consider for subprogram
+
+var WARNING_WORK_OFFSET = 0;
+
+var ANGLE_PROBE_NOT_SUPPORTED = 0;
+var ANGLE_PROBE_USE_ROTATION = 1;
+var ANGLE_PROBE_USE_CAXIS = 2;
+
+var SUB_UNKNOWN = 0;
+var SUB_PATTERN = 1;
+var SUB_CYCLE = 2;
+
+// collected state
+var sequenceNumber;
+var currentWorkOffset;
+var optionalSection = false;
+var forceSpindleSpeed = false;
+var activeMovements; // do not use by default
+var currentFeedId;
+var maximumCircularRadiiDifference = toPreciseUnit(0.005, MM);
+var maximumLineLength = 80; // the maximum number of charaters allowed in a line
+var g68RotationMode = 0;
+var angularProbingMode;
+var subprograms = [];
+var currentPattern = -1;
+var firstPattern = false;
+var currentSubprogram;
+var lastSubprogram;
+var initialSubprogramNumber = 90000;
+var definedPatterns = new Array();
+var incrementalMode = false;
+var saveShowSequenceNumbers;
+var cycleSubprogramIsActive = false;
+var patternIsActive = false;
+var lastOperationComment = "";
+var incrementalSubprogram;
+var retracted = false; // specifies that the tool has been retracted to the safe plane
+var measureTool = false;
+probeMultipleFeatures = true;
+
+// used to convert blocks to optional for safeStartAllOperations, might get used outside of onSection
+var operationNeedsSafeStart = false;
+var operationNeedsSafeToolCall = false;
+var operationNeedsSafeWorkOffset = false;
+var operationNeedsSafeWorkPlane = false;
+var operationNeedsSafeCoolant = false;
+
+/**
+ Writes the specified block.
+*/
+var skipBlock = false;
+function writeBlock() {
+ var text = formatWords(arguments);
+ if (!text) {
+ return;
+ }
+ var maximumSequenceNumber = (properties.useSubroutines || properties.useSubroutinePatterns ||
+ properties.useSubroutineCycles) ? initialSubprogramNumber : 99999;
+ if (properties.showSequenceNumbers) {
+ if (sequenceNumber >= maximumSequenceNumber) {
+ sequenceNumber = properties.sequenceNumberStart;
+ }
+ if (optionalSection || skipBlock) {
+ if (text) {
+ writeWords("/", "N" + sequenceNumber, text);
+ }
+ } else {
+ writeWords2("N" + sequenceNumber, arguments);
+ }
+ sequenceNumber += properties.sequenceNumberIncrement;
+ } else {
+ if (optionalSection || skipBlock) {
+ writeWords2("/", arguments);
+ } else {
+ writeWords(arguments);
+ }
+ }
+ skipBlock = false;
+}
+
+/**
+ Writes the specified block - used for tool changes only.
+*/
+function writeToolBlock() {
+ var show = properties.showSequenceNumbers;
+ properties.showSequenceNumbers = show || properties.sequenceNumberOnlyOnToolChange;
+ writeBlock(arguments);
+ properties.showSequenceNumbers = show;
+}
+
+/**
+ Writes the specified optional block.
+*/
+function writeOptionalBlock() {
+ skipBlock = true;
+ writeBlock(arguments);
+}
+
+function formatComment(text) {
+ return "(" + String(text).replace(/[()]/g, "") + ")";
+}
+
+/**
+ Output a comment.
+*/
+function writeComment(text) {
+ writeln(formatComment(text.substr(0, maximumLineLength - 2)));
+}
+
+/**
+ Returns the matching HAAS tool type for the tool.
+*/
+function getHaasToolType(toolType) {
+ switch (toolType) {
+ case TOOL_DRILL:
+ case TOOL_REAMER:
+ return 1; // drill
+ case TOOL_TAP_RIGHT_HAND:
+ case TOOL_TAP_LEFT_HAND:
+ return 2; // tap
+ case TOOL_MILLING_FACE:
+ case TOOL_MILLING_SLOT:
+ case TOOL_BORING_BAR:
+ return 3; // shell mill
+ case TOOL_MILLING_END_FLAT:
+ case TOOL_MILLING_END_BULLNOSE:
+ case TOOL_MILLING_TAPERED:
+ case TOOL_MILLING_DOVETAIL:
+ return 4; // end mill
+ case TOOL_DRILL_SPOT:
+ case TOOL_MILLING_CHAMFER:
+ case TOOL_DRILL_CENTER:
+ case TOOL_COUNTER_SINK:
+ case TOOL_COUNTER_BORE:
+ case TOOL_MILLING_THREAD:
+ case TOOL_MILLING_FORM:
+ return 5; // center drill
+ case TOOL_MILLING_END_BALL:
+ case TOOL_MILLING_LOLLIPOP:
+ return 6; // ball nose
+ case TOOL_PROBE:
+ return 7; // probe
+ default:
+ error(localize("Invalid HAAS tool type."));
+ return -1;
+ }
+}
+
+function getHaasProbingType(toolType, use9023) {
+ switch (getHaasToolType(toolType)) {
+ case 3:
+ case 4:
+ return (use9023 ? 23 : 1); // rotate
+ case 1:
+ case 2:
+ case 5:
+ case 6:
+ case 7:
+ return (use9023 ? 12 : 2); // non rotate
+ case 0:
+ return (use9023 ? 13 : 3); // rotate length and dia
+ default:
+ error(localize("Invalid HAAS tool type."));
+ return -1;
+ }
+}
+
+function writeToolCycleBlock(tool) {
+ writeOptionalBlock("T" + toolFormat.format(tool.number), mFormat.format(6)); // get tool
+ writeOptionalBlock(mFormat.format(0)); // wait for operator
+}
+
+function writeToolMeasureBlock(tool) {
+ var writeFunction = measureTool ? writeBlock : writeOptionalBlock;
+ var comment = measureTool ? formatComment("MEASURE TOOL") : "";
+ if (true) { // use Macro P9023 to measure tools
+ var probingType = getHaasProbingType(tool.type, true);
+ writeFunction(
+ gFormat.format(65),
+ "P9023",
+ "A" + probingType + ".",
+ "T" + toolFormat.format(tool.number),
+ conditional((probingType != 12), "H" + xyzFormat.format(tool.bodyLength + tool.holderLength)),
+ conditional((probingType != 12), "D" + xyzFormat.format(tool.diameter)),
+ comment
+ );
+ } else { // use Macro P9995 to measure tools
+ writeFunction("T" + toolFormat.format(tool.number), mFormat.format(6)); // get tool
+ writeFunction(
+ gFormat.format(65),
+ "P9995",
+ "A0.",
+ "B" + getHaasToolType(tool.type) + ".",
+ "C" + getHaasProbingType(tool.type, false) + ".",
+ "T" + toolFormat.format(tool.number),
+ "E" + xyzFormat.format(tool.bodyLength + tool.holderLength),
+ "D" + xyzFormat.format(tool.diameter),
+ "K" + xyzFormat.format(0.1),
+ "I0.",
+ comment
+ ); // probe tool
+ }
+ measureTool = false;
+}
+
+function onOpen() {
+ if (properties.useDPMFeeds) {
+ gFeedModeModal.format(94);
+ }
+ if (properties.useRadius) {
+ maximumCircularSweep = toRad(90); // avoid potential center calculation errors for CNC
+ }
+ if (properties.sequenceNumberOnlyOnToolChange) {
+ properties.showSequenceNumbers = false;
+ }
+
+ gRotationModal.format(69); // Default to G69 Rotation Off
+
+ if (true) {
+ var aAxis = createAxis({coordinate:0, table:true, axis:[(properties.makeAAxisOtherWay ? -1 : 1) * -1, 0, 0], cyclic:true, preference:0});
+ machineConfiguration = new MachineConfiguration(aAxis);
+
+ setMachineConfiguration(machineConfiguration);
+ optimizeMachineAngles2(1); // map tip mode
+ }
+
+ if (!machineConfiguration.isMachineCoordinate(0)) {
+ aOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(1)) {
+ bOutput.disable();
+ }
+ if (!machineConfiguration.isMachineCoordinate(2)) {
+ cOutput.disable();
+ }
+
+ if (highFeedrate <= 0) {
+ error(localize("You must set 'highFeedrate' because axes are not synchronized for rapid traversal."));
+ return;
+ }
+
+ if (!properties.separateWordsWithSpace) {
+ setWordSeparator("");
+ }
+
+ sequenceNumber = properties.sequenceNumberStart;
+ writeln("%");
+
+ if (programName) {
+ var programId;
+ try {
+ programId = getAsInt(programName);
+ } catch (e) {
+ error(localize("Program name must be a number."));
+ return;
+ }
+ if (!((programId >= 1) && (programId <= 99999))) {
+ error(localize("Program number is out of range."));
+ return;
+ }
+
+ writeln(
+ "O" + oFormat.format(programId) +
+ conditional(programComment, " " + formatComment(programComment.substr(0, maximumLineLength - 2 - ("O" + oFormat.format(programId)).length - 1)))
+ );
+ lastSubprogram = (initialSubprogramNumber - 1);
+ } else {
+ error(localize("Program name has not been specified."));
+ return;
+ }
+
+ if (properties.useG0) {
+ writeComment(localize("Using G0 which travels along dogleg path."));
+ } else {
+ writeComment(subst(localize("Using high feed G1 F%1 instead of G0."), feedFormat.format(highFeedrate)));
+ }
+
+ if (properties.writeVersion) {
+ if ((typeof getHeaderVersion == "function") && getHeaderVersion()) {
+ writeComment(localize("post version") + ": " + getHeaderVersion());
+ }
+ if ((typeof getHeaderDate == "function") && getHeaderDate()) {
+ writeComment(localize("post modified") + ": " + getHeaderDate());
+ }
+ }
+
+ // dump machine configuration
+ var vendor = machineConfiguration.getVendor();
+ var model = machineConfiguration.getModel();
+ var description = machineConfiguration.getDescription();
+
+ if (properties.writeMachine && (vendor || model || description)) {
+ writeComment(localize("Machine"));
+ if (vendor) {
+ writeComment(" " + localize("vendor") + ": " + vendor);
+ }
+ if (model) {
+ writeComment(" " + localize("model") + ": " + model);
+ }
+ if (description) {
+ writeComment(" " + localize("description") + ": " + description);
+ }
+ }
+
+ // dump tool information
+ if (properties.writeTools) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ }
+ }
+ }
+
+ // optionally cycle through all tools
+ if (properties.optionallyCycleToolsAtStart || properties.optionallyMeasureToolsAtStart) {
+ var tools = getToolTable();
+ if (tools.getNumberOfTools() > 0) {
+ writeln("");
+
+ writeOptionalBlock(mFormat.format(0), formatComment(localize("Read note"))); // wait for operator
+ writeComment(localize("With BLOCK DELETE turned off each tool will cycle through"));
+ writeComment(localize("the spindle to verify that the correct tool is in the tool magazine"));
+ if (properties.optionallyMeasureToolsAtStart) {
+ writeComment(localize("and to automatically measure it"));
+ }
+ writeComment(localize("Once the tools are verified turn BLOCK DELETE on to skip verification"));
+
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ if (properties.optionallyMeasureToolsAtStart && (tool.type == TOOL_PROBE)) {
+ continue;
+ }
+ var comment = "T" + toolFormat.format(tool.number) + " " +
+ "D=" + xyzFormat.format(tool.diameter) + " " +
+ localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
+ if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
+ comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ if (properties.optionallyMeasureToolsAtStart) {
+ writeToolMeasureBlock(tool);
+ } else {
+ writeToolCycleBlock(tool);
+ }
+ }
+ }
+ writeln("");
+ }
+
+ if (false /*properties.useDynamicWorkOffset*/) {
+ var failed = false;
+ var dynamicWCSs = {};
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var section = getSection(i);
+ var description = section.hasParameter("operation-comment") ? section.getParameter("operation-comment") : ("#" + (i + 1));
+ if (!section.hasDynamicWorkOffset()) {
+ error(subst(localize("Dynamic work offset has not been set for operation '%1'."), description));
+ failed = true;
+ }
+
+ var o = section.getDynamicWCSOrigin();
+ var p = section.getDynamicWCSPlane();
+ if (dynamicWCSs[section.getDynamicWorkOffset()]) {
+ if ((Vector.diff(o, dynamicWCSs[section.getDynamicWorkOffset()].origin).length > 1e-9) ||
+ (Matrix.diff(p, dynamicWCSs[section.getDynamicWorkOffset()].plane).n1 > 1e-9)) {
+ error(subst(localize("Dynamic WCS mismatch for operation '%1'."), description));
+ failed = true;
+ }
+ } else {
+ dynamicWCSs[section.getDynamicWorkOffset()] = {origin:o, plane:p};
+ }
+ }
+ if (failed) {
+ return;
+ }
+ }
+
+ if (false) {
+ // check for duplicate tool number
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ var sectioni = getSection(i);
+ var tooli = sectioni.getTool();
+ for (var j = i + 1; j < getNumberOfSections(); ++j) {
+ var sectionj = getSection(j);
+ var toolj = sectionj.getTool();
+ if (tooli.number == toolj.number) {
+ if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) ||
+ xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) ||
+ abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) ||
+ (tooli.numberOfFlutes != toolj.numberOfFlutes)) {
+ error(
+ subst(
+ localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."),
+ sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)),
+ sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1))
+ )
+ );
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
+ for (var i = 0; i < getNumberOfSections(); ++i) {
+ if (getSection(i).workOffset > 0) {
+ error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
+ return;
+ }
+ }
+ }
+
+ // absolute coordinates and feed per min
+ writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(94), gPlaneModal.format(17));
+
+ switch (unit) {
+ case IN:
+ writeBlock(gUnitModal.format(20));
+ break;
+ case MM:
+ writeBlock(gUnitModal.format(21));
+ break;
+ }
+
+ if (properties.chipTransport) {
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ }
+}
+
+function onComment(message) {
+ writeComment(message);
+}
+
+/** Force output of X, Y, and Z. */
+function forceXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+/** Force output of A, B, and C. */
+function forceABC() {
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ previousDPMFeed = 0;
+ feedOutput.reset();
+}
+
+/** Force output of X, Y, Z, A, B, C, and F on next output. */
+function forceAny() {
+ forceXYZ();
+ forceABC();
+ forceFeed();
+}
+
+function writeG187() {
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill")) {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ } else if (hasParameter("operation:tolerance")) {
+ var tolerance = Math.max(getParameter("operation:tolerance"), 0);
+ if (tolerance > 0) {
+ var stockToLeaveThreshold = toUnit(0.1, MM);
+ var stockToLeave = 0;
+ var verticalStockToLeave = 0;
+ if (hasParameter("operation:stockToLeave")) {
+ stockToLeave = xyzFormat.getResultingValue(getParameter("operation:stockToLeave"));
+ }
+ if (hasParameter("operation:verticalStockToLeave")) {
+ verticalStockToLeave = xyzFormat.getResultingValue(getParameter("operation:verticalStockToLeave"));
+ }
+
+ var workMode;
+ if (((stockToLeave > stockToLeaveThreshold) && (verticalStockToLeave > stockToLeaveThreshold)) ||
+ (hasParameter("operation:strategy") && getParameter("operation:strategy") == "face")) {
+ workMode = 1; // roughing
+ } else {
+ if ((stockToLeave > 0) || (verticalStockToLeave > 0)) {
+ workMode = 2; // default
+ } else {
+ workMode = 3; // fine
+ }
+ }
+ writeBlock(gFormat.format(187), "P" + workMode); // set tolerance mode
+ // writeBlock(gFormat.format(187), "P" + workMode, "E" + xyzFormat.format(tolerance)); // set tolerance mode
+ } else {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ }
+ } else {
+ writeBlock(gFormat.format(187)); // reset G187 setting to machine default
+ }
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+function getFeed(f) {
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return "F#" + (firstFeedParameter + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if (movements & (1 << MOVEMENT_HIGH_FEED)) {
+ var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description));
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function defineWorkPlane(_section, _setWorkPlane) {
+ var abc = new Vector(0, 0, 0);
+ if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ // set working plane after datum shift
+
+ if (_section.isMultiAxis()) {
+ cancelTransformation();
+ abc = _section.getInitialToolAxisABC();
+ if (_setWorkPlane) {
+ if (!retracted) {
+ writeRetract(Z);
+ }
+ forceWorkPlane();
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ gMotionModal.reset();
+ writeBlock(
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+ }
+ } else {
+ abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane);
+ if (_setWorkPlane) {
+ setWorkPlane(abc);
+ }
+ }
+ } else { // pure 3D
+ var remaining = _section.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return abc;
+ }
+ setRotation(remaining);
+ }
+ return abc;
+}
+
+function setWorkPlane(abc) {
+ if (!machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) {
+ return; // no change
+ }
+
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+
+ gMotionModal.reset();
+ writeBlock(
+ operationNeedsSafeWorkPlane ? "/" : "",
+ gMotionModal.format(0),
+ conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)),
+ conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)),
+ conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z))
+ );
+
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+
+ currentWorkPlaneABC = abc;
+}
+
+var closestABC = true; // choose closest machine angles
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var tcp = false;
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+
+ return abc;
+}
+
+function isProbeOperation() {
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = (value > 0) ? value : 1;
+ }
+}
+
+/** Returns true if the spatial vectors are significantly different. */
+function areSpatialVectorsDifferent(_vector1, _vector2) {
+ return (xyzFormat.getResultingValue(_vector1.x) != xyzFormat.getResultingValue(_vector2.x)) ||
+ (xyzFormat.getResultingValue(_vector1.y) != xyzFormat.getResultingValue(_vector2.y)) ||
+ (xyzFormat.getResultingValue(_vector1.z) != xyzFormat.getResultingValue(_vector2.z));
+}
+
+/** Returns true if the spatial boxes are a pure translation. */
+function areSpatialBoxesTranslated(_box1, _box2) {
+ return !areSpatialVectorsDifferent(Vector.diff(_box1[1], _box1[0]), Vector.diff(_box2[1], _box2[0])) &&
+ !areSpatialVectorsDifferent(Vector.diff(_box2[0], _box1[0]), Vector.diff(_box2[1], _box1[1]));
+}
+
+/** Returns true if the spatial boxes are same. */
+function areSpatialBoxesSame(_box1, _box2) {
+ return !areSpatialVectorsDifferent(_box1[0], _box2[0]) && !areSpatialVectorsDifferent(_box1[1], _box2[1]);
+}
+
+function subprogramDefine(_initialPosition, _abc, _retracted, _zIsOutput) {
+ // convert patterns into subprograms
+ var usePattern = false;
+ patternIsActive = false;
+ if (currentSection.isPatterned && currentSection.isPatterned() && properties.useSubroutinePatterns) {
+ currentPattern = currentSection.getPatternId();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_PATTERN) && (currentPattern == definedPatterns[i].patternId)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_PATTERN);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_PATTERN,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: _initialPosition
+ });
+ }
+
+ if (usePattern) {
+ // make sure Z-position is output prior to subprogram call
+ if (!_retracted && !_zIsOutput) {
+ writeBlock(gMotionModal.format(0), zOutput.format(_initialPosition.z));
+ }
+
+ // call subprogram
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ patternIsActive = true;
+
+ if (firstPattern) {
+ subprogramStart(_initialPosition, _abc, incrementalSubprogram);
+ } else {
+ skipRemainingSection();
+ setCurrentPosition(getFramePosition(currentSection.getFinalPosition()));
+ }
+ }
+ }
+
+ // Output cycle operation as subprogram
+ if (!usePattern && properties.useSubroutineCycles && currentSection.doesStrictCycle &&
+ (currentSection.getNumberOfCycles() == 1) && currentSection.getNumberOfCyclePoints() >= minimumCyclePoints) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ currentPattern = currentSection.getNumberOfCyclePoints();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_CYCLE) && (currentPattern == definedPatterns[i].patternId) &&
+ !areSpatialVectorsDifferent(_initialPosition, definedPatterns[i].initialPosition) &&
+ !areSpatialVectorsDifferent(finalPosition, definedPatterns[i].finalPosition)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_CYCLE);
+ if (usePattern) {
+ currentSubprogram = ++lastSubprogram;
+ }
+ definedPatterns.push({
+ patternType: SUB_CYCLE,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: finalPosition
+ });
+ }
+ cycleSubprogramIsActive = usePattern;
+ }
+
+ // Output each operation as a subprogram
+ if (!usePattern && properties.useSubroutines) {
+ currentSubprogram = ++lastSubprogram;
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ firstPattern = true;
+ subprogramStart(_initialPosition, _abc, false);
+ }
+}
+
+function subprogramStart(_initialPosition, _abc, _incremental) {
+ redirectToBuffer();
+ var comment = "";
+ if (hasParameter("operation-comment")) {
+ comment = getParameter("operation-comment");
+ }
+ writeln(
+ "N" + nFormat.format(currentSubprogram) +
+ conditional(comment, formatComment(comment.substr(0, maximumLineLength - 2 - 6 - 1)))
+ );
+ saveShowSequenceNumbers = properties.showSequenceNumbers;
+ properties.showSequenceNumbers = false;
+ if (_incremental) {
+ setIncrementalMode(_initialPosition, _abc);
+ }
+ gPlaneModal.reset();
+ gMotionModal.reset();
+}
+
+function subprogramEnd() {
+ if (firstPattern) {
+ writeBlock(mFormat.format(99));
+ writeln("");
+ subprograms += getRedirectionBuffer();
+ }
+ forceAny();
+ firstPattern = false;
+ properties.showSequenceNumbers = saveShowSequenceNumbers;
+ closeRedirection();
+}
+
+function subprogramIsValid(_section, _patternId, _patternType) {
+ var sectionId = _section.getId();
+ var numberOfSections = getNumberOfSections();
+ var validSubprogram = _patternType != SUB_CYCLE;
+
+ var masterPosition = new Array();
+ masterPosition[0] = getFramePosition(_section.getInitialPosition());
+ masterPosition[1] = getFramePosition(_section.getFinalPosition());
+ var tempBox = _section.getBoundingBox();
+ var masterBox = new Array();
+ masterBox[0] = getFramePosition(tempBox[0]);
+ masterBox[1] = getFramePosition(tempBox[1]);
+
+ var rotation = getRotation();
+ var translation = getTranslation();
+ incrementalSubprogram = undefined;
+
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getId() != sectionId) {
+ defineWorkPlane(section, false);
+ // check for valid pattern
+ if (_patternType == SUB_PATTERN) {
+ if (section.getPatternId() == _patternId) {
+ var patternPosition = new Array();
+ patternPosition[0] = getFramePosition(section.getInitialPosition());
+ patternPosition[1] = getFramePosition(section.getFinalPosition());
+ tempBox = section.getBoundingBox();
+ var patternBox = new Array();
+ patternBox[0] = getFramePosition(tempBox[0]);
+ patternBox[1] = getFramePosition(tempBox[1]);
+
+ if (areSpatialBoxesSame(masterPosition, patternPosition) && areSpatialBoxesSame(masterBox, patternBox)) {
+ incrementalSubprogram = incrementalSubprogram ? incrementalSubprogram : false;
+ } else if (!areSpatialBoxesTranslated(masterPosition, patternPosition) || !areSpatialBoxesTranslated(masterBox, patternBox)) {
+ validSubprogram = false;
+ break;
+ } else {
+ incrementalSubprogram = true;
+ }
+ }
+
+ // check for valid cycle operation
+ } else if (_patternType == SUB_CYCLE) {
+ if ((section.getNumberOfCyclePoints() == _patternId) && (section.getNumberOfCycles() == 1)) {
+ var patternInitial = getFramePosition(section.getInitialPosition());
+ var patternFinal = getFramePosition(section.getFinalPosition());
+ if (!areSpatialVectorsDifferent(patternInitial, masterPosition[0]) && !areSpatialVectorsDifferent(patternFinal, masterPosition[1])) {
+ validSubprogram = true;
+ break;
+ }
+ }
+ }
+ }
+ }
+ setRotation(rotation);
+ setTranslation(translation);
+ return (validSubprogram);
+}
+
+function setAxisMode(_format, _output, _prefix, _value, _incr) {
+ var i = _output.isEnabled();
+ _output = _incr ? createIncrementalVariable({prefix: _prefix}, _format) : createVariable({prefix: _prefix}, _format);
+ _output.format(_value);
+ _output.format(_value);
+ i = i ? _output.enable() : _output.disable();
+ return _output;
+}
+
+function setIncrementalMode(xyz, abc) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, true);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, true);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, true);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, true);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, true);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, true);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(91));
+ incrementalMode = true;
+}
+
+function setAbsoluteMode(xyz, abc) {
+ if (incrementalMode) {
+ xOutput = setAxisMode(xyzFormat, xOutput, "X", xyz.x, false);
+ yOutput = setAxisMode(xyzFormat, yOutput, "Y", xyz.y, false);
+ zOutput = setAxisMode(xyzFormat, zOutput, "Z", xyz.z, false);
+ aOutput = setAxisMode(abcFormat, aOutput, "A", abc.x, false);
+ bOutput = setAxisMode(abcFormat, bOutput, "B", abc.y, false);
+ cOutput = setAxisMode(abcFormat, cOutput, "C", abc.z, false);
+ gAbsIncModal.reset();
+ writeBlock(gAbsIncModal.format(90));
+ incrementalMode = false;
+ }
+}
+
+function onSection() {
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = isFirstSection() ||
+ currentSection.getForceToolChange && currentSection.getForceToolChange() ||
+ (tool.number != getPreviousSection().getTool().number);
+
+ retracted = false;
+ var zIsOutput = false; // true if the Z-position has been output, used for patterns
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
+ (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
+ Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
+ (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
+ (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
+ getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
+
+ if (properties.safeStartAllOperations && !isFirstSection()) { // determine what needs to be included in safe start
+ if (!insertToolCall) { // tool call required
+ operationNeedsSafeToolCall = true;
+ forceSpindleSpeed = true;
+ }
+ if (!newWorkOffset) { // offset required
+ operationNeedsSafeWorkOffset = true;
+ }
+ if (!newWorkPlane) { // workplane required
+ operationNeedsSafeWorkPlane = true;
+ }
+ operationNeedsSafeStart = true; // operation will contain safe start components
+ }
+
+ if ((insertToolCall && !properties.fastToolChange) || newWorkOffset || newWorkPlane || toolChecked) {
+
+ // stop spindle before retract during tool change
+ if (insertToolCall && !isFirstSection() && !toolChecked && !properties.fastToolChange) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ }
+
+ // retract to safe plane
+ writeRetract(Z);
+
+ if (forceResetWorkPlane && newWorkPlane) {
+ forceWorkPlane();
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+ }
+ }
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment && ((comment !== lastOperationComment) || !patternIsActive || insertToolCall)) {
+ writeln("");
+ writeComment(comment);
+ lastOperationComment = comment;
+ } else if (!patternIsActive || insertToolCall) {
+ writeln("");
+ }
+ } else {
+ writeln("");
+ }
+
+ if (operationNeedsSafeStart && !retracted) { // retract before safestart operations
+ skipBlock = true;
+ writeRetract(Z);
+ }
+
+ if (properties.showNotes && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall || operationNeedsSafeStart) {
+ forceWorkPlane();
+
+ if (properties.fastToolChange && !isProbeOperation()) {
+ currentCoolantMode = COOLANT_OFF;
+ } else if (!operationNeedsSafeToolCall) { // no coolant off command if safe start operation
+ onCommand(COMMAND_COOLANT_OFF);
+ }
+
+ if (!isFirstSection() && properties.optionalStop) {
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if ((tool.number > 200 && tool.number < 1000) || tool.number > 9999) {
+ warning(localize("Tool number out of range."));
+ }
+
+ skipBlock = operationNeedsSafeToolCall;
+ writeToolBlock(
+ "T" + toolFormat.format(tool.number),
+ mFormat.format(6)
+ );
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+ if (measureTool) {
+ writeToolMeasureBlock(tool);
+ }
+ var showToolZMin = false;
+ if (showToolZMin) {
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ var zRange = currentSection.getGlobalZRange();
+ var number = tool.number;
+ for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getTool().number != number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+ writeComment(localize("ZMIN") + "=" + xyzFormat.format(zRange.getMinimum()));
+ }
+ }
+ }
+
+ // activate those two coolant modes before the spindle is turned on
+ if ((tool.coolant == COOLANT_THROUGH_TOOL) || (tool.coolant == COOLANT_AIR_THROUGH_TOOL) || (tool.coolant == COOLANT_FLOOD_THROUGH_TOOL)) {
+ if (!isFirstSection() && !insertToolCall && (currentCoolantMode != tool.coolant)) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ forceSpindleSpeed = true;
+ }
+ setCoolant(tool.coolant);
+ } else if ((currentCoolantMode == COOLANT_THROUGH_TOOL) || (currentCoolantMode == COOLANT_AIR_THROUGH_TOOL) || (currentCoolantMode == COOLANT_FLOOD_THROUGH_TOOL)) {
+ onCommand(COMMAND_STOP_SPINDLE);
+ setCoolant(COOLANT_OFF);
+ forceSpindleSpeed = true;
+ }
+
+ if (toolChecked) {
+ forceSpindleSpeed = true; // spindle must be restarted if tool is checked without a tool change
+ toolChecked = false; // state of tool is not known at the beginning of a section since it could be broken for the previous section
+ }
+
+ if (!isProbeOperation() &&
+ (insertToolCall ||
+ forceSpindleSpeed ||
+ isFirstSection() ||
+ (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise))) {
+ forceSpindleSpeed = false;
+
+ if (spindleSpeed < 1) {
+ error(localize("Spindle speed out of range."));
+ return;
+ }
+ if (spindleSpeed > 99999) {
+ warning(localize("Spindle speed exceeds maximum value."));
+ }
+ writeBlock(
+ sOutput.format(spindleSpeed), mFormat.format(tool.clockwise ? 3 : 4)
+ );
+ }
+
+ if (properties.useParametricFeed &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") &&
+ !(currentSection.isMultiAxis()) && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+
+ // wcs
+ if (insertToolCall || operationNeedsSafeWorkOffset) { // force work offset when changing tool
+ currentWorkOffset = undefined;
+ }
+ var workOffset = currentSection.workOffset;
+ if (workOffset == 0) {
+ warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
+ workOffset = 1;
+ }
+ if (workOffset > 0) {
+ if (workOffset > 6) {
+ var code = workOffset - 6;
+ if (code > 99) {
+ error(localize("Work offset out of range."));
+ return;
+ }
+ if (workOffset != currentWorkOffset) {
+ forceWorkPlane();
+ writeBlock(gFormat.format(154), "P" + code);
+ currentWorkOffset = workOffset;
+ }
+ } else {
+ if (workOffset != currentWorkOffset) {
+ forceWorkPlane();
+ writeBlock(gFormat.format(53 + workOffset)); // G54->G59
+ currentWorkOffset = workOffset;
+ }
+ }
+ }
+
+ forceXYZ();
+
+ var abc = defineWorkPlane(currentSection, true);
+
+ // set coolant after we have positioned at Z
+ setCoolant(tool.coolant);
+
+ forceAny();
+ gMotionModal.reset();
+
+ if (properties.useG187) {
+ writeG187();
+ }
+
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z));
+ zIsOutput = true;
+ }
+ }
+
+ if (insertToolCall || retracted || operationNeedsSafeStart) {
+ var lengthOffset = tool.lengthOffset;
+ if ((lengthOffset > 200 && lengthOffset < 1000) || lengthOffset > 9999) {
+ error(localize("Length offset out of range."));
+ return;
+ }
+
+ gMotionModal.reset();
+ writeBlock(gPlaneModal.format(17));
+
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y)
+ );
+ writeBlock(
+ gMotionModal.format(0),
+ gFormat.format(43),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ } else {
+ writeBlock(
+ gAbsIncModal.format(90),
+ gMotionModal.format(0),
+ gFormat.format(43),
+ xOutput.format(initialPosition.x),
+ yOutput.format(initialPosition.y),
+ zOutput.format(initialPosition.z),
+ hFormat.format(lengthOffset)
+ );
+ }
+ zIsOutput = true;
+
+ gMotionModal.reset();
+ } else {
+ var x = xOutput.format(initialPosition.x);
+ var y = yOutput.format(initialPosition.y);
+ if (!properties.useG0 && x && y) {
+ // axes are not synchronized
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(1), x, y, getFeed(highFeedrate));
+ } else {
+ writeBlock(gAbsIncModal.format(90), gMotionModal.format(0), x, y);
+ }
+ }
+
+ if (insertToolCall) {
+ if (properties.preloadTool) {
+ var nextTool = getNextTool(tool.number);
+ if (nextTool) {
+ writeBlock("T" + toolFormat.format(nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ if (tool.number != firstToolNumber) {
+ writeBlock("T" + toolFormat.format(firstToolNumber));
+ }
+ }
+ }
+ }
+
+ if (isProbeOperation()) {
+ if (g68RotationMode != 0) {
+ error(localize("You cannot probe while G68 Rotation is in effect."));
+ return;
+ }
+ angularProbingMode = getAngularProbingMode();
+ writeBlock(gFormat.format(65), "P" + 9832); // spin the probe on
+ }
+
+ // define subprogram
+ subprogramDefine(initialPosition, abc, retracted, zIsOutput);
+}
+
+function onDwell(seconds) {
+ if (seconds > 99999.999) {
+ warning(localize("Dwelling time is out of range."));
+ }
+ seconds = clamp(0.001, seconds, 99999.999);
+ writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(seconds * 1000));
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(sOutput.format(spindleSpeed));
+}
+
+function onCycle() {
+ writeBlock(gPlaneModal.format(17));
+}
+
+function getCommonCycle(x, y, z, r, c) {
+ forceXYZ(); // force xyz on first drill hole of any cycle
+ if (incrementalMode) {
+ zOutput.format(c);
+ return [xOutput.format(x), yOutput.format(y),
+ "Z" + xyzFormat.format(z - r),
+ "R" + xyzFormat.format(r - c)];
+ } else {
+ return [xOutput.format(x), yOutput.format(y),
+ zOutput.format(z),
+ "R" + xyzFormat.format(r)];
+ }
+}
+
+function setCyclePosition(_position) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ zOutput.format(_position);
+ break;
+ case 18: // ZX
+ yOutput.format(_position);
+ break;
+ case 19: // YZ
+ xOutput.format(_position);
+ break;
+ }
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+/**
+ Determine if angular probing is supported.
+*/
+function getAngularProbingMode() {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ if (machineConfiguration.isMachineCoordinate(2)) {
+ return (ANGLE_PROBE_USE_CAXIS);
+ } else {
+ return (ANGLE_PROBE_NOT_SUPPORTED);
+ }
+ } else {
+ return (ANGLE_PROBE_USE_ROTATION);
+ }
+}
+
+/**
+ Output rotation offset based on angular probing cycle.
+*/
+function setProbingAngle() {
+ if ((g68RotationMode == 1) || (g68RotationMode == 2)) { // Rotate coordinate system for Angle Probing
+ if (angularProbingMode == ANGLE_PROBE_USE_ROTATION) {
+ gRotationModal.reset();
+ gAbsIncModal.reset();
+ var xCode = (g68RotationMode == 1) ? "X0" : "X[#185]";
+ var yCode = (g68RotationMode == 1) ? "Y0" : "Y[#186]";
+ writeBlock(gRotationModal.format(68), gAbsIncModal.format(90), xCode, yCode, "R[#189]");
+ g68RotationMode = 3;
+ } else if (angularProbingMode == ANGLE_PROBE_USE_CAXIS) {
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 6) {
+ error(localize("Angle Probing only supports work offsets 1-6."));
+ return;
+ }
+ var param = 5200 + workOffset * 20 + 5;
+ writeBlock("#" + param + "=" + "#189");
+ g68RotationMode = 0;
+ } else {
+ error(localize("Angular Probing is not supported for this machine configuration."));
+ return;
+ }
+ }
+}
+
+function protectedProbeMove(_cycle, x, y, z) {
+ var _x = xOutput.format(x);
+ var _y = yOutput.format(y);
+ var _z = zOutput.format(z);
+ if (_z && z >= getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+ if (_x || _y) {
+ writeBlock(gFormat.format(65), "P" + 9810, _x, _y, getFeed(highFeedrate)); // protected positioning move
+ }
+ if (_z && z < getCurrentPosition().z) {
+ writeBlock(gFormat.format(65), "P" + 9810, _z, getFeed(cycle.feedrate)); // protected positioning move
+ }
+}
+
+function onCyclePoint(x, y, z) {
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCyclePoint(x, y, z);
+ return;
+ }
+ var probeWorkOffsetCode;
+ if (isProbeOperation()) {
+ if (!isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) && (!cycle.probeMode || (cycle.probeMode == 0))) {
+ error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
+ return;
+ }
+ protectedProbeMove(cycle, x, y, z);
+
+ var workOffset = probeOutputWorkOffset ? probeOutputWorkOffset : currentWorkOffset;
+ if (workOffset > 99) {
+ error(localize("Work offset is out of range."));
+ return;
+ } else if (workOffset > 6) {
+ probeWorkOffsetCode = "154." + probe154Format.format(workOffset - 6);
+ } else {
+ probeWorkOffsetCode = workOffset + "."; // G54->G59
+ }
+ }
+
+ var forceCycle = false;
+ switch (cycleType) {
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ if (cycle.accumulatedDepth < cycle.depth) {
+ error(localize("Accumulated pecking depth is not supported for tapping cycles with chip breaking."));
+ return;
+ } else {
+ forceCycle = true;
+ if (!isFirstCyclePoint()) {
+ writeBlock(gCycleModal.format(80));
+ gMotionModal.reset();
+ }
+ }
+ }
+ if (forceCycle || isFirstCyclePoint() || isProbeOperation()) {
+ if (!isProbeOperation()) {
+ // return to initial Z which is clearance plane and set absolute mode
+ repositionToCycleClearance(cycle, x, y, z);
+ }
+
+ var F = cycle.feedrate;
+ var P = !cycle.dwell ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds
+
+ switch (cycleType) {
+ case "drilling":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ break;
+ case "counter-boring":
+ if (P > 0) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(82),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(81),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "chip-breaking":
+ if ((!properties.useG73Retract && (cycle.accumulatedDepth < cycle.depth)) ||
+ (properties.useG73Retract && (cycle.accumulatedDepth < cycle.depth) &&
+ (cycle.incrementalDepthReduction > 0))) {
+ expandCyclePoint(x, y, z);
+ } else if (cycle.accumulatedDepth < cycle.depth) {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ ("Q" + xyzFormat.format(cycle.incrementalDepth)),
+ ("K" + xyzFormat.format(cycle.accumulatedDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(73),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ (((cycle.incrementalDepthReduction > 0) ? "I" : "Q") + xyzFormat.format(cycle.incrementalDepth)),
+ conditional(cycle.incrementalDepthReduction > 0, "J" + xyzFormat.format(cycle.incrementalDepthReduction)),
+ conditional(cycle.incrementalDepthReduction > 0, "K" + xyzFormat.format(cycle.minimumIncrementalDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ }
+ break;
+ case "deep-drilling":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(83),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ (((cycle.incrementalDepthReduction > 0) ? "I" : "Q") + xyzFormat.format(cycle.incrementalDepth)),
+ conditional(cycle.incrementalDepthReduction > 0, "J" + xyzFormat.format(cycle.incrementalDepthReduction)),
+ conditional(cycle.incrementalDepthReduction > 0, "K" + xyzFormat.format(cycle.minimumIncrementalDepth)),
+ conditional(P > 0, "P" + milliFormat.format(P)), // optional
+ feedOutput.format(F)
+ );
+ break;
+ case "tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "left-tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(74),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "right-tapping":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(84),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ forceFeed();
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ var tappingFPM = tool.getThreadPitch() * rpmFormat.getResultingValue(spindleSpeed);
+ F = (properties.useG95forTapping ? tool.getThreadPitch() : tappingFPM);
+ if (properties.useG95forTapping) {
+ writeBlock(gFeedModeModal.format(95));
+ }
+ // Parameter 57 bit 6, REPT RIG TAP, is set to 1 (On)
+ // On Mill software versions12.09 and above, REPT RIG TAP has been moved from the Parameters to Setting 133
+ var u = cycle.stock;
+ var step = cycle.incrementalDepth;
+ var first = true;
+ while (u > cycle.bottom) {
+ if (step < cycle.minimumIncrementalDepth) {
+ step = cycle.minimumIncrementalDepth;
+ }
+ u -= step;
+ step -= cycle.incrementalDepthReduction;
+ gCycleModal.reset(); // required
+ if ((u - 0.001) <= cycle.bottom) {
+ u = cycle.bottom;
+ }
+ if (first) {
+ first = false;
+ writeBlock(
+ gRetractModal.format(99), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)),
+ getCommonCycle((gPlaneModal.getCurrent() == 19) ? u : x, (gPlaneModal.getCurrent() == 18) ? u : y, (gPlaneModal.getCurrent() == 17) ? u : z, cycle.retract, cycle.clearance),
+ pitchOutput.format(F)
+ );
+ } else {
+ var position;
+ var depth;
+ switch (gPlaneModal.getCurrent()) {
+ case 17:
+ xOutput.reset();
+ position = xOutput.format(x);
+ depth = "Z" + xyzFormat.format(u);
+ break;
+ case 18:
+ zOutput.reset();
+ position = zOutput.format(z);
+ depth = "Y" + xyzFormat.format(u);
+ break;
+ case 19:
+ yOutput.reset();
+ position = yOutput.format(y);
+ depth = "X" + xyzFormat.format(u);
+ break;
+ }
+ writeBlock(conditional(u <= cycle.bottom, gRetractModal.format(98)), position, depth);
+ }
+ }
+ forceFeed();
+ break;
+ case "fine-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(76),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ break;
+ case "back-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0;
+ var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0;
+ var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0;
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(77),
+ getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom, cycle.clearance),
+ "Q" + xyzFormat.format(cycle.shift),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ }
+ break;
+ case "reaming":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(85),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ break;
+ case "stop-boring":
+ if (P > 0) {
+ expandCyclePoint(x, y, z);
+ } else {
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(86),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ feedOutput.format(F)
+ );
+ forceSpindleSpeed = true;
+ }
+ break;
+ case "manual-boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(88),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+ case "boring":
+ writeBlock(
+ gRetractModal.format(98), gCycleModal.format(89),
+ getCommonCycle(x, y, z, cycle.retract, cycle.clearance),
+ "P" + milliFormat.format(P), // not optional
+ feedOutput.format(F)
+ );
+ break;
+
+ case "probing-x":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-z":
+ protectedProbeMove(cycle, x, y, Math.min(z - cycle.depth + cycle.probeClearance, cycle.retract));
+ writeBlock(
+ gFormat.format(65), "P" + 9811,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-wall":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-x-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-y-channel-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width1),
+ zOutput.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-circular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9814,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "D" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ // not required "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-boss":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "R" + xyzFormat.format(cycle.probeClearance),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+ case "probing-xy-rectangular-hole-with-island":
+ protectedProbeMove(cycle, x, y, z);
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "X" + xyzFormat.format(cycle.width1),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ writeBlock(
+ gFormat.format(65), "P" + 9812,
+ "Z" + xyzFormat.format(z - cycle.depth),
+ "Y" + xyzFormat.format(cycle.width2),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ "R" + xyzFormat.format(-cycle.probeClearance),
+ getProbingArguments(cycle, probeWorkOffsetCode)
+ );
+ break;
+
+ case "probing-xy-inner-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing && (cycle.probeSpacing != 0)) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9815, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-xy-outer-corner":
+ var cornerX = x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerY = y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter / 2);
+ var cornerI = 0;
+ var cornerJ = 0;
+ if (cycle.probeSpacing && (cycle.probeSpacing != 0)) {
+ cornerI = cycle.probeSpacing;
+ cornerJ = cycle.probeSpacing;
+ }
+ if ((cornerI != 0) && (cornerJ != 0)) {
+ g68RotationMode = 2;
+ }
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9816, xOutput.format(cornerX), yOutput.format(cornerY),
+ conditional(cornerI != 0, "I" + xyzFormat.format(cornerI)),
+ conditional(cornerJ != 0, "J" + xyzFormat.format(cornerJ)),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ conditional((g68RotationMode == 0) || (angularProbingMode == ANGLE_PROBE_USE_CAXIS), getProbingArguments(cycle, probeWorkOffsetCode))
+ );
+ break;
+ case "probing-x-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "X" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+ case "probing-y-plane-angle":
+ protectedProbeMove(cycle, x, y, z - cycle.depth);
+ writeBlock(
+ gFormat.format(65), "P" + 9843,
+ "Y" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)),
+ "D" + xyzFormat.format(cycle.probeSpacing),
+ "Q" + xyzFormat.format(cycle.probeOvertravel),
+ getProbingArguments(cycle, false)
+ );
+ g68RotationMode = 1;
+ break;
+
+ default:
+ expandCyclePoint(x, y, z);
+ }
+
+ // place cycle operation in subprogram
+ if (cycleSubprogramIsActive) {
+ if (forceCycle || cycleExpanded || isProbeOperation()) {
+ cycleSubprogramIsActive = false;
+ } else {
+ // call subprogram
+ writeBlock(mFormat.format(97), "P" + nFormat.format(currentSubprogram));
+ subprogramStart(new Vector(x, y, z), new Vector(0, 0, 0), false);
+ }
+ }
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+
+ // 2nd through nth cycle point
+ } else {
+ if (cycleExpanded) {
+ expandCyclePoint(x, y, z);
+ } else {
+ var _x;
+ var _y;
+ var _z;
+ if (!xyzFormat.areDifferent(x, xOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(y, yOutput.getCurrent()) &&
+ !xyzFormat.areDifferent(z, zOutput.getCurrent())) {
+ switch (gPlaneModal.getCurrent()) {
+ case 17: // XY
+ xOutput.reset(); // at least one axis is required
+ break;
+ case 18: // ZX
+ zOutput.reset(); // at least one axis is required
+ break;
+ case 19: // YZ
+ yOutput.reset(); // at least one axis is required
+ break;
+ }
+ }
+ if (incrementalMode) { // set current position to retract height
+ setCyclePosition(cycle.retract);
+ }
+ writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z));
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+ }
+ }
+}
+
+function getProbingArguments(cycle, probeWorkOffsetCode) {
+ var probeWCS = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe");
+ return [
+ (cycle.angleAskewAction == "stop-message" ? "B" + xyzFormat.format(cycle.toleranceAngle ? cycle.toleranceAngle : 0) : undefined),
+ ((cycle.updateToolWear && cycle.toolWearErrorCorrection < 100) ? "F" + xyzFormat.format(cycle.toolWearErrorCorrection ? cycle.toolWearErrorCorrection / 100 : 100) : undefined),
+ (cycle.wrongSizeAction == "stop-message" ? "H" + xyzFormat.format(cycle.toleranceSize ? cycle.toleranceSize : 0) : undefined),
+ (cycle.outOfPositionAction == "stop-message" ? "M" + xyzFormat.format(cycle.tolerancePosition ? cycle.tolerancePosition : 0) : undefined),
+ ((cycle.updateToolWear && cycleType == "probing-z") ? "T" + xyzFormat.format(cycle.toolLengthOffset) : undefined),
+ ((cycle.updateToolWear && cycleType !== "probing-z") ? "T" + xyzFormat.format(cycle.toolDiameterOffset) : undefined),
+ (cycle.updateToolWear ? "V" + xyzFormat.format(cycle.toolWearUpdateThreshold ? cycle.toolWearUpdateThreshold : 0) : undefined),
+ (cycle.printResults ? "W" + xyzFormat.format(1 + cycle.incrementComponent) : undefined), // 1 for advance feature, 2 for reset feature count and advance component number. first reported result in a program should use W2.
+ conditional(probeWorkOffsetCode && probeWCS, "S" + probeWorkOffsetCode)
+ ];
+}
+
+function onCycleEnd() {
+ if (isProbeOperation()) {
+ zOutput.reset();
+ gMotionModal.reset();
+ writeBlock(gFormat.format(65), "P" + 9810, zOutput.format(cycle.retract)); // protected retract move
+ } else {
+ if (cycleSubprogramIsActive) {
+ subprogramEnd();
+ cycleSubprogramIsActive = false;
+ }
+ if (!cycleExpanded) {
+ writeBlock(gCycleModal.format(80), conditional(properties.useG95forTapping, gFeedModeModal.format(94)));
+ gMotionModal.reset();
+ }
+ }
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(_x, _y, _z) {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+ if (!properties.useG0 && (((x ? 1 : 0) + (y ? 1 : 0) + (z ? 1 : 0)) > 1)) {
+ // axes are not synchronized
+ writeBlock(gMotionModal.format(1), x, y, z, getFeed(highFeedrate));
+ } else {
+ writeBlock(gMotionModal.format(0), x, y, z);
+ forceFeed();
+ }
+ }
+}
+
+function onLinear(_x, _y, _z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ // ensure that we end at desired position when compensation is turned off
+ xOutput.reset();
+ yOutput.reset();
+ }
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var f = getFeed(feed);
+ if (x || y || z) {
+ if (pendingRadiusCompensation >= 0) {
+ pendingRadiusCompensation = -1;
+ var d = tool.diameterOffset;
+ if ((d > 200 && d < 1000) || d > 9999) {
+ warning(localize("Diameter offset out of range."));
+ }
+ writeBlock(gPlaneModal.format(17));
+ switch (radiusCompensation) {
+ case RADIUS_COMPENSATION_LEFT:
+ dOutput.reset();
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f);
+ break;
+ case RADIUS_COMPENSATION_RIGHT:
+ dOutput.reset();
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f);
+ break;
+ default:
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), gFormat.format(40), x, y, z, f);
+ }
+ } else {
+ writeBlock(gFeedModeModal.format(94), gMotionModal.format(1), x, y, z, f);
+ }
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ writeBlock(gMotionModal.format(1), f);
+ }
+ }
+}
+
+function onRapid5D(_x, _y, _z, _a, _b, _c) {
+ if (!currentSection.isOptimizedForMachine()) {
+ error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
+ return;
+ }
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation mode cannot be changed at rapid traversal."));
+ return;
+ }
+
+ if (!properties.useG0) {
+ // axes are not synchronized
+ onLinear5D(_x, _y, _z, _a, _b, _c, highFeedrate);
+ } else {
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+ writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
+ forceFeed();
+ }
+}
+
+function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
+ if (!currentSection.isOptimizedForMachine()) {
+ error(localize("This post configuration has not been customized for 5-axis simultaneous toolpath."));
+ return;
+ }
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+ var x = xOutput.format(_x);
+ var y = yOutput.format(_y);
+ var z = zOutput.format(_z);
+ var a = aOutput.format(_a);
+ var b = bOutput.format(_b);
+ var c = cOutput.format(_c);
+
+ // get feedrate number
+ var f = {frn:0, fmode:0};
+ if (a || b || c) {
+ f = getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed);
+ if (properties.useDPMFeeds) {
+ f.frn = feedOutput.format(f.frn);
+ } else {
+ f.frn = inverseTimeOutput.format(f.frn);
+ }
+ } else {
+ f.frn = feedOutput.format(feed);
+ f.fmode = 94;
+ }
+
+ if (x || y || z || a || b || c) {
+ writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), x, y, z, a, b, c, f.frn);
+ } else if (f.frn) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ feedOutput.reset(); // force feed on next line
+ } else {
+ writeBlock(gFeedModeModal.format(f.fmode), gMotionModal.format(1), f.frn);
+ }
+ }
+}
+
+// Start of multi-axis feedrate logic
+/***** You can add 'properties.useInverseTime' if desired. *****/
+/***** 'previousABC' can be added throughout to maintain previous rotary positions. Required for Mill/Turn machines. *****/
+/***** 'headOffset' should be defined when a head rotary axis is defined. *****/
+/***** The feedrate mode must be included in motion block output (linear, circular, etc.) for Inverse Time feedrate support. *****/
+var dpmBPW = 0.1; // ratio of rotary accuracy to linear accuracy for DPM calculations
+var inverseTimeUnits = 1.0; // 1.0 = minutes, 60.0 = seconds
+var maxInverseTime = 45000; // maximum value to output for Inverse Time feeds
+var maxDPM = 9999.99; // maximum value to output for DPM feeds
+var useInverseTimeFeed = false; // use 1/T feeds
+var inverseTimeFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true});
+var inverseTimeOutput = createVariable({prefix:"F", force:true}, inverseTimeFormat);
+var previousDPMFeed = 0; // previously output DPM feed
+var dpmFeedToler = 0.5; // tolerance to determine when the DPM feed has changed
+// var previousABC = new Vector(0, 0, 0); // previous ABC position if maintained in post, don't define if not used
+var forceOptimized = undefined; // used to override optimized-for-angles points (XZC-mode)
+
+/** Calculate the multi-axis feedrate number. */
+function getMultiaxisFeed(_x, _y, _z, _a, _b, _c, feed) {
+ var f = {frn:0, fmode:0};
+ if (feed <= 0) {
+ error(localize("Feedrate is less than or equal to 0."));
+ return f;
+ }
+
+ var length = getMoveLength(_x, _y, _z, _a, _b, _c);
+
+ if (!properties.useDPMFeeds) { // inverse time
+ f.frn = getInverseTime(length.tool, feed);
+ f.fmode = 93;
+ feedOutput.reset();
+ } else { // degrees per minute
+ f.frn = getFeedDPM(length, feed);
+ f.fmode = 94;
+ }
+ return f;
+}
+
+/** Returns point optimization mode. */
+function getOptimizedMode() {
+ if (forceOptimized != undefined) {
+ return forceOptimized;
+ }
+ // return (currentSection.getOptimizedTCPMode() != 0); // TAG:doesn't return correct value
+ return true; // always return false for non-TCP based heads
+}
+
+/** Calculate the DPM feedrate number. */
+function getFeedDPM(_moveLength, _feed) {
+ if ((_feed == 0) || (_moveLength.tool < 0.0001) || (toDeg(_moveLength.abcLength) < 0.0005)) {
+ previousDPMFeed = 0;
+ return _feed;
+ }
+ var moveTime = _moveLength.tool / _feed;
+ if (moveTime == 0) {
+ previousDPMFeed = 0;
+ return _feed;
+ }
+
+ var dpmFeed;
+ var tcp = false; // !getOptimizedMode() && (forceOptimized == undefined); // set to false for rotary heads
+ if (tcp) { // TCP mode is supported, output feed as FPM
+ dpmFeed = _feed;
+ } else if (false) { // standard DPM
+ dpmFeed = Math.min(toDeg(_moveLength.abcLength) / moveTime, maxDPM);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ } else if (false) { // combination FPM/DPM
+ var length = Math.sqrt(Math.pow(_moveLength.xyzLength, 2.0) + Math.pow((toDeg(_moveLength.abcLength) * dpmBPW), 2.0));
+ dpmFeed = Math.min((length / moveTime), maxDPM);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ } else { // machine specific calculation
+ var feedRate = _feed / (_moveLength.radius.x / (toPreciseUnit(properties.setting34, IN) / 2.0));
+ dpmFeed = Math.min(feedRate, highFeedrate);
+ if (Math.abs(dpmFeed - previousDPMFeed) < dpmFeedToler) {
+ dpmFeed = previousDPMFeed;
+ }
+ }
+ previousDPMFeed = dpmFeed;
+ return dpmFeed;
+}
+
+/** Calculate the Inverse time feedrate number. */
+function getInverseTime(_length, _feed) {
+ var inverseTime;
+ if (_length < 1.e-6) { // tool doesn't move
+ if (typeof maxInverseTime === "number") {
+ inverseTime = maxInverseTime;
+ } else {
+ inverseTime = 999999;
+ }
+ } else {
+ inverseTime = _feed / _length / inverseTimeUnits;
+ if (typeof maxInverseTime === "number") {
+ if (inverseTime > maxInverseTime) {
+ inverseTime = maxInverseTime;
+ }
+ }
+ }
+ return inverseTime;
+}
+
+/** Calculate radius for each rotary axis. */
+function getRotaryRadii(startTool, endTool, startABC, endABC) {
+ var radii = new Vector(0, 0, 0);
+ var startRadius;
+ var endRadius;
+ var axis = new Array(machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW());
+ for (var i = 0; i < 3; ++i) {
+ if (axis[i].isEnabled()) {
+ var startRadius = getRotaryRadius(axis[i], startTool, startABC);
+ var endRadius = getRotaryRadius(axis[i], endTool, endABC);
+ radii.setCoordinate(axis[i].getCoordinate(), Math.max(startRadius, endRadius));
+ }
+ }
+ return radii;
+}
+
+/** Calculate the distance of the tool position to the center of a rotary axis. */
+function getRotaryRadius(axis, toolPosition, abc) {
+ if (!axis.isEnabled()) {
+ return 0;
+ }
+
+ var direction = axis.getEffectiveAxis();
+ var normal = direction.getNormalized();
+ // calculate the rotary center based on head/table
+ var center;
+ var radius;
+ if (axis.isHead()) {
+ var pivot;
+ if (typeof headOffset === "number") {
+ pivot = headOffset;
+ } else {
+ pivot = tool.getBodyLength();
+ }
+ if (axis.getCoordinate() == machineConfiguration.getAxisU().getCoordinate()) { // rider
+ center = Vector.sum(toolPosition, Vector.product(machineConfiguration.getDirection(abc), pivot));
+ center = Vector.sum(center, axis.getOffset());
+ radius = Vector.diff(toolPosition, center).length;
+ } else { // carrier
+ var angle = abc.getCoordinate(machineConfiguration.getAxisU().getCoordinate());
+ radius = Math.abs(pivot * Math.sin(angle));
+ radius += axis.getOffset().length;
+ }
+ } else {
+ center = axis.getOffset();
+ var d1 = toolPosition.x - center.x;
+ var d2 = toolPosition.y - center.y;
+ var d3 = toolPosition.z - center.z;
+ var radius = Math.sqrt(
+ Math.pow((d1 * normal.y) - (d2 * normal.x), 2.0) +
+ Math.pow((d2 * normal.z) - (d3 * normal.y), 2.0) +
+ Math.pow((d3 * normal.x) - (d1 * normal.z), 2.0)
+ );
+ }
+ return radius;
+}
+
+/** Calculate the linear distance based on the rotation of a rotary axis. */
+function getRadialDistance(radius, startABC, endABC) {
+ // calculate length of radial move
+ var delta = Math.abs(endABC - startABC);
+ if (delta > Math.PI) {
+ delta = 2 * Math.PI - delta;
+ }
+ var radialLength = (2 * Math.PI * radius) * (delta / (2 * Math.PI));
+ return radialLength;
+}
+
+/** Calculate tooltip, XYZ, and rotary move lengths. */
+function getMoveLength(_x, _y, _z, _a, _b, _c) {
+ // get starting and ending positions
+ var moveLength = {};
+ var startTool;
+ var endTool;
+ var startXYZ;
+ var endXYZ;
+ var startABC;
+ if (typeof previousABC !== "undefined") {
+ startABC = new Vector(previousABC.x, previousABC.y, previousABC.z);
+ } else {
+ startABC = getCurrentDirection();
+ }
+ var endABC = new Vector(_a, _b, _c);
+
+ if (!getOptimizedMode()) { // calculate XYZ from tool tip
+ startTool = getCurrentPosition();
+ endTool = new Vector(_x, _y, _z);
+ startXYZ = startTool;
+ endXYZ = endTool;
+
+ // adjust points for tables
+ if (!machineConfiguration.getTableABC(startABC).isZero() || !machineConfiguration.getTableABC(endABC).isZero()) {
+ startXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).getTransposed().multiply(startXYZ);
+ endXYZ = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).getTransposed().multiply(endXYZ);
+ }
+
+ // adjust points for heads
+ if (machineConfiguration.getAxisU().isEnabled() && machineConfiguration.getAxisU().isHead()) {
+ if (typeof getOptimizedHeads === "function") { // use post processor function to adjust heads
+ startXYZ = getOptimizedHeads(startXYZ.x, startXYZ.y, startXYZ.z, startABC.x, startABC.y, startABC.z);
+ endXYZ = getOptimizedHeads(endXYZ.x, endXYZ.y, endXYZ.z, endABC.x, endABC.y, endABC.z);
+ } else { // guess at head adjustments
+ var startDisplacement = machineConfiguration.getDirection(startABC);
+ startDisplacement.multiply(headOffset);
+ var endDisplacement = machineConfiguration.getDirection(endABC);
+ endDisplacement.multiply(headOffset);
+ startXYZ = Vector.sum(startTool, startDisplacement);
+ endXYZ = Vector.sum(endTool, endDisplacement);
+ }
+ }
+ } else { // calculate tool tip from XYZ, heads are always programmed in TCP mode, so not handled here
+ startXYZ = getCurrentPosition();
+ endXYZ = new Vector(_x, _y, _z);
+ startTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(startABC)).multiply(startXYZ);
+ endTool = machineConfiguration.getOrientation(machineConfiguration.getTableABC(endABC)).multiply(endXYZ);
+ }
+
+ // calculate axes movements
+ moveLength.xyz = Vector.diff(endXYZ, startXYZ).abs;
+ moveLength.xyzLength = moveLength.xyz.length;
+ moveLength.abc = Vector.diff(endABC, startABC).abs;
+ for (var i = 0; i < 3; ++i) {
+ if (moveLength.abc.getCoordinate(i) > Math.PI) {
+ moveLength.abc.setCoordinate(i, 2 * Math.PI - moveLength.abc.getCoordinate(i));
+ }
+ }
+ moveLength.abcLength = moveLength.abc.length;
+
+ // calculate radii
+ moveLength.radius = getRotaryRadii(startTool, endTool, startABC, endABC);
+
+ // calculate the radial portion of the tool tip movement
+ var radialLength = Math.sqrt(
+ Math.pow(getRadialDistance(moveLength.radius.x, startABC.x, endABC.x), 2.0) +
+ Math.pow(getRadialDistance(moveLength.radius.y, startABC.y, endABC.y), 2.0) +
+ Math.pow(getRadialDistance(moveLength.radius.z, startABC.z, endABC.z), 2.0)
+ );
+
+ // calculate the tool tip move length
+ // tool tip distance is the move distance based on a combination of linear and rotary axes movement
+ moveLength.tool = moveLength.xyzLength + radialLength;
+
+ // debug
+ if (false) {
+ writeComment("DEBUG - tool = " + moveLength.tool);
+ writeComment("DEBUG - xyz = " + moveLength.xyz);
+ var temp = Vector.product(moveLength.abc, 180 / Math.PI);
+ writeComment("DEBUG - abc = " + temp);
+ writeComment("DEBUG - radius = " + moveLength.radius);
+ }
+ return moveLength;
+}
+// End of multi-axis feedrate logic
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (isSpiral()) {
+ var startRadius = getCircularStartRadius();
+ var endRadius = getCircularRadius();
+ var dr = Math.abs(endRadius - startRadius);
+ if (dr > maximumCircularRadiiDifference) { // maximum limit
+ linearize(tolerance); // or alternatively use other G-codes for spiral motion
+ return;
+ }
+ }
+
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+
+ if (isFullCircle()) {
+ if (properties.useRadius || isHelical()) { // radius mode does not support full arcs
+ linearize(tolerance);
+ return;
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else if (!properties.useRadius) {
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ } else { // use radius mode
+ var r = getCircularRadius();
+ if (toDeg(getCircularSweep()) > (180 + 1e-9)) {
+ r = -r; // allow up to <360 deg arcs
+ }
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(gPlaneModal.format(17), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_ZX:
+ writeBlock(gPlaneModal.format(18), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ case PLANE_YZ:
+ writeBlock(gPlaneModal.format(19), gFeedModeModal.format(94), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed));
+ break;
+ default:
+ linearize(tolerance);
+ }
+ }
+}
+
+var currentCoolantMode = COOLANT_OFF;
+var coolantOff = undefined;
+var isOptionalCoolant = false;
+
+function setCoolant(coolant) {
+ var coolantCodes = getCoolantCodes(coolant);
+ if (Array.isArray(coolantCodes)) {
+ if (singleLineCoolant) {
+ writeBlock((isOptionalCoolant ? "/" : ""), coolantCodes.join(getWordSeparator()));
+ } else {
+ for (var c in coolantCodes) {
+ writeBlock((isOptionalCoolant ? "/" : ""), coolantCodes[c]);
+ }
+ }
+ return undefined;
+ }
+ return coolantCodes;
+}
+
+function getCoolantCodes(coolant) {
+ isOptionalCoolant = false;
+ var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
+ if (!coolants) {
+ error(localize("Coolants have not been defined."));
+ }
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+ if (coolant == currentCoolantMode) {
+ if (properties.safeStartAllOperations) {
+ isOptionalCoolant = true;
+ } else {
+ return undefined; // coolant is already active
+ }
+ }
+ if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && !isOptionalCoolant) {
+ if (Array.isArray(coolantOff)) {
+ for (var i in coolantOff) {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(coolantOff));
+ }
+ }
+
+ var m;
+ var coolantCodes = {};
+ for (var c in coolants) { // find required coolant codes into the coolants array
+ if (coolants[c].id == coolant) {
+ coolantCodes.on = coolants[c].on;
+ if (coolants[c].off != undefined) {
+ coolantCodes.off = coolants[c].off;
+ break;
+ } else {
+ for (var i in coolants) {
+ if (coolants[i].id == COOLANT_OFF) {
+ coolantCodes.off = coolants[i].off;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (coolant == COOLANT_OFF) {
+ m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
+ } else {
+ coolantOff = coolantCodes.off;
+ m = coolantCodes.on;
+ }
+
+ if (!m) {
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ } else {
+ if (Array.isArray(m)) {
+ for (var i in m) {
+ multipleCoolantBlocks.push(mFormat.format(m[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(m));
+ }
+ currentCoolantMode = coolant;
+ return multipleCoolantBlocks; // return the single formatted coolant value
+ }
+ return undefined;
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:2,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ COMMAND_STOP_SPINDLE:5,
+ COMMAND_ORIENTATE_SPINDLE:19,
+ COMMAND_LOAD_TOOL:6
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_STOP:
+ writeBlock(mFormat.format(0));
+ forceSpindleSpeed = true;
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ if (machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(10)); // lock 4th-axis motion
+ if (machineConfiguration.getNumberOfAxes() == 5) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(12)); // lock 5th-axis motion
+ }
+ }
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ if (machineConfiguration.isMultiAxisConfiguration() && (machineConfiguration.getNumberOfAxes() >= 4)) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(11)); // unlock 4th-axis motion
+ if (machineConfiguration.getNumberOfAxes() == 5) {
+ writeBlock(operationNeedsSafeWorkPlane ? "/" : "", mFormat.format(13)); // unlock 5th-axis motion
+ }
+ }
+ return;
+ case COMMAND_BREAK_CONTROL:
+ if (!toolChecked) { // avoid duplicate COMMAND_BREAK_CONTROL
+ onCommand(COMMAND_STOP_SPINDLE);
+ onCommand(COMMAND_COOLANT_OFF);
+ writeBlock(
+ gFormat.format(65),
+ "P" + 9853,
+ "T" + toolFormat.format(tool.number),
+ "B" + xyzFormat.format(0),
+ "H" + xyzFormat.format(properties.toolBreakageTolerance)
+ );
+ toolChecked = true;
+ }
+ return;
+ case COMMAND_TOOL_MEASURE:
+ measureTool = true;
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ writeBlock(mFormat.format(31));
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ writeBlock(mFormat.format(33));
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+var toolChecked = false; // specifies that the tool has been checked with the probe
+
+function onSectionEnd() {
+ if (currentSection.isMultiAxis()) {
+ writeBlock(gFeedModeModal.format(94)); // inverse time feed off
+ }
+ if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
+ setCoolant(COOLANT_OFF);
+ }
+ if ((((getCurrentSectionId() + 1) >= getNumberOfSections()) ||
+ (tool.number != getNextSection().getTool().number)) &&
+ tool.breakControl) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ } else {
+ toolChecked = false;
+ }
+
+ if (true) {
+ if (isRedirecting()) {
+ if (firstPattern) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ var abc;
+ if (currentSection.isMultiAxis() && machineConfiguration.isMultiAxisConfiguration()) {
+ abc = currentSection.getFinalToolAxisABC();
+ } else {
+ abc = currentWorkPlaneABC;
+ }
+ if (abc == undefined) {
+ abc = new Vector(0, 0, 0);
+ }
+ setAbsoluteMode(finalPosition, abc);
+ subprogramEnd();
+ }
+ }
+ }
+ forceAny();
+
+ if (isProbeOperation()) {
+ writeBlock(gFormat.format(65), "P" + 9833); // spin the probe off
+ setProbingAngle(); // define rotation of part
+ }
+
+ operationNeedsSafeStart = false; // reset for next section
+ operationNeedsSafeToolCall = false;
+ operationNeedsSafeWorkOffset = false;
+ operationNeedsSafeWorkPlane = false;
+ operationNeedsSafeCoolant = false;
+}
+
+/** Output block to do safe retract and/or move to home position. */
+function writeRetract() {
+ // initialize routine
+ var _xyzMoved = new Array(false, false, false);
+ var _useG28 = properties.useG28; // can be either true or false
+
+ // check syntax of call
+ if (arguments.length == 0) {
+ error(localize("No axis specified for writeRetract()."));
+ return;
+ }
+ for (var i = 0; i < arguments.length; ++i) {
+ if ((arguments[i] < 0) || (arguments[i] > 2)) {
+ error(localize("Bad axis specified for writeRetract()."));
+ return;
+ }
+ if (_xyzMoved[arguments[i]]) {
+ error(localize("Cannot retract the same axis twice in one line"));
+ return;
+ }
+ _xyzMoved[arguments[i]] = true;
+ }
+
+ // special conditions
+ if (_useG28 && _xyzMoved[2] && (_xyzMoved[0] || _xyzMoved[1])) { // XY don't use G28
+ error(localize("You cannot move home in XY & Z in the same block."));
+ return;
+ }
+ if (_xyzMoved[0] || _xyzMoved[1]) {
+ _useG28 = false;
+ }
+
+ // define home positions
+ var _xHome;
+ var _yHome;
+ var _zHome;
+ if (_useG28) {
+ _xHome = 0;
+ _yHome = 0;
+ _zHome = 0;
+ } else {
+ if (properties.homePositionCenter &&
+ hasParameter("part-upper-x") && hasParameter("part-lower-x")) {
+ _xHome = (getParameter("part-upper-x") + getParameter("part-lower-x")) / 2;
+ } else {
+ _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : 0;
+ }
+ _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : 0;
+ _zHome = machineConfiguration.getRetractPlane();
+ }
+
+ // format home positions
+ var words = []; // store all retracted axes in an array
+ for (var i = 0; i < arguments.length; ++i) {
+ // define the axes to move
+ switch (arguments[i]) {
+ case X:
+ // special conditions
+ if (properties.homePositionCenter) { // output X in standard block by itself if centering
+ writeBlock(gMotionModal.format(0), xOutput.format(_xHome));
+ _xyzMoved[0] = false;
+ break;
+ }
+ words.push("X" + xyzFormat.format(_xHome));
+ break;
+ case Y:
+ words.push("Y" + xyzFormat.format(_yHome));
+ break;
+ case Z:
+ words.push("Z" + xyzFormat.format(_zHome));
+ retracted = true;
+ break;
+ }
+ }
+
+ // output move to home
+ if (words.length > 0) {
+ if (_useG28) {
+ gAbsIncModal.reset();
+ writeBlock(gFormat.format(28), gAbsIncModal.format(91), words);
+ writeBlock(gAbsIncModal.format(90));
+ } else {
+ gMotionModal.reset();
+ writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), words);
+ }
+
+ // force any axes that move to home on next block
+ if (_xyzMoved[0]) {
+ xOutput.reset();
+ }
+ if (_xyzMoved[1]) {
+ yOutput.reset();
+ }
+ if (_xyzMoved[2]) {
+ zOutput.reset();
+ }
+ }
+}
+
+function onClose() {
+ writeln("");
+
+ optionalSection = false;
+
+ onCommand(COMMAND_STOP_SPINDLE);
+ onCommand(COMMAND_COOLANT_OFF);
+
+ // retract
+ writeRetract(Z);
+
+ forceWorkPlane();
+ setWorkPlane(new Vector(0, 0, 0)); // reset working plane
+ writeBlock(gRotationModal.format(69));
+
+ writeRetract(X, Y);
+
+ onImpliedCommand(COMMAND_END);
+ onImpliedCommand(COMMAND_STOP_SPINDLE);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+ if (subprograms.length > 0) {
+ writeln("");
+ write(subprograms);
+ }
+ writeln("");
+ writeln("%");
+}
+
+/*
+keywords += (keywords ? " MODEL_IMAGE" : "MODEL_IMAGE");
+
+function onTerminate() {
+ var outputPath = getOutputPath();
+ var programFilename = FileSystem.getFilename(outputPath);
+ var programSize = FileSystem.getFileSize(outputPath);
+ var postPath = findFile("setup-sheet-excel-2007.cps");
+ var intermediatePath = getIntermediatePath();
+ var a = "--property unit " + ((unit == IN) ? "0" : "1"); // use 0 for inch and 1 for mm
+ if (programName) {
+ a += " --property programName \"'" + programName + "'\"";
+ }
+ if (programComment) {
+ a += " --property programComment \"'" + programComment + "'\"";
+ }
+ a += " --property programFilename \"'" + programFilename + "'\"";
+ a += " --property programSize \"" + programSize + "\"";
+ a += " --noeditor --log temp.log \"" + postPath + "\" \"" + intermediatePath + "\" \"" + FileSystem.replaceExtension(outputPath, "xlsx") + "\"";
+ execute(getPostProcessorPath(), a, false, "");
+ executeNoWait("excel", "\"" + FileSystem.replaceExtension(outputPath, "xlsx") + "\"", false, "");
+}
+*/
diff --git a/resources/workshop/.inc/saturn/package.json b/resources/workshop/.inc/saturn/package.json
new file mode 100644
index 000000000..212e8935f
--- /dev/null
+++ b/resources/workshop/.inc/saturn/package.json
@@ -0,0 +1,21 @@
+{
+ "name": "@plastichub/saturn",
+ "version": "0.2.0",
+ "description": "Lab files Saturn",
+ "scripts": {
+ "serve": "bundle exec jekyll serve --trace --port 8008 --incremental",
+ "build": "bundle exec jekyll build --profile --trace -d ../saturn.plastic-hub.com/"
+ },
+ "author": "PlasticHub & Friends",
+ "bin": {
+
+ },
+ "license": "ISC",
+ "bugs": {
+ "url": "https://github.com/plastic-hub/lab-saturn/issues"
+ },
+ "homepage": "https://github.com/plastic-hub/lab-saturn#readme",
+ "dependencies": {
+
+ }
+}
diff --git a/resources/workshop/.inc/saturn/software/readme.md b/resources/workshop/.inc/saturn/software/readme.md
new file mode 100644
index 000000000..b11d6a569
--- /dev/null
+++ b/resources/workshop/.inc/saturn/software/readme.md
@@ -0,0 +1,28 @@
+### Basics
+
+1. [Zoom client - conference software](../zoom.exe) | Or signup and download from the [zoom webpage](https://zoom.us/download)
+2. Install [Node-JS 10.20 LTS](https://nodejs.org/en/blog/release/v10.20.1/)
+3. Install [OpenVPN](https://openvpn.net/community-downloads/)
+
+### Authors
+
+1. Install [Git](https://git-scm.com/downloads)
+2. Install [Git Tortoise](https://tortoisegit.org/download/)
+3. Install [VSCode](https://code.visualstudio.com/download)
+4. Install [Imagick](https://imagemagick.org/script/download.php)
+5. Install [Ghost](https://www.ghostscript.com/download/gsdnld.html)
+6. Run this after :
+
+``` sh
+npm i -g plastichub/cli
+npm i -g plastichub/osr-sync
+npm i -g typescript
+npm i -g git-module
+```
+
+### CAD & CAM
+
+1. Install [SolidWorks](\\plastichub-intern\software\cad\solidworks)
+2. Install [SolidWorks - CAM - 'HSMXpress'](\\plastichub-intern\software\cam\HSMXpress_2021_ML_15_0_0_43758_Win_64Bit_dlm.sfx.exe)
+
+***Note*** : All other things as logins, sites and services are [here](../)
diff --git a/resources/workshop/.inc/saturn/stations.md b/resources/workshop/.inc/saturn/stations.md
new file mode 100644
index 000000000..81eeea5f4
--- /dev/null
+++ b/resources/workshop/.inc/saturn/stations.md
@@ -0,0 +1,50 @@
+### Stations
+
+- [ ] Welding
+ - [ ] 2x tables
+ - [ ] 1x clamps and shit cart
+ - [ ] 1x welder cart
+
+- [ ] Assembly tables (per product)
+ - [ ] 1x stock cart one for metal
+ - [ ] 1 supplies cart
+ - [ ] tooling cart
+
+- [ ] Lathe (Manual)
+ - [ ] 1x tooling cart
+ - [ ] 2x stock carts
+ - [ ] 1x waste container
+
+- [ ] Lathe (CNC)
+ - [ ] 1x tooling cart
+ - [ ] 2x stock cart
+ - [ ] 1x waste container
+
+- [ ] VMC
+ - [ ] 1x tooling cart
+ - [ ] 2x stock cart
+ - [ ] 1x waster container
+
+- [ ] Saw
+ - [x] KLAEGER 220
+ - [x] 6m roller conveyor
+ - [ ] container
+ - [x] coolant
+
+- [ ] Assembly - Asterix
+ - [ ] 4 Assembly tables - mobile
+ - [ ] 3 stock carts
+ - [ ] 2 tooling carts
+
+### Table Heights
+
+- Welding medium sized parts : 100cm
+- Welding small sized parts (sitting) : 75cm
+- Assembly medium sized parts : 80cm
+- Sheetpress prep table : 90 cm
+
+### Mobile crane
+
+- min. lift height : 2.20m
+- min. operating square : 3m
+- avg. weights, 500kG
diff --git a/resources/workshop/.inc/software/zoom.exe b/resources/workshop/.inc/software/zoom.exe
new file mode 100644
index 000000000..9a31eaffc
--- /dev/null
+++ b/resources/workshop/.inc/software/zoom.exe
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb66ca9bcf674e59537da164bf2fe8467b81d5b5b0414fb7190ded5f3953bf5
+size 77144
diff --git a/resources/workshop/LICENSE b/resources/workshop/LICENSE
new file mode 100644
index 000000000..f288702d2
--- /dev/null
+++ b/resources/workshop/LICENSE
@@ -0,0 +1,674 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received. You must make sure that they, too, receive
+or can get the source code. And you must show them these terms so they
+know their rights.
+
+ Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+ For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software. For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+ Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so. This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software. The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable. Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products. If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+ Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary. To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+ The precise terms and conditions for copying, distribution and
+modification follow.
+
+ TERMS AND CONDITIONS
+
+ 0. Definitions.
+
+ "This License" refers to version 3 of the GNU General Public License.
+
+ "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+ "The Program" refers to any copyrightable work licensed under this
+License. Each licensee is addressed as "you". "Licensees" and
+"recipients" may be individuals or organizations.
+
+ To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
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+earlier work or a work "based on" the earlier work.
+
+ A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+ To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
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+
+ To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies. Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+ An interactive user interface displays "Appropriate Legal Notices"
+to the extent that it includes a convenient and prominently visible
+feature that (1) displays an appropriate copyright notice, and (2)
+tells the user that there is no warranty for the work (except to the
+extent that warranties are provided), that licensees may convey the
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+
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+ it under the terms of the GNU General Public License as published by
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+ (at your option) any later version.
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diff --git a/resources/workshop/README.md b/resources/workshop/README.md
new file mode 100644
index 000000000..c1ec17591
--- /dev/null
+++ b/resources/workshop/README.md
@@ -0,0 +1,37 @@
+# osr-workshop
+All for the OpenSource workshop, templates, books, references, machine conversions, etc...
+
+
+## Metal working
+
+### Milling
+
+- [ ] [semi-automatic controller aka 'sac'](./metal/milling/sac) providing basic geometries, patterns, etc..
+
+### Turning
+
+- [ ] semi-automatic controller providing basic geometries, patterns, etc..
+
+### Drilling & Tapping
+
+- [ ] semi-automatic controller to repeat trained interactions
+
+# Q3 Todos
+
+### Band saw
+
+- [ ] semi-automatic conversion
+
+### Welding
+
+- [ ] 5 axis robot arm (on a gantry)
+
+### Sheet metal
+
+- [ ] CNC aid conversion
+
+
+
+
+
+
diff --git a/resources/workshop/metal/cam/thread-milling/readme.md b/resources/workshop/metal/cam/thread-milling/readme.md
new file mode 100644
index 000000000..25bb19aa3
--- /dev/null
+++ b/resources/workshop/metal/cam/thread-milling/readme.md
@@ -0,0 +1,10 @@
+# Thread - Milling
+
+## Resources
+
+- [site:nyccnc.com](https://www.nyccnc.com/how-to-threadmill/)
+
+### Metric
+
+- See Machinery's Handbook v30 - [Page 1328 - 1338](resources://books/mb30?pstart=1328&pstart=1338)
+- See [Fusion - 360 conversion](https://a360.co/3rn9MzC)
diff --git a/resources/workshop/metal/cam/thread-milling/resources/nyc/Micro Threadmilling.f3d b/resources/workshop/metal/cam/thread-milling/resources/nyc/Micro Threadmilling.f3d
new file mode 100644
index 000000000..f3e6b10df
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/nyc/Micro Threadmilling.f3d differ
diff --git a/resources/workshop/metal/cam/thread-milling/resources/nyc/NPT-Sample.f3d b/resources/workshop/metal/cam/thread-milling/resources/nyc/NPT-Sample.f3d
new file mode 100644
index 000000000..4ed7fa555
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/nyc/NPT-Sample.f3d differ
diff --git a/resources/workshop/metal/cam/thread-milling/resources/nyc/NYC-CNC-Threadmilling-Templates-v4.f3d b/resources/workshop/metal/cam/thread-milling/resources/nyc/NYC-CNC-Threadmilling-Templates-v4.f3d
new file mode 100644
index 000000000..f2e729fc4
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/nyc/NYC-CNC-Threadmilling-Templates-v4.f3d differ
diff --git a/resources/workshop/metal/cam/thread-milling/resources/nyc/Thread-Mill-Calculator-Rev8.xlsx b/resources/workshop/metal/cam/thread-milling/resources/nyc/Thread-Mill-Calculator-Rev8.xlsx
new file mode 100644
index 000000000..2cffbbbe5
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/nyc/Thread-Mill-Calculator-Rev8.xlsx differ
diff --git a/resources/workshop/metal/cam/thread-milling/resources/nyc/Threadmill Form Tool Template.f3d b/resources/workshop/metal/cam/thread-milling/resources/nyc/Threadmill Form Tool Template.f3d
new file mode 100644
index 000000000..104345629
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/nyc/Threadmill Form Tool Template.f3d differ
diff --git a/resources/workshop/metal/cam/thread-milling/resources/plastichub/Thread-Mill-Calculator-Rev8 - metric.xlsx b/resources/workshop/metal/cam/thread-milling/resources/plastichub/Thread-Mill-Calculator-Rev8 - metric.xlsx
new file mode 100644
index 000000000..2cffbbbe5
Binary files /dev/null and b/resources/workshop/metal/cam/thread-milling/resources/plastichub/Thread-Mill-Calculator-Rev8 - metric.xlsx differ
diff --git a/resources/workshop/metal/common/resources.md b/resources/workshop/metal/common/resources.md
new file mode 100644
index 000000000..691eaa5ea
--- /dev/null
+++ b/resources/workshop/metal/common/resources.md
@@ -0,0 +1,25 @@
+# Coolant, Mist, Lubrication
+
+- [site:anvilfire.com - all about drilling and tapping](https://www.anvilfire.com/21st-century-blacksmithing/basic-tools/drill-press/coolant/)
+
+# Sensing
+
+## Scales
+
+- [site: DRO scale readout - Arduino](https://www.electro-tech-online.com/threads/arduino-quadrature-decoder-digital-readout.156159/)
+
+## IO Boards
+
+### Vendors
+
+- [site: Phoenix](https://www.phoenixcontact.com/online/portal/us?1dmy&urile=wcm%3apath%3a/usen/web/main/products/list_pages/Components_for_PLC_and_IO_systems_P-21-13/39dd45a0-c14e-4520-be27-456d76f1f77a)
+
+## Machining
+
+- [wikipedia:ISO Fits](https://en.wikipedia.org/wiki/Engineering_fit#:~:text=Hole%20and%20shaft%20basis,-A%20fit%20is&text=For%20example%2C%20in%20H7%2Fh6,either%20the%20hole%20or%20shaft.)
+
+- [Thread Specs - Metric](https://www.engineersedge.com/hardware/metric-internal-thread-sizes1.htm)
+
+### Thread milling
+
+- [NYCNC - Thread-Milling - Fusion-360 to Metric Conversion](https://a360.co/3rn9MzC) | See also [here ../cam/thread-milling](here ../cam/thread-milling)
diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/Arduino-MemoryFree.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/Arduino-MemoryFree.zip
new file mode 100644
index 000000000..ba5824256
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/arduino-libraries/Arduino-MemoryFree.zip
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+size 5252
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new file mode 100644
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/DHT-sensor-library-1.3.8.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/DHT-sensor-library-1.3.8.zip
new file mode 100644
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/DIO2.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/DIO2.zip
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/MAX6675_library-1.0.1.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/MAX6675_library-1.0.1.zip
new file mode 100644
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/MemoryFree-master.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/MemoryFree-master.zip
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/NewPing_v1.9.1.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/NewPing_v1.9.1.zip
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diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/TimerOne-1.1.0.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/TimerOne-1.1.0.zip
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db98a2ed31428219fade87eeac5e4e638e6e4bc029add7ace2874734c87a2632
+size 8767
diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/Vector-1.1.2.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/Vector-1.1.2.zip
new file mode 100644
index 000000000..9a28ddec4
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/arduino-libraries/Vector-1.1.2.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd328faa9ed7272594df25b4685675a4d573c8049f379d3189ca91e40a9e6234
+size 5966
diff --git a/resources/workshop/metal/saw/firmware/arduino-libraries/arduino-Tools40-master.zip b/resources/workshop/metal/saw/firmware/arduino-libraries/arduino-Tools40-master.zip
new file mode 100644
index 000000000..367b09356
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/arduino-libraries/arduino-Tools40-master.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7456a56686806601eaaa53a5d24e2ac26aca3bf5630cd57d3202223b84cddcbc
+size 61759
diff --git a/resources/workshop/metal/saw/firmware/firmware/.gitignore b/resources/workshop/metal/saw/firmware/firmware/.gitignore
new file mode 100644
index 000000000..5b8b4171c
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/.gitignore
@@ -0,0 +1,5 @@
+Debug
+src
+__vm
+.vs
+node_modules
diff --git a/resources/workshop/metal/saw/firmware/firmware/Addon.cpp b/resources/workshop/metal/saw/firmware/firmware/Addon.cpp
new file mode 100644
index 000000000..bee793c43
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/Addon.cpp
@@ -0,0 +1,51 @@
+#include "Addon.h"
+#include
+#include
+#include
+
+bool Addon::hasFlag(uchar flag)
+{
+ return TEST(flags, flag);
+}
+void Addon::setFlag(uchar flag)
+{
+ flags = SBI(flags, flag);
+}
+void Addon::clearFlag(uchar flag)
+{
+ CBI(flags, flag);
+}
+void Addon::debug(Stream *stream)
+{
+
+}
+void Addon::info(Stream *stream)
+{
+
+}
+void Addon::enable()
+{
+ this->clearFlag(DISABLED);
+}
+void Addon::disable()
+{
+ this->setFlag(DISABLED);
+}
+bool Addon::enabled()
+{
+ return this->hasFlag(DISABLED);
+}
+
+Addon *byId(Addons addons, uchar id)
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->id == id)
+ {
+ return addon;
+ }
+ }
+ return NULL;
+}
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/Addon.h b/resources/workshop/metal/saw/firmware/firmware/Addon.h
new file mode 100644
index 000000000..2239965da
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/Addon.h
@@ -0,0 +1,66 @@
+#ifndef ADDON_H
+#define ADDON_H
+
+#include
+#include
+
+#include "enums.h"
+#include "common/macros.h"
+
+#define ADDON_NORMAL 1 << LOOP | 1 << SETUP
+#ifdef HAS_STATES
+ #define ADDON_STATED ADDON_NORMAL | 1 << STATE
+#else
+ #define ADDON_STATED ADDON_NORMAL
+#endif
+
+class Stream;
+
+class Addon
+{
+
+public:
+ const String name;
+ const short id;
+ millis_t now;
+ millis_t last;
+ millis_t dt;
+ Addon(String _name, short _id) : name(_name),
+ id(_id),
+ now(0),
+ last(0),
+ dt(0)
+ {
+ flags = ADDON_NORMAL;
+ }
+
+ Addon(String _name, short _id, short _flags) : name(_name),
+ id(_id),
+ flags(_flags)
+ {
+ }
+
+ virtual void debug(Stream *stream);
+ virtual void info(Stream *stream);
+ virtual short setup(){};
+ virtual short loop(){};
+ virtual short ok(){};
+ virtual bool pause(){};
+ virtual bool resume(){};
+ virtual bool destroy(){};
+ virtual String state() { return ""; };
+
+ int flags;
+ void setFlag(uchar flag);
+ bool hasFlag(uchar flag);
+ void clearFlag(uchar flag);
+ void enable();
+ void disable();
+ bool enabled();
+};
+
+typedef Vector Addons;
+Addon *byId(Addons addons, uchar id);
+typedef short (Addon::*AddonFnPtr)(short);
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/LinearActuator.cpp b/resources/workshop/metal/saw/firmware/firmware/LinearActuator.cpp
new file mode 100644
index 000000000..16a5b8420
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/LinearActuator.cpp
@@ -0,0 +1,356 @@
+#include "LinearActuator.h"
+#include "config.h"
+#include "common/macros.h"
+
+#ifdef HAS_STATES
+#include
+#endif
+
+#define HAS_LA_DEBUG
+
+#ifdef HAS_LA_DEBUG
+#define LA_DEBUG(A) Serial.println(A);
+#else
+#define LA_DEBUG(A)
+#endif
+
+#ifdef HAS_STATES
+String LinearActuator::state()
+{
+ const int capacity = JSON_OBJECT_SIZE(3);
+ StaticJsonDocument doc;
+ doc[0] = id;
+ doc[1] = _state;
+ doc[2] = pFlags;
+
+#ifdef HAS_LA_DEBUG
+ Serial.println("state : ");
+ Serial.println(_state);
+ Serial.print("pflags low : ");
+ Serial.println(pFlags);
+ Serial.print("limit high : ");
+ Serial.println(u1.value);
+
+ Serial.print("moving: ");
+ Serial.println(TEST(pFlags, MOVING));
+ Serial.print("retracting: ");
+ Serial.println(TEST(pFlags, RETRACTING));
+ Serial.print("freeing: ");
+ Serial.println(TEST(pFlags, FREEING));
+ Serial.print("done: ");
+ Serial.println(TEST(pFlags, DONE));
+ Serial.print("retracted: ");
+ Serial.println(TEST(pFlags, RETRACTED));
+ Serial.print("retracting on : ");
+ Serial.println(retracting);
+#endif
+
+ /*
+ Serial.println("pflags");
+ Serial.print("moving: ");
+ Serial.println(TEST(pFlags, MOVING));
+ Serial.print("retracting: ");
+ Serial.println(TEST(pFlags, RETRACTING));
+ Serial.print("freeing: ");
+ Serial.println(TEST(pFlags, FREEING));
+ Serial.print("done: ");
+ Serial.println(TEST(pFlags, DONE));
+ Serial.print("retracted: ");
+ Serial.println(TEST(pFlags, RETRACTED));
+ Serial.print("retracting on : ");
+ Serial.println(retracting);*/
+
+ return doc.as();
+}
+#endif
+
+#define LA_NOTIFY(STATE) \
+ if (owner && onChange) \
+ { \
+ short ret = (owner->*onChange)(STATE); \
+ return ret; \
+ }
+
+#define LA_ALARM_ABORT \
+ if (motorAlarmPin && analogRead(motorAlarmPin) > LA_ALARM_LEVEL) \
+ { \
+ LA_NOTIFY(ERROR); \
+ return ERROR; \
+ }
+
+#define LA_LS_CHECK \
+ if (maxMoveTime && now - moveStartTS > maxMoveTime) \
+ { \
+ stop(); \
+ _state = ERROR; \
+ LA_NOTIFY(ERROR_FATAL); \
+ }
+
+#define LA_ALARM_LEVEL 700
+
+bool LinearActuator::pause()
+{
+ SBI(pFlags, PAUSED);
+ digitalWrite(motorStepPin, LOW);
+}
+bool LinearActuator::resume()
+{
+ LA_ALARM_ABORT;
+
+ CBI(pFlags, PAUSED);
+ if (_state = PLUNGING && !u1.value && !l1.value)
+ {
+ move(0);
+ }
+ if (_state = HOMING && !u1.value && !l1.value)
+ {
+ move(1);
+ }
+}
+short LinearActuator::move(short dir)
+{
+ LA_ALARM_ABORT;
+ digitalWrite(motorDirPin, dir ? LOW : HIGH);
+ digitalWrite(motorStepPin, HIGH);
+ SBI(pFlags, MOVING);
+ LA_NOTIFY(dir ? PLUNGING : HOMING);
+}
+bool LinearActuator::change(short newState)
+{
+ if (newState == _state)
+ {
+ return false;
+ }
+ _state = newState;
+ return true;
+}
+short LinearActuator::setup()
+{
+ u1.setup();
+ u1.loop();
+ l1.setup();
+ l1.loop();
+ pFlags = 0;
+ digitalWrite(motorStepPin, LOW);
+ retracting = false;
+}
+void LinearActuator::debug(Stream *stream)
+{
+ *stream << name << " : " << u1.value << " : " << l1.value;
+}
+short LinearActuator::plunge(short force)
+{
+ LA_ALARM_ABORT;
+ if (!change(PLUNGING))
+ {
+ if (!TEST(pFlags, DONE))
+ {
+ return TEST(pFlags, DONE);
+ }
+ else
+ {
+ if (force)
+ {
+ reset();
+ _state = PLUNGING;
+ }
+ else
+ {
+ return TEST(pFlags, DONE);
+ }
+ }
+ }
+ else
+ {
+ reset();
+ _state = PLUNGING;
+ moveStartTS = now;
+ }
+
+ if (u1.value)
+ {
+ SBI(pFlags, FREEING);
+ move(0);
+ return TEST(pFlags, DONE);
+ }
+ else
+ {
+ SBI(pFlags, MOVING);
+ move(0);
+ }
+
+ return TEST(pFlags, DONE);
+}
+short LinearActuator::retract()
+{
+ u1.loop();
+ l1.loop();
+ if (u1.value)
+ {
+ if (!retracting)
+ {
+ retracting = true;
+ LA_DEBUG("PLUNGER : collision!");
+ }
+ SBI(pFlags, RETRACTING);
+ return 1;
+ }
+ else
+ {
+
+ retracting = false;
+ return 0;
+ }
+}
+short LinearActuator::home(short force = false)
+{
+ if (!change(HOMING))
+ {
+ LA_DEBUG("PLUNGER already homing");
+ if (!TEST(pFlags, DONE))
+ {
+ LA_DEBUG("PLUNGER already homing : not done yet");
+ return TEST(pFlags, DONE);
+ }
+ else
+ {
+ if (force == false)
+ {
+ return TEST(pFlags, DONE);
+ }
+ else
+ {
+ LA_DEBUG("PLUNGER already homing : doing it again");
+ reset();
+ _state = HOMING;
+ }
+ }
+ }
+ else
+ {
+ reset();
+ _state = HOMING;
+ moveStartTS = now;
+ }
+
+ if (u1.value)
+ {
+ LA_DEBUG("PLUNGER : frooze up");
+ SBI(pFlags, FREEING);
+ return TEST(pFlags, DONE);
+ }
+ else
+ {
+ LA_DEBUG("PLUNGER : move");
+ move(1);
+ }
+ return TEST(pFlags, DONE);
+}
+short LinearActuator::stop(short val)
+{
+ digitalWrite(motorStepPin, LOW);
+ CBI(pFlags, MOVING);
+ CBI(pFlags, FREEING);
+}
+short LinearActuator::reset(short val)
+{
+ pFlags = 0;
+ _state = NONE;
+ retracting = false;
+}
+short LinearActuator::loop()
+{
+ l1.loop();
+ u1.loop();
+
+ LA_ALARM_ABORT;
+
+ // retract
+ if (TEST(pFlags, MOVING))
+ {
+ if (u1.value || l1.value)
+ {
+ if (u1.value && !TEST(pFlags, RETRACTING))
+ {
+ LA_DEBUG("retract down");
+ SBI(pFlags, RETRACTING);
+ move(0);
+ }
+
+ if (l1.value && !TEST(pFlags, RETRACTING))
+ {
+ LA_DEBUG("retract up");
+ SBI(pFlags, RETRACTING);
+ move(1);
+ }
+ }
+ else
+ {
+ if (TEST(pFlags, RETRACTING))
+ {
+ LA_DEBUG("retracting done");
+ stop();
+ SBI(pFlags, RETRACTED);
+ CBI(pFlags, RETRACTING);
+ }
+ }
+ }
+
+ switch (_state)
+ {
+ case ERROR:
+ case MANUAL:
+ {
+ break;
+ }
+ case STOPPED:
+ {
+ break;
+ }
+ case HOMING:
+ {
+ if (TEST(pFlags, DONE))
+ {
+ return;
+ }
+ if (TEST(pFlags, RETRACTED))
+ {
+ stop();
+ SBI(pFlags, DONE);
+ CBI(pFlags, RETRACTED);
+ LA_DEBUG("homed");
+ LA_NOTIFY(DONE);
+ }
+ else if (!TEST(pFlags, RETRACTING) && !TEST(pFlags, MOVING))
+ {
+ LA_DEBUG("homing : move on");
+ move(1);
+ LA_LS_CHECK;
+ }
+ break;
+ }
+ case PLUNGING:
+ {
+
+ if (TEST(pFlags, DONE))
+ {
+ return;
+ }
+ if (TEST(pFlags, RETRACTED))
+ {
+ stop();
+ SBI(pFlags, DONE);
+ CBI(pFlags, RETRACTED);
+ LA_DEBUG("plunged");
+ LA_LS_CHECK;
+ }
+ else if (!TEST(pFlags, RETRACTING) && !TEST(pFlags, MOVING))
+ {
+ LA_DEBUG("plunging : move on");
+ move(0);
+ LA_LS_CHECK;
+ }
+ break;
+ }
+ }
+}
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/LinearActuator.h b/resources/workshop/metal/saw/firmware/firmware/LinearActuator.h
new file mode 100644
index 000000000..7655c7d56
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/LinearActuator.h
@@ -0,0 +1,135 @@
+#ifndef PLUNGER_H
+#define PLUNGER_H
+
+#include
+#include
+
+#include "config.h"
+#include "Addon.h"
+#include "common/macros.h"
+#include "config.h"
+#include "types.h"
+
+class LinearActuator : public Addon
+{
+public:
+ class LimitSwitch
+ {
+ public:
+ LimitSwitch(short _pin) : pin(_pin),
+ ts(0){};
+ bool value;
+ byte pin;
+ millis_t ts;
+ void loop()
+ {
+ if (millis() - ts > LIMIT_SWITCH_INTERVAL)
+ {
+ value = analogRead(pin) > 700 ? false : true;
+ ts = millis();
+ }
+ }
+ void setup()
+ {
+ pinMode(pin, INPUT);
+ }
+ };
+
+ enum E_ACTUATOR_STATE
+ {
+ NONE = 0,
+ PLUNGING = 100,
+ STOPPED = 200,
+ HOMING = 300,
+ RETRACT = 350,
+ MANUAL = 360,
+ ERROR = 400
+ };
+
+ enum E_ACTUATOR_FLAGS
+ {
+ INITIATED = 1,
+ MOVING = 2,
+ RETRACTING = 3,
+ RETRACTED = 4,
+ FREEING = 5,
+ DONE = 6,
+ PAUSED = 7
+ };
+
+ LinearActuator(
+ short _limitUp,
+ short _limitDown,
+ short _motorDirPin,
+ short _motorStepPin,
+ short _motorAlarmPin,
+ short _motorPowerPin,
+ Addon *owner,
+ AddonFnPtr _onChange,
+ millis_t _maxMoveTime) : Addon(LINEAR_ACTUATOR_STR, ACTUATOR),
+ _state(NONE),
+ _last_state(NONE),
+ owner(owner),
+ onChange(_onChange),
+ u1(LimitSwitch(_limitUp)),
+ l1(LimitSwitch(_limitDown)),
+ motorDirPin(_motorDirPin),
+ motorStepPin(_motorStepPin),
+ motorAlarmPin(_motorAlarmPin),
+ motorPowerPin(_motorPowerPin),
+ maxMoveTime(_maxMoveTime)
+ {
+ // setFlag(DEBUG);
+ }
+#ifdef HAS_STATES
+ String state();
+#endif
+ void debug(Stream *stream);
+ void info(Stream *stream)
+ {
+ //*stream << this->name;
+ }
+
+ short setup();
+ short loop();
+
+ short plunge(short val = 0);
+ short home(short val = 0);
+ short test(short val = 0);
+ short retract();
+ short reset(short val = 0);
+ short stop(short val = 0);
+ bool pause();
+ bool resume();
+ short move(short dir);
+
+ short getSate()
+ {
+ return _state;
+ }
+
+private:
+ short _last_state;
+ bool change(short newState);
+
+ LimitSwitch u1;
+ LimitSwitch l1;
+
+ short motorStepPin;
+ short motorDirPin;
+ short motorAlarmPin;
+ short motorPowerPin;
+
+ millis_t maxMoveTime;
+ millis_t moveStartTS;
+
+ AddonFnPtr onChange;
+ Addon *owner;
+ short pFlags;
+ bool retracting;
+ short _state;
+
+protected:
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/Readme.md b/resources/workshop/metal/saw/firmware/firmware/Readme.md
new file mode 100644
index 000000000..7bedb00f3
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/Readme.md
@@ -0,0 +1,9 @@
+# TODOS
+
+- [ ] servo pull
+- [ ] servo vise (dog clutch?)
+- [ ] servo loader
+- [ ] stepper ejector
+
+
+
diff --git a/resources/workshop/metal/saw/firmware/firmware/TimerOne.cpp b/resources/workshop/metal/saw/firmware/firmware/TimerOne.cpp
new file mode 100644
index 000000000..7e838d0ae
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/TimerOne.cpp
@@ -0,0 +1,54 @@
+/*
+ * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328
+ * Original code by Jesse Tane for http://labs.ideo.com August 2008
+ * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
+ * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
+ * Modified Oct 2009 by Dan Clemens to work with timer1 of the ATMega1280 or Arduino Mega
+ * Modified April 2012 by Paul Stoffregen
+ * Modified again, June 2014 by Paul Stoffregen
+ * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality
+ *
+ * This is free software. You can redistribute it and/or modify it under
+ * the terms of Creative Commons Attribution 3.0 United States License.
+ * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
+ * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
+ *
+ */
+
+#include "TimerOne.h"
+
+TimerOne Timer1; // preinstatiate
+
+unsigned short TimerOne::pwmPeriod = 0;
+unsigned char TimerOne::clockSelectBits = 0;
+void (*TimerOne::isrCallback)() = TimerOne::isrDefaultUnused;
+
+// interrupt service routine that wraps a user defined function supplied by attachInterrupt
+#if defined (__AVR_ATtiny85__)
+ISR(TIMER1_COMPA_vect)
+{
+ Timer1.isrCallback();
+}
+#elif defined(__AVR__)
+ISR(TIMER1_OVF_vect)
+{
+ Timer1.isrCallback();
+}
+
+#elif defined(__arm__) && defined(CORE_TEENSY)
+void ftm1_isr(void)
+{
+ uint32_t sc = FTM1_SC;
+ #ifdef KINETISL
+ if (sc & 0x80) FTM1_SC = sc;
+ #else
+ if (sc & 0x80) FTM1_SC = sc & 0x7F;
+ #endif
+ Timer1.isrCallback();
+}
+
+#endif
+
+void TimerOne::isrDefaultUnused()
+{
+}
diff --git a/resources/workshop/metal/saw/firmware/firmware/TimerOne.h b/resources/workshop/metal/saw/firmware/firmware/TimerOne.h
new file mode 100644
index 000000000..940412dd2
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/TimerOne.h
@@ -0,0 +1,485 @@
+/*
+ * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328
+ * Original code by Jesse Tane for http://labs.ideo.com August 2008
+ * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
+ * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
+ * Modified April 2012 by Paul Stoffregen - portable to other AVR chips, use inline functions
+ * Modified again, June 2014 by Paul Stoffregen - support Teensy 3.x & even more AVR chips
+ * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality
+ *
+ *
+ * This is free software. You can redistribute it and/or modify it under
+ * the terms of Creative Commons Attribution 3.0 United States License.
+ * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
+ * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
+ *
+ */
+
+#ifndef TimerOne_h_
+#define TimerOne_h_
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "config/known_16bit_timers.h"
+#if defined (__AVR_ATtiny85__)
+#define TIMER1_RESOLUTION 256UL // Timer1 is 8 bit
+#elif defined(__AVR__)
+#define TIMER1_RESOLUTION 65536UL // Timer1 is 16 bit
+#else
+#define TIMER1_RESOLUTION 65536UL // assume 16 bits for non-AVR chips
+#endif
+
+// Placing nearly all the code in this .h file allows the functions to be
+// inlined by the compiler. In the very common case with constant values
+// the compiler will perform all calculations and simply write constants
+// to the hardware registers (for example, setPeriod).
+
+
+class TimerOne
+{
+
+#if defined (__AVR_ATtiny85__)
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1); //clear timer1 when it matches the value in OCR1C
+ TIMSK |= _BV(OCIE1A); //enable interrupt when OCR1A matches the timer value
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = microseconds * ratio;
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = _BV(CS10);
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2UL) {
+ clockSelectBits = _BV(CS11);
+ pwmPeriod = cycles / 2;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4UL) {
+ clockSelectBits = _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 4;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8UL) {
+ clockSelectBits = _BV(CS12);
+ pwmPeriod = cycles / 8;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 16;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 32UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS11);
+ pwmPeriod = cycles / 32;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 64UL;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 128UL) {
+ clockSelectBits = _BV(CS13);
+ pwmPeriod = cycles / 128;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 256UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS10);
+ pwmPeriod = cycles / 256;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 512UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS11);
+ pwmPeriod = cycles / 512;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 1024UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 1024;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2048UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12);
+ pwmPeriod = cycles / 2048;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4096UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 4096;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8192UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11);
+ pwmPeriod = cycles / 8192;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16384UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 16384;
+ } else {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+ OCR1A = pwmPeriod;
+ OCR1C = pwmPeriod;
+ TCCR1 = _BV(CTC1) | clockSelectBits;
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ TCCR1 = 0;
+ TCNT1 = 0;
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1);
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1) | clockSelectBits;
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ //Not implemented yet for ATTiny85
+ //TO DO
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ TIMSK |= _BV(OCIE1A);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ //TIMSK = 0; // Timer 0 and Timer 1 both use TIMSK register so setting it to 0 will override settings for Timer1 as well
+ TIMSK &= ~_BV(OCIE1A);
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+ static const byte ratio = (F_CPU)/ ( 1000000 );
+
+#elif defined(__AVR__)
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13); // set mode as phase and frequency correct pwm, stop the timer
+ TCCR1A = 0; // clear control register A
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = (F_CPU / 2000000) * microseconds;
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = _BV(CS10);
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = _BV(CS11);
+ pwmPeriod = cycles / 8;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64) {
+ clockSelectBits = _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 64;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 256) {
+ clockSelectBits = _BV(CS12);
+ pwmPeriod = cycles / 256;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 1024) {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 1024;
+ } else {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+ ICR1 = pwmPeriod;
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ TCCR1B = 0;
+ TCNT1 = 0; // TODO: does this cause an undesired interrupt?
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13);
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
+ unsigned long dutyCycle = pwmPeriod;
+ dutyCycle *= duty;
+ dutyCycle >>= 10;
+ if (pin == TIMER1_A_PIN) OCR1A = dutyCycle;
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) OCR1B = dutyCycle;
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) OCR1C = dutyCycle;
+ #endif
+ }
+ void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) { pinMode(TIMER1_A_PIN, OUTPUT); TCCR1A |= _BV(COM1A1); }
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) { pinMode(TIMER1_B_PIN, OUTPUT); TCCR1A |= _BV(COM1B1); }
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) { pinMode(TIMER1_C_PIN, OUTPUT); TCCR1A |= _BV(COM1C1); }
+ #endif
+ setPwmDuty(pin, duty);
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+ void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
+ if (microseconds > 0) setPeriod(microseconds);
+ pwm(pin, duty);
+ }
+ void disablePwm(char pin) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) TCCR1A &= ~_BV(COM1A1);
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) TCCR1A &= ~_BV(COM1B1);
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) TCCR1A &= ~_BV(COM1C1);
+ #endif
+ }
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ TIMSK1 = _BV(TOIE1);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ TIMSK1 = 0;
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ // properties
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+
+
+
+
+
+
+#elif defined(__arm__) && defined(CORE_TEENSY)
+
+#if defined(KINETISK)
+#define F_TIMER F_BUS
+#elif defined(KINETISL)
+#define F_TIMER (F_PLL/2)
+#endif
+
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = (F_TIMER / 2000000) * microseconds;
+ // A much faster if-else
+ // This is like a binary serch tree and no more than 3 conditions are evaluated.
+ // I haven't checked if this becomes significantly longer ASM than the simple ladder.
+ // It looks very similar to the ladder tho: same # of if's and else's
+
+ /*
+ // This code does not work properly in all cases :(
+ // https://github.com/PaulStoffregen/TimerOne/issues/17
+ if (cycles < TIMER1_RESOLUTION * 16) {
+ if (cycles < TIMER1_RESOLUTION * 4) {
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = 0;
+ pwmPeriod = cycles;
+ }else{
+ clockSelectBits = 1;
+ pwmPeriod = cycles >> 1;
+ }
+ }else{
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = 3;
+ pwmPeriod = cycles >> 3;
+ }else{
+ clockSelectBits = 4;
+ pwmPeriod = cycles >> 4;
+ }
+ }
+ }else{
+ if (cycles > TIMER1_RESOLUTION * 64) {
+ if (cycles > TIMER1_RESOLUTION * 128) {
+ clockSelectBits = 7;
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }else{
+ clockSelectBits = 7;
+ pwmPeriod = cycles >> 7;
+ }
+ }
+ else{
+ if (cycles > TIMER1_RESOLUTION * 32) {
+ clockSelectBits = 6;
+ pwmPeriod = cycles >> 6;
+ }else{
+ clockSelectBits = 5;
+ pwmPeriod = cycles >> 5;
+ }
+ }
+ }
+ */
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = 0;
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2) {
+ clockSelectBits = 1;
+ pwmPeriod = cycles >> 1;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4) {
+ clockSelectBits = 2;
+ pwmPeriod = cycles >> 2;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = 3;
+ pwmPeriod = cycles >> 3;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16) {
+ clockSelectBits = 4;
+ pwmPeriod = cycles >> 4;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 32) {
+ clockSelectBits = 5;
+ pwmPeriod = cycles >> 5;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64) {
+ clockSelectBits = 6;
+ pwmPeriod = cycles >> 6;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 128) {
+ clockSelectBits = 7;
+ pwmPeriod = cycles >> 7;
+ } else {
+ clockSelectBits = 7;
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+
+ uint32_t sc = FTM1_SC;
+ FTM1_SC = 0;
+ FTM1_MOD = pwmPeriod;
+ FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | clockSelectBits | (sc & FTM_SC_TOIE);
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ stop();
+ FTM1_CNT = 0;
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ FTM1_SC = FTM1_SC & (FTM_SC_TOIE | FTM_SC_CPWMS | FTM_SC_PS(7));
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ FTM1_SC = (FTM1_SC & (FTM_SC_TOIE | FTM_SC_PS(7))) | FTM_SC_CPWMS | FTM_SC_CLKS(1);
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
+ unsigned long dutyCycle = pwmPeriod;
+ dutyCycle *= duty;
+ dutyCycle >>= 10;
+ if (pin == TIMER1_A_PIN) {
+ FTM1_C0V = dutyCycle;
+ } else if (pin == TIMER1_B_PIN) {
+ FTM1_C1V = dutyCycle;
+ }
+ }
+ void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
+ setPwmDuty(pin, duty);
+ if (pin == TIMER1_A_PIN) {
+ *portConfigRegister(TIMER1_A_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
+ } else if (pin == TIMER1_B_PIN) {
+ *portConfigRegister(TIMER1_B_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
+ }
+ }
+ void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
+ if (microseconds > 0) setPeriod(microseconds);
+ pwm(pin, duty);
+ }
+ void disablePwm(char pin) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) {
+ *portConfigRegister(TIMER1_A_PIN) = 0;
+ } else if (pin == TIMER1_B_PIN) {
+ *portConfigRegister(TIMER1_B_PIN) = 0;
+ }
+ }
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ FTM1_SC |= FTM_SC_TOIE;
+ NVIC_ENABLE_IRQ(IRQ_FTM1);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ FTM1_SC &= ~FTM_SC_TOIE;
+ NVIC_DISABLE_IRQ(IRQ_FTM1);
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ // properties
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+
+#undef F_TIMER
+
+#endif
+};
+
+extern TimerOne Timer1;
+
+#endif
+
diff --git a/resources/workshop/metal/saw/firmware/firmware/VFD.h b/resources/workshop/metal/saw/firmware/firmware/VFD.h
new file mode 100644
index 000000000..1b8c3a0fd
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/VFD.h
@@ -0,0 +1,110 @@
+#ifndef VFD_H
+#define VFD_H
+
+#include
+#include "./Addon.h"
+#include "./enums.h"
+#include "./config.h"
+
+#ifdef HAS_STATES
+#include
+#endif
+
+class VFD : public Addon
+{
+public:
+
+ enum DIRECTION
+ {
+ FORWARD = 1,
+ STOP = 0,
+ REVERSE = 2
+ };
+
+ VFD() : Addon(VFD_STR, VFD_CONTROL),
+ direction(STOP){};
+
+ void rev(short nop)
+ {
+ update(DIRECTION::REVERSE);
+ }
+
+ void fwd(short nop)
+ {
+ update(DIRECTION::FORWARD);
+ }
+
+ short setup()
+ {
+ pinMode(FWD_PIN, OUTPUT);
+ pinMode(REV_PIN, OUTPUT);
+
+ stop();
+ }
+
+ short stop(short nop = 0)
+ {
+ update(DIRECTION::STOP);
+ }
+
+ void speed(int aValue)
+ {
+ }
+
+ virtual void debug(Stream *stream)
+ {
+ // *stream << this->name << ":" << SPACE(direction);
+ }
+
+ virtual void info(Stream *stream)
+ {
+ // *stream << this->name << "\n\t" << SPACE(": FWD PIN " << FWD_PIN << " | REV PIN " << REV_PIN);
+ }
+
+ uchar direction;
+ uchar lastDirection;
+ millis_t dt;
+
+#ifdef HAS_STATES
+ String state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(2);
+ StaticJsonDocument doc;
+ doc["0"] = id;
+ doc["1"] = direction;
+ return doc.as();
+ }
+#endif
+private:
+ void update(uchar newDirection)
+ {
+ if (direction != newDirection)
+ {
+ dt = now;
+ lastDirection = direction;
+ direction = newDirection;
+ switch (direction)
+ {
+ case DIRECTION::FORWARD:
+ {
+ digitalWrite(REV_PIN, LOW);
+ digitalWrite(FWD_PIN, HIGH);
+ break;
+ }
+ case DIRECTION::REVERSE:
+ {
+ digitalWrite(FWD_PIN, LOW);
+ digitalWrite(REV_PIN, HIGH);
+ break;
+ }
+ case DIRECTION::STOP:
+ {
+ digitalWrite(FWD_PIN, LOW);
+ digitalWrite(REV_PIN, LOW);
+ }
+ }
+ }
+ }
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/Version.h b/resources/workshop/metal/saw/firmware/firmware/Version.h
new file mode 100644
index 000000000..f04dbb02a
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/Version.h
@@ -0,0 +1,12 @@
+#ifndef VERSION_H
+
+ #define VERSION_H
+
+ #define VERSION "1.0.0|PlasticHub|OSR|Cassandra|5a3e1a46de96044b09cece8c17b2adf6b0e3041f"
+
+ #define SUPPORT "support@plastic-hub.com | www.plastic-hub.com"
+ #define BUILD "Cassandra-RevA"
+ #define FW_SRC "https://gitlab.com/plastichub/osr/pp-next/tree/master/machines/sheetpress/60cm-cassandra/firmware/firmware"
+ #define CID "-1"
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/Auto-Reverse.h b/resources/workshop/metal/saw/firmware/firmware/addons/Auto-Reverse.h
new file mode 100644
index 000000000..df6d59235
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/Auto-Reverse.h
@@ -0,0 +1,35 @@
+#ifndef MOTOR_AUTO_REVERSE_H
+#define MOTOR_AUTO_REVERSE_H
+
+#include
+#include "../Addon.h"
+#include "../config.h"
+#include
+#include "../macros.h"
+#include "../enums.h"
+
+class App;
+
+class AutoReverse : Addon
+{
+public:
+ AutoReverse(App *app);
+ AutoReverse() : Addon(AUTO_REVERSE_STR, AUTO_REVERSE) {}
+
+ virtual short setup()
+ {
+ }
+ virtual short ok()
+ {
+ return true;
+ }
+ void debug(Stream *stream)
+ {
+ // *stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ // *stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN);
+ }
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/CartridgeFull.h b/resources/workshop/metal/saw/firmware/firmware/addons/CartridgeFull.h
new file mode 100644
index 000000000..9f199c1c3
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/CartridgeFull.h
@@ -0,0 +1,45 @@
+#ifndef CARTRIDGE_FULL_H
+#define CARTRIDGE_FULL_H
+
+#include
+#include "Addon.h"
+#include
+
+#include "../config.h"
+#include "../macros.h"
+
+#include "../components/PhotoElectricSensor.h"
+
+// Addon to detect when the container is full of shredded flakes.
+
+class CartridgeFull : public Addon
+{
+private:
+ PhotoElectricSensor sensor;
+
+public:
+ CartridgeFull() : sensor(CARTRIDGE_FULL_1, CARTRIDGE_FULL_1_INTERVAL),
+ Addon(CARTRDIGE_FULL_STR, CARTRIDGE_FULL_SENSOR_1)
+ {
+ // this->setFlag(DEBUG);
+ }
+
+ virtual short loop()
+ {
+ this->sensor.loop();
+ }
+ virtual short ok()
+ {
+ return sensor.ok();
+ }
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t : " << SPACE("CARTRIDGE FULL 1" << CARTRIDGE_FULL_1);
+ }
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/DipSwitch.h b/resources/workshop/metal/saw/firmware/firmware/addons/DipSwitch.h
new file mode 100644
index 000000000..f4cf6b857
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/DipSwitch.h
@@ -0,0 +1,51 @@
+#ifndef _DIP_SWITCH_H
+#define _DIP_SWITCH_H
+
+#include "addon.h"
+#include
+
+class _DipSwitch : public Addon
+{
+public:
+ _DipSwitch(int number_of_pins, int *pins) : _number_of_pins(number_of_pins),
+ _pins(_pins),
+ Addon("Dip Switch", DIP_SWITCH)
+ {
+ // this->setFlag(DEBUG);
+ }
+
+ short setup()
+ {
+ for (int i = 0; i < _number_of_pins; i++)
+ {
+ pinMode(_pins[i], INPUT_PULLUP);
+ }
+ }
+
+ short loop()
+ {
+ _value = 0;
+ for (int i = 0; i < _number_of_pins; i++)
+ {
+ _value += digitalRead(_pins[i]) << i;
+ }
+ return _value;
+ }
+
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << ":" << digitalRead(49);
+ }
+
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t : ";
+ }
+
+private:
+ int _number_of_pins;
+ int *_pins;
+ int _value;
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/DirectionSwitch.h b/resources/workshop/metal/saw/firmware/firmware/addons/DirectionSwitch.h
new file mode 100644
index 000000000..295304d93
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/DirectionSwitch.h
@@ -0,0 +1,63 @@
+#ifndef DIRECTION_SWITCH_H
+#define DIRECTION_SWITCH_H
+
+#include "../config.h"
+#include "../components/3PosAnalog.h"
+#include "../Addon.h"
+#include
+#include "../common/macros.h"
+
+class DirectionSwitch : public Addon
+{
+public:
+ Pos3Analog dir_switch;
+ DirectionSwitch(short _upPin, short _downPin) : dir_switch(_upPin, _downPin),
+ Addon(DIRECTION_SWITCH_STR, DIRECTION_SWITCH)
+ {
+ /*
+ setFlag(DEBUG);
+ setFlag(INFO);
+ setFlag(LOOP);*/
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ":" << SPACE(dir_switch.switch_pos) << SPACE(dir_switch.last_switch);
+ }
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : " SPACE("Up Pin:" << DIR_SWITCH_UP_PIN) << SPACE("\t | Down Pin :" << DIR_SWITCH_DOWN_PIN);
+ }
+ short setup()
+ {
+ dir_switch.setup();
+ return loop();
+ }
+ short loop()
+ {
+ if (now - dt > ANALOG_READ_INTERVAL)
+ {
+ _value = dir_switch.loop();
+ dt = now;
+ }
+ return _value;
+ }
+ short value()
+ {
+ return _value;
+ }
+
+ short last()
+ {
+ return dir_switch.last_switch;
+ }
+ void clear()
+ {
+ dir_switch.last_switch = value();
+ }
+
+private:
+ short _value;
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/EnclosureSensor.h b/resources/workshop/metal/saw/firmware/firmware/addons/EnclosureSensor.h
new file mode 100644
index 000000000..7d35e92af
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/EnclosureSensor.h
@@ -0,0 +1,43 @@
+#ifndef ENCLOSURE_SENSOR_H
+#define ENCLOSURE_SENSOR_H
+
+#include "../config.h"
+#include "../Addon.h"
+#include
+#include "../macros.h"
+#include "../components/Proximity_Sensor.h"
+
+class EnclosureSensor : public Addon
+{
+public:
+ ProximitySensor sensor1;
+ ProximitySensor sensor2;
+ EnclosureSensor() : sensor1(ENCLOSURE_SENSOR_PIN_1),
+ sensor2(ENCLOSURE_SENSOR_PIN_2),
+ Addon(ENCLOSURE_SENSOR_STR, ENCLOSURE_SENSOR) {}
+
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << ":"
+ // << SPACE(sensor1.value) << ":" << SPACE(sensor2.value) << " | ok : " << ok();
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << SPACE("\n\t : " << ENCLOSURE_SENSOR_PIN_1) << SPACE(" : " << ENCLOSURE_SENSOR_PIN_2);
+ }
+ short setup()
+ {
+ sensor1.setup();
+ sensor2.setup();
+ sensor1.loop();
+ sensor2.loop();
+ }
+ short loop()
+ {
+ sensor1.loop();
+ sensor2.loop();
+ }
+ short ok() { return sensor1.value == 1 && sensor2.value == 1; }
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/HopperLoaded.h b/resources/workshop/metal/saw/firmware/firmware/addons/HopperLoaded.h
new file mode 100644
index 000000000..a13a9de1b
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/HopperLoaded.h
@@ -0,0 +1,87 @@
+#ifndef HOPPERLOADED_H
+#define HOPPERLOADED_H
+#ifdef HAS_STATES
+#include
+#endif
+
+#include
+#include "../Addon.h"
+#include "../config.h"
+#include "../common/macros.h"
+#include "../components/PhotoElectricSensor.h"
+
+// Addon to detect when there is something in the hopper
+class HopperLoaded : public Addon
+{
+private:
+ PhotoElectricSensor sensor0;
+#ifdef HOPPER_LOADED_1
+ PhotoElectricSensor sensor1;
+#endif
+
+public:
+#ifdef HAS_STATES
+ String HopperLoaded::state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(2);
+ StaticJsonDocument doc;
+ doc["0"] = id;
+ doc["1"] = ok() ? 1 : 0;
+ return doc.as();
+ }
+#endif
+
+#ifdef HOPPER_LOADED_1
+ HopperLoaded(short h1Pin, short h2Pin) : sensor0(h1Pin, HOPPER_LOADED_INTERVAL),
+ sensor1(h2Pin, HOPPER_LOADED_INTERVAL),
+ Addon(HOPPER_LOADED_STR, HOPPER_LOADED, ADDON_STATED)
+ {
+ this->setFlag(DEBUG);
+ }
+#else
+ HopperLoaded(short h1Pin) : sensor0(h1Pin, HOPPER_LOADED_INTERVAL),
+ Addon(HOPPER_LOADED_STR, HOPPER_LOADED)
+ {
+ // this->setFlag(DEBUG);
+ }
+#endif
+
+ virtual short loop()
+ {
+#ifdef HOPPER_LOADED_1
+ this->sensor0.loop();
+ this->sensor1.loop();
+#else
+ this->sensor0.loop();
+#endif
+ }
+
+#ifdef TESTING
+ // test override
+ virtual short ok()
+ {
+ return test;
+ }
+#else
+ virtual short ok()
+ {
+ return sensor0.ok(); // || sensor1.ok();
+ }
+#endif
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ":" << analogRead(CONTROLLINO_A3) << ":" << this->ok() << "\n\t" << SPACE("h ts " << this->sensor0.highTS) << "\n\t" << SPACE("l ts " << this->sensor0.lowTS) << "\n\t" << SPACE("dt " << this->sensor0.dt);
+ }
+ void info(Stream *stream)
+ {
+#ifdef HOPPER_LOADED_1
+ *stream << this->name << "\n\t : " << SPACE("HOPPER LOADED 0" << HOPPER_LOADED_0) << SPACE("HOPPER LOADED 1" << HOPPER_LOADED_1);
+#endif
+ }
+#ifdef TESTING
+ bool test;
+#endif
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/MotorIdle.h b/resources/workshop/metal/saw/firmware/firmware/addons/MotorIdle.h
new file mode 100644
index 000000000..110a42104
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/MotorIdle.h
@@ -0,0 +1,32 @@
+#ifndef MOTOR_IDLE_H
+#define MOTOR_IDLE_H
+
+#include
+#include "Addon.h"
+#include "config.h"
+#include
+#include "../common/macros.h"
+
+class MotorIdle : public Addon
+{
+public:
+ MotorIdle() : Addon(MOTOR_IDLE_STR, MOTOR_IDLE) {}
+
+ virtual short setup()
+ {
+ pinMode(MOTOR_IDLE_PIN, INPUT_PULLUP);
+ }
+ virtual short ok()
+ {
+ return !digitalRead(MOTOR_IDLE_PIN);
+ }
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN);
+ }
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/MotorLoad.h b/resources/workshop/metal/saw/firmware/firmware/addons/MotorLoad.h
new file mode 100644
index 000000000..0be28b1b3
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/MotorLoad.h
@@ -0,0 +1,153 @@
+#ifndef MOTOR_OVERLOAD_H
+#define MOTOR_OVERLOAD_H
+
+#include
+#include
+#include "../Addon.h"
+#include "../config.h"
+
+#include "../common/macros.h"
+#include "../common/ppmath.h"
+
+#ifdef HAS_STATES
+#include
+#endif
+
+class MotorLoad : public Addon
+{
+public:
+ enum MSTATE
+ {
+ NONE = 0,
+ IDLE = 1,
+ LOAD = 2,
+ OVERLOAD = 2,
+ ERROR = 3
+ };
+
+#ifdef HAS_STATES
+
+ String state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(2);
+ StaticJsonDocument doc;
+ doc['0'] = id;
+ doc['s'] = currentState;
+ return doc.as();
+ }
+#endif
+
+ MotorLoad(short _pin) : dt(0),
+ pin(_pin),
+ load(0),
+ lastIdle(0),
+ lastLoad(0),
+ lastOverload(0),
+ currentState(NONE),
+ lastState(NONE),
+ Addon(MOTOR_LOAD_STR, MOTOR_LOAD)
+ {
+ // setFlag(DEBUG);
+ }
+
+ short jammed()
+ {
+ if (analogRead(CONTROLLINO_A7) > 700)
+ {
+ return true;
+ }
+ return RANGE(load, MOTOR_OVERLOAD_RANGE_MIN, MOTOR_OVERLOAD_RANGE_MAX);
+ }
+
+ short idle()
+ {
+ return RANGE(load, MOTOR_IDLE_LOAD_RANGE_MIN, MOTOR_IDLE_LOAD_RANGE_MAX);
+ }
+
+ short shredding()
+ {
+ return RANGE(load, MOTOR_SHREDDING_LOAD_RANGE_MIN, MOTOR_SHREDDING_LOAD_RANGE_MAX);
+ }
+
+ short setup()
+ {
+ // loop();
+ //debug(&Serial);
+ }
+
+ short loop()
+ {
+ if (now - last > MOTOR_LOAD_READ_INTERVAL)
+ {
+ load = analogRead(pin);
+
+ last = now;
+ uchar newState = NONE;
+ if (idle())
+ {
+ lastIdle = now;
+ newState = IDLE;
+ }
+ else if (jammed())
+ {
+ lastOverload = now;
+ newState = OVERLOAD;
+ }
+ else if (shredding())
+ {
+ lastLoad = now;
+ newState = LOAD;
+ }
+
+ if (newState != currentState)
+ {
+ dt = now;
+ lastState = currentState;
+ currentState = newState;
+ }
+ }
+ return load;
+ }
+
+ short ok()
+ {
+ if (currentState == IDLE &&
+ (now - dt) > MAX_IDLE_TIME)
+ {
+ return E_MOTOR_DT_IDLE;
+ }
+
+ if (currentState == LOAD &&
+ (now - dt) > MAX_SHRED_TIME)
+ {
+ return E_MOTOR_DT_OVERLOAD;
+ }
+
+ return E_OK;
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << " : "
+ << "Last Load: "
+ << " : " << (millis() - lastLoad) / 1000
+ << " : Value : " << analogRead(pin) << " Jammed " << jammed() << SPACE('@') << load << SPACE(":state") << currentState;
+ }
+
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : " SPACE("Pin:" << pin);
+ }
+
+ millis_t dt;
+ uchar lastState;
+ uchar currentState;
+ millis_t lastIdle;
+ millis_t lastLoad;
+ millis_t lastOverload;
+
+protected:
+ short pin;
+ short load;
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/MotorSpeed.h b/resources/workshop/metal/saw/firmware/firmware/addons/MotorSpeed.h
new file mode 100644
index 000000000..6f2d9ce48
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/MotorSpeed.h
@@ -0,0 +1,41 @@
+#ifndef MOTOR_SPEED_H
+#define MOTOR_SPEED_H
+
+#include
+#include "Addon.h"
+#include "config.h"
+#include
+#include "../common/macros.h"
+#include "IRSensor.h"
+
+class MotorSpeed : public Addon
+{
+public:
+ MotorSpeed() :
+ sensor(new IRSensor()),
+ Addon(MOTOR_IR_SPEED_STR, MOTOR_SPEED) {}
+
+ virtual short setup()
+ {
+ sensor->setup();
+ }
+ virtual short ok()
+ {
+ return this->sensor->ok();
+ }
+ virtual short loop()
+ {
+ this->sensor->loop();
+ }
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN);
+ }
+ protected:
+ IRSensor *sensor;
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/MotorTemperature.h b/resources/workshop/metal/saw/firmware/firmware/addons/MotorTemperature.h
new file mode 100644
index 000000000..63d152cde
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/MotorTemperature.h
@@ -0,0 +1,40 @@
+#ifndef MOTOR_TEMPERATURE_H
+#define MOTOR_TEMPERATURE_H
+
+#include
+#include "Addon.h"
+#include "config.h"
+#include
+#include "../common/macros.h"
+#include "TemperatureSensor.h"
+
+class MotorTemperature : public Addon
+{
+private:
+ TemperatureSensor sensor;
+
+public:
+ MotorTemperature() : sensor(MOTOR_TEMPERTURE_SCK_PIN, MOTOR_TEMPERTURE_CS_PIN, MOTOR_TEMPERTURE_SO_PIN, MOTOR_TEMPERTURE_MAX, MOTOR_TEMPERTURE_INTERVAL),
+ Addon(MOTOR_TEMPERATURE_STR, MOTOR_TEMPERATURE) {}
+
+ virtual short ok()
+ {
+ return sensor.ok();
+ }
+ void debug(Stream *stream)
+ {
+ // *stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ /*
+ *stream << this->name << "\n\t : " <<
+ SPACE("Pin SCK:" << MOTOR_TEMPERTURE_SCK_PIN ) <<
+ SPACE("Pin CS :" << MOTOR_TEMPERTURE_CS_PIN ) <<
+ SPACE("Pin SO:" << MOTOR_TEMPERTURE_SO_PIN ) <<
+ SPACE("Max" << MOTOR_TEMPERTURE_MAX ) <<
+ SPACE("Interval" << MOTOR_TEMPERTURE_INTERVAL );
+ */
+ }
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/OperationModeSwitch.h b/resources/workshop/metal/saw/firmware/firmware/addons/OperationModeSwitch.h
new file mode 100644
index 000000000..22b1583ea
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/OperationModeSwitch.h
@@ -0,0 +1,149 @@
+#ifndef OPERATION_MODE_SWITCH_H
+#define OPERATION_MODE_SWITCH_H
+
+#ifdef HAS_STATES
+#include
+#endif
+
+#ifndef OP_MODE_ANALOG
+#include
+#endif
+
+#include "../config.h"
+#include "../Addon.h"
+#include
+#include "../common/macros.h"
+#include "../common/ppmath.h"
+
+class OperationModeSwitch : public Addon
+{
+
+public:
+ short pin1;
+#ifdef OP_MODE_ANALOG
+ ushort level1;
+ ushort level2;
+ ushort level3;
+ OperationModeSwitch(short _pin1, ushort _level1, ushort _level2, ushort _level3) : pin1(_pin1),
+ level1(_level1),
+ level2(_level2),
+ level3(_level3),
+ Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH)
+ {
+ //setFlag(DEBUG);
+ }
+#ifdef HAS_STATES
+ String state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(2);
+ StaticJsonDocument doc;
+ doc['0'] = id;
+ doc['1'] = value();
+ return doc.as();
+ }
+#endif
+ void debug(Stream *stream)
+ {
+ *stream << this->name << SPACE(value());
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t ";
+ }
+
+ short value()
+ {
+ ushort value = analogRead(pin1);
+ if (RANGE(value, level1 - 10, level1 + 10))
+ {
+ return OP_DEBUG;
+ }
+ if (RANGE(value, level2 - 10, level2 + 10))
+ {
+ return OP_NORMAL;
+ }
+ if (RANGE(value, level3 - 10, level3 + 10))
+ {
+ return OP_SERVICE;
+ }
+ return OP_NONE;
+ }
+ short setup()
+ {
+ debug(&Serial);
+ }
+
+ short loop()
+ {
+ // Serial.println(analogRead(pin1));
+ }
+
+#else
+ Bounce debouncer1;
+ Bounce debouncer2;
+ Bounce debouncer3;
+ short pin1;
+ short pin2;
+ short pin3;
+
+ OperationModeSwitch(short _pin1, short _pin2, short _pin3) : pin1(_pin1), // 1-2
+ pin2(_pin2), // 5-6
+ pin3(_pin3), // 9-10
+ Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH)
+ {
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ": PIN1 " << SPACE(!debouncer1.read()) << ": PIN2 " << SPACE(!debouncer2.read()) << ": PIN3 " << SPACE(!debouncer3.read());
+ }
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : ";
+ }
+
+ short value()
+ {
+ if (!debouncer1.read())
+ {
+ return OP_DEBUG;
+ }
+
+ if (!debouncer2.read())
+ {
+ return OP_NORMAL;
+ }
+
+ if (!debouncer3.read())
+ {
+ return OP_SERVICE;
+ }
+
+ return OP_NONE;
+ }
+ short setup()
+ {
+ this->debouncer1 = Bounce();
+ this->debouncer1.attach(this->pin1, INPUT_PULLUP);
+ this->debouncer1.interval(25);
+
+ this->debouncer2 = Bounce();
+ this->debouncer2.attach(this->pin2, INPUT_PULLUP);
+ this->debouncer2.interval(25);
+
+ this->debouncer3 = Bounce();
+ this->debouncer3.attach(this->pin3, INPUT_PULLUP);
+ this->debouncer3.interval(25);
+ }
+
+ short loop()
+ {
+ this->debouncer1.update();
+ this->debouncer2.update();
+ this->debouncer3.update();
+ }
+
+#endif
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/Power.h b/resources/workshop/metal/saw/firmware/firmware/addons/Power.h
new file mode 100644
index 000000000..4f306c0b7
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/Power.h
@@ -0,0 +1,141 @@
+#ifndef POWER_H
+#define POWER_H
+
+#include "../config.h"
+
+#ifdef HAS_STATES
+#include
+#endif
+
+#include "../Addon.h"
+#include
+#include "../common/macros.h"
+#include "../config.h"
+#include "../components/CurrentSensor.h"
+class Power : public Addon
+{
+public:
+ Power(int _power0, int _power1) : power0(_power0),
+ power1(_power1),
+ primary(false),
+ secondary(false),
+ slots({false, false}),
+#ifdef POWER_CSENSOR_PRIMARY
+ cSensorPrim(CurrentSensor(POWER_CSENSOR_PRIMARY, 200)),
+#endif
+#ifdef POWER_CSENSOR_SECONDARY
+ cSensorSec(CurrentSensor(POWER_CSENSOR_SECONDARY, 200)),
+#endif
+ Addon(POWER_STR, POWER)
+ {
+ // setFlag(DEBUG);
+ }
+#ifdef HAS_STATES
+ String state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(4);
+ StaticJsonDocument doc;
+ doc['0'] = id;
+ doc['1'] = slots[0];
+ doc['2'] = slots[1];
+ return doc.as();
+ }
+#endif
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ":" << cSensorSec.value;
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name;
+ }
+
+ short setup()
+ {
+#ifdef POWER_0
+ pinMode(power0, OUTPUT);
+#endif
+#ifdef POWER_1
+ pinMode(power1, OUTPUT);
+#endif
+
+#ifdef POWER_CSENSOR_PRIMARY
+ cSensorPrim.setup();
+#endif
+
+#ifdef POWER_CSENSOR_SECONDARY
+ cSensorSec.setup();
+#endif
+ }
+
+ short on(short slot)
+ {
+
+#ifdef USE_CONTROLLINO
+ digitalWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? HIGH : LOW);
+#else
+ analogWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? 1024 : 0);
+#endif
+ slots[slot] = true;
+ return slots[slot];
+ }
+ short isOn(short slot)
+ {
+ return slots[slot];
+ }
+ short off(short slot)
+ {
+#ifdef USE_CONTROLLINO
+ digitalWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? LOW : HIGH);
+#else
+ analogWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? 0 : 1024);
+#endif
+ slots[slot] = false;
+ return slots[slot];
+ }
+
+ short check(short slot)
+ {
+ switch (slot)
+ {
+ case POWER_PRIMARY:
+ {
+
+#ifdef POWER_CSENSOR_PRIMARY
+ //return slot[POWER_PRIMARY] && cSenorPrim.ok();
+#else
+ // return slots[POWER_PRIMARY];
+#endif
+
+ break;
+ }
+ }
+ }
+
+ short loop()
+ {
+
+#ifdef POWER_CSENSOR_PRIMARY
+ cSensorPrim.loop();
+#endif
+
+#ifdef POWER_CSENSOR_SECONDARY
+ cSensorSec.loop(now);
+#endif
+ }
+
+ int power0;
+ int power1;
+ bool primary;
+ bool secondary;
+ int slots[2];
+#ifdef POWER_CSENSOR_SECONDARY
+ CurrentSensor cSensorSec;
+#endif
+#ifdef POWER_CSENSOR_PRIMARY
+ CurrentSensor cSensorPrim;
+#endif
+protected:
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/Reset.h b/resources/workshop/metal/saw/firmware/firmware/addons/Reset.h
new file mode 100644
index 000000000..9b1cab20f
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/Reset.h
@@ -0,0 +1,30 @@
+#ifndef RESET_H
+#define RESET_H
+
+// This module uses currently a normally closed momentary button.
+
+static millis_t sw_reset_TS = 0;
+
+static void reset_setup()
+{
+ pinMode(RESET_PIN, INPUT_PULLUP);
+ sw_reset_TS = millis();
+}
+
+static void reset_loop()
+{
+ if (millis() - sw_reset_TS > RESET_INTERVAL) {
+ #if RESET_NC == true
+ // globals.isReset = digitalRead(RESET_PIN);
+ #else
+ // globals.isReset = !digitalRead(RESET_PIN);
+ #endif
+
+ sw_reset_TS = millis();
+ // if(globals.isReset && DEBUG){
+ // Serial.println("reset");
+ // }
+ }
+}
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/Status.h b/resources/workshop/metal/saw/firmware/firmware/addons/Status.h
new file mode 100644
index 000000000..8acbde8c5
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/Status.h
@@ -0,0 +1,65 @@
+#ifndef STATUS_H
+#define STATUS_H
+#include "types.h"
+
+static millis_t status_blink_TS = 0;
+static bool doBlink = false;
+static bool last_blink = true;
+static millis_t blink_start_ts;
+static millis_t max_blink_time = HOUR_MS; // stop blinking in an hour
+
+// This is using currently 2 LEDs : red & green, running at 220V via relay.
+
+static void status_setup() { }
+
+static void status_loop(){
+
+ if (millis() - status_blink_TS > 1000 ) {
+ status_blink_TS = millis();
+ last_blink = !last_blink;
+ if(doBlink){
+ analogWrite(STATUS_ERROR_PIN, last_blink ? RELAY_ON : RELAY_OFF);
+ }
+ if(millis() - status_blink_TS > max_blink_time ){
+ doBlink = false;
+ }
+ }
+}
+
+static void status_blink(bool blink){
+ if(!doBlink && blink){
+ blink_start_ts = millis();
+ }
+ doBlink = blink;
+}
+
+static void setStatusAllOn(){
+ if(doBlink){
+ return;
+ }
+ analogWrite(STATUS_ERROR_PIN, RELAY_ON);
+ analogWrite(STATUS_OK_PIN, RELAY_ON);
+}
+
+static void setStatusAllOff(){
+ if(doBlink){
+ return;
+ }
+ analogWrite(STATUS_ERROR_PIN, RELAY_OFF);
+ analogWrite(STATUS_OK_PIN, RELAY_OFF);
+}
+
+static void setStatus(bool error) {
+ if(doBlink){
+ return;
+ }
+ if (error) {
+ analogWrite(STATUS_ERROR_PIN, RELAY_ON);
+ analogWrite(STATUS_OK_PIN, RELAY_OFF);
+ } else {
+ analogWrite(STATUS_OK_PIN, RELAY_ON);
+ analogWrite(STATUS_ERROR_PIN, RELAY_OFF);
+ }
+}
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/addons/TemperatureSensor.h b/resources/workshop/metal/saw/firmware/firmware/addons/TemperatureSensor.h
new file mode 100644
index 000000000..e17f9953c
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/addons/TemperatureSensor.h
@@ -0,0 +1,42 @@
+#ifndef TEMPERATURE_SENSOR_H
+#define TEMPERATURE_SENSOR_H
+
+#include
+#include "../config.h"
+#include "../macros.h"
+#include "../time.h"
+
+class TemperatureSensor
+{
+
+public:
+ TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)),
+ temperature(),
+ temperature_TS(millis()),
+ maxTemp(_max),
+ interval(_interval) {}
+
+ bool ok()
+ {
+ return temperature < maxTemp;
+ }
+
+ void loop()
+ {
+
+ if (millis() - temperature_TS > interval)
+ {
+ temperature_TS = millis();
+ temperature = ktc.readCelsius();
+ }
+ }
+
+private:
+ MAX6675 ktc;
+ short temperature;
+ short maxTemp;
+ short interval;
+ millis_t temperature_TS;
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/app.cpp b/resources/workshop/metal/saw/firmware/firmware/app.cpp
new file mode 100644
index 000000000..f83e88711
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/app.cpp
@@ -0,0 +1,142 @@
+#include
+#include
+#include
+
+#include "app.h"
+#include "features.h"
+#include
+
+static Addon *addonsArray[10];
+
+#ifdef HAS_DIP
+int dipSwitchPins[] = {48, 49};
+#endif
+
+short App::ok()
+{
+ if (now - dt > 100)
+ {
+ dt = now;
+ }
+ return E_OK;
+}
+
+App::App() : Addon("APP", APP, 1 << STATE),
+#ifdef HAS_DIRECTION_SWITCH
+ dirSwitch(new DirectionSwitch(DIR_SWITCH_UP_PIN, DIR_SWITCH_DOWN_PIN)),
+#endif
+
+#ifdef HAS_POWER
+#if defined(POWER_0) && defined(POWER_1)
+ powerSwitch(new Power(POWER_0, POWER_1)),
+#else
+ powerSwitch(new Power(POWER_0, POWER_0)),
+#endif
+#endif
+ debugTS(0),
+ servo(new ExternalServo(PRESS_SERVO_STEP_PIN, PRESS_SERVO_DIR_PIN)),
+ actuator(new LinearActuator(
+ PRESS_LIMIT_UP_PIN,
+ PRESS_LIMIT_DOWN_PIN,
+ PRESS_SERVO_DIR_PIN,
+ PRESS_SERVO_STEP_PIN,
+ PRESS_SERVO_ALARM_PIN,
+ PRESS_SERVO_POWER_PIN,
+ this,
+ (AddonFnPtr)&App::onActuatorChange,
+ PRESS_MAX_MOVE_TIME)),
+ statusLightUp(STATUS_UP_PIN),
+ statusLightDown(STATUS_DOWN_PIN),
+ statusLightHeat(STATUS_HEAT_PIN)
+{
+}
+#ifdef HAS_STATES
+String App::state()
+{
+ const int capacity = JSON_OBJECT_SIZE(6);
+ StaticJsonDocument doc;
+ doc["0"] = id;
+ doc["1"] = _state;
+ return doc.as();
+}
+#endif
+
+short App::getAppState(short val)
+{
+ return _state;
+}
+void (*resetFunction)(void) = 0; // Self reset (to be used with watchdog)
+
+short App::setAppState(short newState)
+{
+}
+
+void printMem()
+{
+ Serial.print("mem: ");
+ Serial.print(freeMemory());
+ Serial.println('--');
+}
+short App::setup()
+{
+ Serial.begin(DEBUG_BAUD_RATE);
+
+ Serial.println("Booting Firmware ...................... ");
+
+ addons.setStorage(addonsArray);
+ setup_addons();
+
+#ifdef MEARSURE_PERFORMANCE
+ printPerfTS = 0;
+ addonLoopTime = 0;
+ bridgeLoopTime = 0;
+#endif
+ loopTS = 0;
+ _state = 0;
+ bootTime = millis();
+
+ /*
+ timer.every(5000, [](App *app) -> void {
+ printMem();
+ },
+ this);
+ */
+}
+
+void App::loop_service()
+{
+#ifdef HAS_POWER
+ powerSwitch->on(POWER_PRIMARY);
+#endif
+ // _loop_manual();
+}
+void App::debug_mode_loop()
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(LOOP))
+ {
+ addon->loop();
+ }
+ }
+}
+
+short App::loop()
+{
+ // debug();
+ now = millis();
+ if (millis() - loopTS > LOOP_DELAY)
+ {
+ loopTS = now;
+ loop_addons();
+ loopPress();
+ }
+
+ /*
+ loop_addons();
+ // timer.tick();
+ now = millis();
+ loopPress();*/
+}
diff --git a/resources/workshop/metal/saw/firmware/firmware/app.h b/resources/workshop/metal/saw/firmware/firmware/app.h
new file mode 100644
index 000000000..0a6662593
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/app.h
@@ -0,0 +1,100 @@
+#ifndef APP_H
+#define APP_H
+
+#include "config.h"
+#include
+#include "types.h"
+#include "Addon.h"
+#include "common/timer.h"
+
+#include "components/StatusLight.h"
+
+class DirectionSwitch;
+class Power;
+class ExternalServo;
+class LinearActuator;
+
+class App : public Addon
+{
+
+public:
+ App();
+ DirectionSwitch *dirSwitch;
+ Addon *byId(short id);
+ ExternalServo *servo;
+
+ LinearActuator *actuator;
+ short onActuatorChange(short state);
+
+ StatusLight statusLightUp;
+ StatusLight statusLightDown;
+ StatusLight statusLightHeat;
+
+ short setup();
+ short loop();
+ short debug();
+ short info();
+ short ok();
+
+ void onError(int error);
+
+ void loop_service();
+ void loop_normal();
+
+ void _loop_manual();
+ void loop_addons();
+
+ void setup_addons();
+ ushort numByFlag(ushort flag);
+
+ // operation mode specific
+ void App::debug_mode_loop();
+
+ Vector addons;
+
+ // bridge
+ short setFlag(ushort addonId, ushort flag);
+
+#ifdef HAS_STATES
+ short appState(short nop = 0);
+ String state();
+#endif
+
+ millis_t comTS;
+ millis_t loopTS;
+ millis_t wait;
+ millis_t waitTS;
+ millis_t shredStart;
+ millis_t bootTime;
+ Timer<10, millis> timer; // 10 concurrent tasks, using micros as resolution
+
+ enum APP_STATE
+ {
+ RESET = 6,
+ STANDBY = 2,
+ ERROR = 5
+ };
+
+ short _state;
+ short _error;
+ short getLastError(short val = 0)
+ {
+ return _error;
+ }
+ short setLastError(short val = 0);
+ short setAppState(short newState);
+ short getAppState(short val);
+
+ short loopPress();
+
+private:
+#ifdef MEARSURE_PERFORMANCE
+ millis_t addonLoopTime;
+ millis_t bridgeLoopTime;
+ millis_t printPerfTS;
+#endif
+
+ millis_t debugTS;
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/app_addons.cpp b/resources/workshop/metal/saw/firmware/firmware/app_addons.cpp
new file mode 100644
index 000000000..a14852690
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/app_addons.cpp
@@ -0,0 +1,137 @@
+#include
+#include
+#include
+#include "app.h"
+#include "config.h"
+#include "types.h"
+#include "common/macros.h"
+#include "Addon.h"
+#include "features.h"
+
+short App::setFlag(ushort addonId, ushort flag)
+{
+ Addon *addon = byId(addonId);
+ if (addon)
+ {
+ addon->setFlag(flag);
+ return E_OK;
+ }
+ return ERROR_WARNING;
+}
+
+ushort App::numByFlag(ushort flag)
+{
+ uchar s = addons.size();
+ uchar l = 0;
+ String out = "";
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (!!(addon->hasFlag(flag)))
+ {
+ l++;
+ }
+ }
+ return l;
+}
+short App::debug()
+{
+#ifndef MEARSURE_PERFORMANCE
+ if (millis() - debugTS > DEBUG_INTERVAL)
+ {
+ uchar s = addons.size();
+ uchar nb = 0;
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(DEBUG))
+ {
+ (addon->debug)(&Serial);
+ Serial.println("\n");
+ nb++;
+ }
+ }
+ if (nb)
+ {
+ Serial.println("\n");
+ }
+ debugTS = millis();
+ }
+#endif
+}
+
+short App::info()
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(INFO))
+ {
+ addon->info(&Serial);
+ Serial << "\n";
+ }
+ }
+}
+
+Addon *App::byId(short id)
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->id == id)
+ {
+ return addon;
+ }
+ }
+ return NULL;
+}
+
+void App::setup_addons()
+{
+
+
+#ifdef HAS_DIRECTION_SWITCH
+ addons.push_back((Addon *)dirSwitch);
+#endif
+ addons.push_back((Addon *)this);
+ addons.push_back((Addon *)actuator);
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(SETUP))
+ {
+ addon->setup();
+ }
+ }
+ servo->setup();
+}
+void App::loop_addons()
+{
+ debug();
+#ifdef MEARSURE_PERFORMANCE
+ millis_t now = millis();
+#endif
+
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(LOOP))
+ {
+ addon->now = millis();
+ addon->loop();
+ }
+ }
+
+#ifdef MEARSURE_PERFORMANCE
+ addonLoopTime = millis() - now;
+ if (millis() - printPerfTS > 3000)
+ {
+ printPerfTS = now;
+ Serial << SPACE("Addon loop time") << addonLoopTime << "\n";
+ }
+#endif
+}
diff --git a/resources/workshop/metal/saw/firmware/firmware/app_press.cpp b/resources/workshop/metal/saw/firmware/firmware/app_press.cpp
new file mode 100644
index 000000000..0fdee683a
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/app_press.cpp
@@ -0,0 +1,118 @@
+#include
+#include
+#include
+#include "app.h"
+#include "features.h"
+
+#include "./components/ExternalServo.h"
+#include "enums.h"
+
+const bool manual = true;
+
+short App::onActuatorChange(short state)
+{
+ switch (state)
+ {
+
+ case ERROR_FATAL:
+ case LinearActuator::E_ACTUATOR_STATE::ERROR:
+ {
+ statusLightUp.setBlink(true);
+ statusLightDown.setBlink(true);
+ statusLightHeat.setBlink(true);
+ break;
+ }
+
+ default:
+ break;
+ }
+}
+
+short App::loopPress()
+{
+ servo->loop();
+ if (manual)
+ {
+ _loop_manual();
+ }
+ else
+ {
+ loop_normal();
+ }
+}
+
+void App::_loop_manual()
+{
+ uchar sw = dirSwitch->loop();
+ if (sw == POS3_DIRECTION::DOWN)
+ {
+ // servo->move(1);
+ actuator->move(0);
+ }
+ else if (sw == POS3_DIRECTION::UP)
+ {
+ // servo->move(1);
+ actuator->move(1);
+ }
+ else
+ {
+ actuator->stop(0);
+ //servo->stop();
+ }
+}
+void App::onError(int error)
+{
+ if (_state != ERROR)
+ {
+ _state = ERROR;
+ }
+
+ statusLightDown.setBlink(true);
+ statusLightUp.setBlink(true);
+ statusLightHeat.setBlink(true);
+}
+void App::loop_normal()
+{
+ uchar sw = dirSwitch->loop();
+ short actuatorState = actuator->getSate();
+
+ if (sw && sw == dirSwitch->last())
+ {
+ onError(ERROR);
+ return;
+ }
+
+ switch (sw)
+ {
+
+ case POS3_DIRECTION::UP:
+ {
+ short moving = actuator->plunge(false);
+ statusLightUp.setBlink(moving);
+ statusLightDown.setBlink(false);
+ statusLightDown.off();
+ break;
+ }
+
+ case POS3_DIRECTION::DOWN:
+ {
+ short moving = actuator->home(false);
+ statusLightDown.setBlink(moving);
+ statusLightUp.setBlink(false);
+ statusLightUp.off();
+ break;
+ }
+ case POS3_DIRECTION::MIDDLE:
+ {
+ short plunge = actuator->reset();
+ statusLightUp.setBlink(false);
+ statusLightUp.off();
+ statusLightDown.setBlink(false);
+ statusLightDown.off();
+ break;
+ }
+
+ default:
+ break;
+ }
+}
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/Pin.h b/resources/workshop/metal/saw/firmware/firmware/common/Pin.h
new file mode 100644
index 000000000..1d2688ca5
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/Pin.h
@@ -0,0 +1,512 @@
+#ifndef PIN_H
+#define PIN_H
+
+// this class doesn't outperform fastgpio but is works with AtmelMega
+
+#include
+
+#define DDR_HIGH (*_DDR |= _offset) ///< Set the DDR register to HIGH for the pin
+#define DDR_TOGGLE (*_DDR ^= _offset) ///< Set the DDR register to the inverse for the pin
+#define DDR_LOW (*_DDR &= _ioffset) ///< Set the DDR register to LOW for the pin
+
+#define PORT_HIGH (*_PORT |= _offset) ///< Set the PORT register to HIGH for the pin
+#define PORT_TOGGLE (*_PORT ^= _offset) ///< Set the PORT register to the inverse for the pin
+#define PORT_LOW (*_PORT &= _ioffset) ///< Set the PORT register to LOW for the pin
+
+#define DDR_ON (*_DDR & _offset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 0
+#define DDR_OFF (*_DDR | _ioffset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 1
+
+#define PORT_ON (*_PORT & _offset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 0
+#define PORT_OFF (*_PORT | _ioffset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 1
+
+#define PIN_ON (*_PIN & _offset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 0
+#define PIN_OFF (*_PIN | _ioffset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 1
+
+class Pin
+{
+public:
+ Pin(uint8_t number)
+ {
+ _number = number;
+ _offset = digitalPinToBitMask(_number);
+ _ioffset = ~_offset;
+ _timer = digitalPinToTimer(_number);
+ _PIN = portInputRegister(digitalPinToPort(_number));
+ _PORT = portOutputRegister(digitalPinToPort(_number));
+ _DDR = portModeRegister(digitalPinToPort(_number));
+ }
+
+ /**
+ Custom board constructor
+
+ getAnalogValue() and setDutyCycle(int value) not supported
+
+ @param number pin number written on board
+ @param offset bit mask used to access pin in registers
+ @param timer timer for pin
+ @param PIN input register for pin
+ @param PORT data register for pin
+ @param DDR data direction register for pin
+ */
+ Pin(uint8_t number, uint8_t offset, uint8_t timer, volatile uint8_t *PIN, volatile uint8_t *PORT, volatile uint8_t *DDR)
+ {
+ _number = number;
+ _offset = offset;
+ _ioffset = ~_offset;
+ _timer = timer;
+ _PIN = PIN;
+ _PORT = PORT;
+ _DDR = DDR;
+ }
+
+ // ################################# Operators #################################
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return true if the value of the pin is HIGH, false otherwise
+ */
+ operator bool() const
+ {
+ return bool(PIN_ON);
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ Pin &operator=(uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+
+ return *this;
+ }
+
+ // ################################# Getters #################################
+
+ /**
+ Get the pin number
+
+ @return pin number
+ */
+ uint8_t getNumber()
+ {
+ return _number;
+ }
+
+ /**
+ Get the pin offset
+
+ @return pin offset
+ */
+ uint8_t getOffset()
+ {
+ return _offset;
+ }
+
+ /**
+ Get the inverse pin offset
+
+ @return inverse pin offset
+ */
+ uint8_t getInverseOffset()
+ {
+ return _ioffset;
+ }
+
+ /**
+ Get the pin timer
+
+ @return pin timer
+ */
+ uint8_t getTimer()
+ {
+ return _timer;
+ }
+
+ /**
+ Get a pointer to the PIN register
+
+ @return pointer to the PIN register
+ */
+ volatile uint8_t *getPIN()
+ {
+ return _PIN;
+ }
+
+ /**
+ Get a pointer to the PORT register
+
+ @return pointer to the PORT register
+ */
+ volatile uint8_t *getPORT()
+ {
+ return _PORT;
+ }
+
+ /**
+ Get a pointer to the DDR register
+
+ @return pointer to the DDR register
+ */
+ volatile uint8_t *getDDR()
+ {
+ return _DDR;
+ }
+
+ /**
+ Get the mode of the pin from the DDR register
+
+ @return mode of the pin (OUTPUT, INPUT)
+ */
+ uint8_t getMode()
+ {
+ if (DDR_ON)
+ {
+ return OUTPUT;
+ }
+ else
+ {
+ return INPUT;
+ }
+ }
+
+ /**
+ Get the state of the pin from the PORT register
+
+ @return state of the pin (HIGH, LOW)
+ */
+ uint8_t getState()
+ {
+ if (PORT_ON)
+ {
+ return HIGH;
+ }
+ else
+ {
+ return LOW;
+ }
+ }
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return value of the pin (HIGH, LOW)
+ */
+ uint8_t getValue()
+ {
+ if (PIN_ON)
+ {
+ return HIGH;
+ }
+ else
+ {
+ return LOW;
+ }
+ }
+
+ /**
+ Get the analog value of the pin
+
+ @return analog value of the pin (0-1023)
+ */
+ uint16_t getAnalogValue()
+ {
+ return analogRead(_number);
+ }
+
+ /**
+ Set the pin mode and pin state
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void set(uint8_t mode, uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ */
+ void setMode(uint8_t mode)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void setState(uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ // #################### Input ####################
+
+ void setInput()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to on
+ */
+ void setPullupOn()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to off
+ */
+ void setPullupOff()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to on
+ */
+ void setInputPullupOn()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to off
+ */
+ void setInputPullupOff()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // #################### Output ####################
+
+ /**
+ Set the pin mode to output
+ */
+ void setOutput()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to HIGH
+ */
+ void setHigh()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to LOW
+ */
+ void setLow()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to HIGH
+ */
+ void setOutputHigh()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to LOW
+ */
+ void setOutputLow()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the PWM duty cycle
+
+ @param value the duty cycle (0-255)
+ */
+ void setDutyCycle(int value)
+ {
+ analogWrite(_number, value);
+ }
+
+ // ################################# Utilities #################################
+
+ /**
+ Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT)
+ */
+ void toggleMode()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ /**
+ Toggle the pin state (HIGH -> LOW, LOW -> HIGH)
+ */
+ void toggleState()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ // #################### RC Timer ####################
+
+ /**
+ Set the pin mode to input and decrement a counter until the pin goes HIGH or the counter reaches 0 then set the pin mode to output and return the counter value
+
+ @param count the initial value for the counter to start at (0-65535)
+
+ @return the value remaining on the counter when the pin state went to HIGH or 0 if the counter reached 0
+ */
+ volatile unsigned int rcTimer(volatile unsigned int count)
+ {
+ uint8_t status;
+ asm volatile(
+ // Save interupt status and disable interupts
+ "in %[status], __SREG__ \n\t" // Store current interupt status in variable 's'
+ "cli \n\t" // Disable interupts
+
+ // Set Pin to input mode to start charging capacitor
+ "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__)
+ "and __tmp_reg__, %[_ioffset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the DDR register
+
+ // Count time before Pin becomes high
+ "loop%=: \n\t" // Label for looping
+ //"ld __tmp_reg__,%a[_PIN] \n\t" // Load the PIN register into r0 (__tmp_reg__)
+ "and __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "brne end%= \n\t" // End the loop if r0 (__tmp_reg__) is not equal to zero by branching to label 'end'
+ "dec %[count] \n\t" // Decrement the value of 'count' by one
+ "brne loop%= \n\t" // If the value of 'count' is not equal to zero continue the loop by branching to label 'loop'
+
+ // Done counting
+ "end%=: \n\t" // Label for ending loop
+ // Set Pin to output mode to start discharging capacitor
+ "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__)
+ "or __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the PORT register
+
+ // Restore interupt status
+ "out __SREG__, %[status] \n\t" // Load interupt status from variable 's'
+
+ // Outputs
+ :
+ [ count ] "+r"(count), // The value the counter was at when the pin went high
+ [ status ] "=&r"(status) // The interupt status
+
+ // Inputs
+ :
+ [ _DDR ] "e"(_DDR), // The address of the DDR register for the pin
+ [ _PIN ] "e"(_PIN), // The address of the PIN register for the pin
+ [ _offset ] "r"(_offset), // The bit mask used to access pin in registers
+ [ _ioffset ] "r"(_ioffset) // The inverse bit mask used to access pin in registers
+ );
+
+ return count;
+ }
+
+private:
+ uint8_t _number;
+ uint8_t _offset;
+ uint8_t _ioffset;
+ uint8_t _timer;
+ volatile uint8_t *_PIN;
+ volatile uint8_t *_PORT;
+ volatile uint8_t *_DDR;
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/PinGroup.h b/resources/workshop/metal/saw/firmware/firmware/common/PinGroup.h
new file mode 100644
index 000000000..dbbab12fb
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/PinGroup.h
@@ -0,0 +1,469 @@
+#ifndef PIN_GROUP_H
+#define PIN_GROUP_H
+
+#include "Pin.h"
+
+/**
+ Class for simultaneous operations on Arduino I/O pins
+ */
+class PinGroup
+{
+public:
+ template
+ PinGroup(Pin (&pins)[N])
+ {
+ _offset = pins[0].getOffset();
+ _PIN = pins[0].getPIN();
+ _PORT = pins[0].getPORT();
+ _DDR = pins[0].getDDR();
+ _numbers[0] = pins[0].getNumber();
+ _valid = true;
+
+ for (int i = 1; i < N; i++)
+ {
+ if (_DDR != pins[i].getDDR())
+ {
+ _valid = false;
+ }
+ _offset |= pins[i].getOffset();
+ _numbers[i] = pins[i].getNumber();
+ }
+ _ioffset = ~_offset;
+ }
+
+ // ################################# Operators #################################
+ /**
+ Compare the value of the pin
+
+ @param value the state of the pin (HIGH, LOW)
+
+ @return true if the value of all of the pins are equal to the value passed in, false otherwise
+ */
+ bool operator==(uint8_t value)
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return (value == HIGH);
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return (value == LOW);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ /**
+ Compare the value of the pin
+
+ @param value the state of the pin (HIGH, LOW)
+
+ @return true if the value of all of the pins are not equal to the value passed in, false otherwise
+ */
+ bool operator!=(uint8_t value)
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return (value == LOW);
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return (value == HIGH);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ PinGroup &operator=(uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+
+ return *this;
+ }
+
+ // ################################# Getters #################################
+
+ /**
+ Get the pin numbers
+
+ @return array of pin numbers
+ */
+ uint8_t *getNumbers()
+ {
+ return _numbers;
+ }
+
+ /**
+ Get the pin offset
+
+ @return pin offset
+ */
+ uint8_t getOffset()
+ {
+ return _offset;
+ }
+
+ /**
+ Get the inverse pin offset
+
+ @return inverse pin offset
+ */
+ uint8_t getInverseOffset()
+ {
+ return _ioffset;
+ }
+
+ /**
+ Get a pointer to the PIN register
+
+ @return pointer to the PIN register
+ */
+ volatile uint8_t *getPIN()
+ {
+ return _PIN;
+ }
+
+ /**
+ Get a pointer to the PORT register
+
+ @return pointer to the PORT register
+ */
+ volatile uint8_t *getPORT()
+ {
+ return _PORT;
+ }
+
+ /**
+ Get a pointer to the DDR register
+
+ @return pointer to the DDR register
+ */
+ volatile uint8_t *getDDR()
+ {
+ return _DDR;
+ }
+
+ /**
+ Get the mode of the pin from the DDR register
+
+ @return mode of the pin (OUTPUT, INPUT, -1)
+ */
+ uint8_t getMode()
+ {
+ uint8_t status = *_DDR;
+ if ((status & _offset) == _offset)
+ {
+ return OUTPUT;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return INPUT;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Get the state of the pin from the PORT register
+
+ @return state of the pin (HIGH, LOW, -1)
+ */
+ uint8_t getState()
+ {
+ uint8_t status = *_PORT;
+ if ((status & _offset) == _offset)
+ {
+ return HIGH;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return LOW;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return value of the pin (HIGH, LOW, -1)
+ */
+ uint8_t getValue()
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return HIGH;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return LOW;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Check the group to ensure all pins use the same registers
+
+ @return true if the pins in the group all use the same registers, false otherwise
+ */
+ bool isValid()
+ {
+ return _valid;
+ }
+
+ // ################################# Setters #################################
+
+ // #################### Generic ####################
+
+ /**
+ Set the pin mode and pin state
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void set(uint8_t mode, uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ */
+ void setMode(uint8_t mode)
+ {
+ oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void setState(uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ // #################### Input ####################
+
+ /**
+ Set the pin mode to input
+ */
+ void setInput()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to on
+ */
+ void setPullupOn()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to off
+ */
+ void setPullupOff()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to on
+ */
+ void setInputPullupOn()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to off
+ */
+ void setInputPullupOff()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // #################### Output ####################
+
+ /**
+ Set the pin mode to output
+ */
+ void setOutput()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to HIGH
+ */
+ void setHigh()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to LOW
+ */
+ void setLow()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to HIGH
+ */
+ void setOutputHigh()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to LOW
+ */
+ void setOutputLow()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // ################################# Utilities #################################
+
+ // #################### Toggle ####################
+
+ /**
+ Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT)
+ */
+ void toggleMode()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ /**
+ Toggle the pin state (HIGH -> LOW, LOW -> HIGH)
+ */
+ void toggleState()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_TOGGLE;
+ SREG = oldSREG;
+ }
+
+private:
+ uint8_t _numbers[8];
+ uint8_t _offset;
+ uint8_t _ioffset;
+ bool _valid;
+ uint8_t oldSREG;
+ volatile uint8_t *_PIN;
+ volatile uint8_t *_PORT;
+ volatile uint8_t *_DDR;
+};
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/macros.h b/resources/workshop/metal/saw/firmware/firmware/common/macros.h
new file mode 100644
index 000000000..ff45c1db6
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/macros.h
@@ -0,0 +1,122 @@
+#ifndef MACROS_H
+#define MACROS_H
+
+#include "../types.h"
+
+// Macros for strings
+/*
+ * Concatenate preprocessor tokens A and B without expanding macro definitions
+ * (however, if invoked from a macro, macro arguments are expanded).
+ */
+#define PPCAT_NX(A, B) A ## B
+
+#define PPCAT_NXW(A, B) A B
+
+/*
+ * Concatenate preprocessor tokens A and B after macro-expanding them.
+ */
+#define PPCAT(A, B) PPCAT_NX(A, B)
+/*
+ * Turn A into a string literal without expanding macro definitions
+ * (however, if invoked from a macro, macro arguments are expanded).
+ */
+#define STRINGIZE_NX(A) #A
+
+/*
+ * Turn A into a string literal after macro-expanding it.
+ */
+#define STRINGIZE(A) STRINGIZE_NX(A)
+
+// Macros for adding
+#define INC_0 1
+#define INC_1 2
+#define INC_2 3
+#define INC_3 4
+#define INC_4 5
+#define INC_5 6
+#define INC_6 7
+#define INC_7 8
+#define INC_8 9
+#define INCREMENT_(n) INC_ ##n
+#define INCREMENT(n) INCREMENT_(n)
+
+// Macros for subtracting
+#define DEC_1 0
+#define DEC_2 1
+#define DEC_3 2
+#define DEC_4 3
+#define DEC_5 4
+#define DEC_6 5
+#define DEC_7 6
+#define DEC_8 7
+#define DEC_9 8
+#define DECREMENT_(n) DEC_ ##n
+#define DECREMENT(n) DECREMENT_(n)
+
+// compiler - & C quirks
+#define FORCE_INLINE __attribute__((always_inline)) inline
+#define _UNUSED __attribute__((unused))
+
+// fallback noop
+#define NOOP do{} while(0)
+
+//Option testing
+#define _CAT(a, ...) a ## __VA_ARGS__
+#define SWITCH_ENABLED_ 1
+#define ENABLED(b) _CAT(SWITCH_ENABLED_, b)
+
+// time
+#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
+#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
+
+#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
+#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
+#define HOUR_MS ((millis_t)1000 * (millis_t)(60 * 60))
+#define MIN_MS ((millis_t)1000 * (millis_t)(60))
+#define SECS ((millis_t)1000)
+
+// bit masks
+#undef _BV
+#define _BV(b) (1 << (b))
+#define TEST(n,b) !!((n)&_BV(b))
+#define SBI(n,b) (n |= _BV(b))
+#define CBI(n,b) (n &= ~_BV(b))
+#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
+
+#define _BV32(b) (1UL << (b))
+#define TEST32(n,b) !!((n)&_BV32(b))
+#define SBI32(n,b) (n |= _BV32(b))
+#define CBI32(n,b) (n &= ~_BV32(b))
+#define SIGN(a) ((a>0)-(a<0))
+
+// math basics
+
+#define WITHIN(V,L,H) ((V) >= (L) && (V) <= (H))
+#define NUMERIC(a) WITHIN(a, '0', '9')
+#define DECIMAL(a) (NUMERIC(a) || a == '.')
+#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+')
+#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+')
+#define COUNT(a) (sizeof(a)/sizeof(*a))
+#define ZERO(a) memset(a,0,sizeof(a))
+#define COPY(a,b) memcpy(a,b,MIN(sizeof(a),sizeof(b)))
+
+
+// #define M_PI 3.14159265358979323846f
+#define RADIANS(d) ((d)*M_PI/180.0f)
+#define DEGREES(r) ((r)*180.0f/M_PI)
+#define CEILING(x,y) (((x) + (y) - 1) / (y))
+
+// Macros for initializing arrays
+#define ARRAY_6(v1, v2, v3, v4, v5, v6, ...) { v1, v2, v3, v4, v5, v6 }
+#define ARRAY_5(v1, v2, v3, v4, v5, ...) { v1, v2, v3, v4, v5 }
+#define ARRAY_4(v1, v2, v3, v4, ...) { v1, v2, v3, v4 }
+#define ARRAY_3(v1, v2, v3, ...) { v1, v2, v3 }
+#define ARRAY_2(v1, v2, ...) { v1, v2 }
+#define ARRAY_1(v1, ...) { v1 }
+
+#define _ARRAY_N(N, ...) ARRAY_ ##N(__VA_ARGS__)
+#define ARRAY_N(N, ...) _ARRAY_N(N, __VA_ARGS__)
+
+#define SPACE(A) " " << A << " "
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/ppmath.h b/resources/workshop/metal/saw/firmware/firmware/common/ppmath.h
new file mode 100644
index 000000000..93ac9d821
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/ppmath.h
@@ -0,0 +1,14 @@
+#ifndef PPMATH_H
+#define PPMATH_H
+
+template
+T clamp(const T &value, const T &low, const T &high)
+{
+ return value < low ? low : (value > high ? high : value);
+}
+
+#define RANGE(i, min, max) ((i > min) && (i < max)) ? true : false
+
+#define NCLAMP(x, min, max) (x - min) / (max - min)
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.cpp b/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.cpp
new file mode 100644
index 000000000..9b9eb8591
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.cpp
@@ -0,0 +1,17 @@
+#include "ppmath_motor.h"
+int vfd_calc_vsi(int rpm)
+{
+ return ((rpm * VFD_VSI_MAX_V_SPEED) / MOTOR_FREQ_CMAX);
+}
+int vfd_calc_vsi_grinder(int rpm){
+ return VFD_VSI_SCALE *
+ vfd_calc_vsi(
+ clamp(rpm * RPM_GRINDER_SHREDDER_SCALE, RPM_GRINDING_MIN, RPM_GRINDING_MAX)
+ );
+}
+int vfd_calc_vsi_shredder(int rpm){
+ return VFD_VSI_SCALE *
+ vfd_calc_vsi(
+ clamp(rpm, RPM_SHREDDERING_MIN, RPM_SHREDDERING_MAX)
+ );
+}
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.h b/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.h
new file mode 100644
index 000000000..95acaf6ca
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/ppmath_motor.h
@@ -0,0 +1,18 @@
+#ifndef PPMATH_MOTOR_H
+#define PPMATH_MOTOR_H
+
+#include "ppmath.h"
+#include "constants.h"
+
+// Base calculation for the corresponding V per RPM,
+// taking the VFD VSI Voltage level for the max. operating frequency
+// into account. The max. operating frequency is set in the VFD !
+int vfd_calc_vsi(int rpm);
+
+// safe VSI version for grinder
+int vfd_calc_vsi_grinder(int rpm);
+
+// safe VSI version for shredder
+int vfd_calc_vsi_shredder(int rpm);
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/common/timer.h b/resources/workshop/metal/saw/firmware/firmware/common/timer.h
new file mode 100644
index 000000000..603d7583f
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/common/timer.h
@@ -0,0 +1,136 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include
+#else
+#include
+#endif
+
+#include "macros.h"
+
+#ifndef TIMER_MAX_TASKS
+#define TIMER_MAX_TASKS 0x10
+#endif
+
+template <
+ size_t max_tasks = TIMER_MAX_TASKS, /* max allocated tasks */
+ unsigned long (*time_func)() = millis /* time function for timer */
+ >
+class Timer
+{
+public:
+ typedef bool (*handler_t)(void *opaque); /* task handler func signature */
+ /* Calls handler with opaque as argument in delay units of time */
+ bool
+ in(unsigned long delay, handler_t h, void *opaque = NULL)
+ {
+ return add_task(time_func(), delay, h, opaque);
+ }
+
+ /* Calls handler with opaque as argument at time */
+ bool
+ at(unsigned long time, handler_t h, void *opaque = NULL)
+ {
+ const unsigned long now = time_func();
+ return add_task(now, time - now, h, opaque);
+ }
+
+ /* Calls handler with opaque as argument every interval units of time */
+ bool
+ every(unsigned long interval, handler_t h, void *opaque = NULL)
+ {
+ return add_task(time_func(), interval, h, opaque, interval);
+ }
+
+
+ /* Ticks the timer forward - call this function in loop() */
+ void
+ tick()
+ {
+ tick(time_func());
+ }
+
+ /* Ticks the timer forward - call this function in loop() */
+ inline void
+ tick(unsigned long t)
+ {
+ for (size_t i = 0; i < max_tasks; ++i)
+ {
+ struct task *const task = &tasks[i];
+ const unsigned long duration = t - task->start;
+
+ if (task->handler && duration >= task->expires)
+ {
+ task->repeat = task->handler(task->opaque) && task->repeat;
+
+ if (task->repeat)
+ task->start = t;
+ else
+ remove(task);
+ }else{
+ }
+ }
+ }
+
+private:
+ struct task
+ {
+ handler_t handler; /* task handler callback func */
+ void *opaque; /* argument given to the callback handler */
+ unsigned long start,
+ expires, /* when the task expires */
+ repeat; /* repeat task */
+ } tasks[max_tasks];
+
+ inline void
+ remove(struct task *task)
+ {
+ task->handler = NULL;
+ task->opaque = NULL;
+ task->start = 0;
+ task->expires = 0;
+ task->repeat = 0;
+ }
+
+ inline struct task *
+ next_task_slot()
+ {
+ for (size_t i = 0; i < max_tasks; ++i)
+ {
+ struct task *const slot = &tasks[i];
+ if (slot->handler == NULL)
+ return slot;
+ }
+
+ return NULL;
+ }
+
+ inline struct task *
+ add_task(unsigned long start, unsigned long expires,
+ handler_t h, void *opaque, bool repeat = 0)
+ {
+ struct task *const slot = next_task_slot();
+
+ if (!slot){
+ return NULL;
+ }
+
+ slot->handler = h;
+ slot->opaque = opaque;
+ slot->start = start;
+ slot->expires = expires;
+ slot->repeat = repeat;
+
+ return slot;
+ }
+};
+
+/* create a timer with the default settings */
+inline Timer<>
+timer_create_default()
+{
+ return Timer<>();
+}
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/3PosAnalog.h b/resources/workshop/metal/saw/firmware/firmware/components/3PosAnalog.h
new file mode 100644
index 000000000..04abcc6b6
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/3PosAnalog.h
@@ -0,0 +1,80 @@
+#ifndef POS3_ANALOG_H
+#define POS3_ANALOG_H
+
+#include
+#include "../enums.h"
+#include "../common/ppmath.h"
+
+class Pos3Analog
+{
+public:
+ Pos3Analog(short _upPin, short _downPin) : upPin(_upPin), downPin(_downPin)
+ {
+ }
+
+ short setup()
+ {
+ pinMode(upPin, INPUT_PULLUP);
+ pinMode(downPin, INPUT_PULLUP);
+ last_switch = loop();
+ return 0;
+ }
+
+ short loop()
+ {
+ uchar newDirection = this->read();
+
+ if (newDirection != this->switch_pos)
+ {
+ this->last_switch = this->switch_pos;
+ }
+ this->switch_pos = newDirection;
+ return this->switch_pos;
+ }
+
+ short last_switch = -1; // Track last switch position
+ short switch_pos = -1; // Current switch position
+ short upPin;
+ short downPin;
+
+
+private:
+ uchar read()
+ {
+
+ bool up = RANGE(analogRead(upPin), 800, 900);
+ bool down = RANGE(analogRead(downPin), 800, 900);
+
+ uchar newDirection = 0;
+
+ if (up)
+ {
+ newDirection = POS3_DIRECTION::UP;
+ }
+ if (down)
+ {
+ newDirection = POS3_DIRECTION::DOWN;
+ }
+ if (!up && !down)
+ {
+ newDirection = POS3_DIRECTION::MIDDLE;
+ }
+ if (up && down)
+ {
+ newDirection = POS3_DIRECTION::INVALID;
+ }
+ return newDirection;
+ }
+
+ bool changed()
+ {
+ return last_switch != switch_pos;
+ }
+
+ bool clear()
+ {
+ return last_switch = switch_pos;
+ }
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/3pos.h b/resources/workshop/metal/saw/firmware/firmware/components/3pos.h
new file mode 100644
index 000000000..defa892df
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/3pos.h
@@ -0,0 +1,81 @@
+#ifndef POS3_H
+#define POS3_H
+
+#include
+#include "../enums.h"
+
+class Pos3
+{
+public:
+ Pos3(int _upPin, int _downPin) : upPin(_upPin), downPin(_downPin)
+ {
+ }
+
+ int setup()
+ {
+
+ this->debouncerUp = Bounce();
+ this->debouncerUp.attach(this->upPin, INPUT_PULLUP);
+ this->debouncerUp.interval(25);
+
+ this->debouncerDown = Bounce();
+ this->debouncerDown.attach(this->downPin, INPUT_PULLUP);
+ this->debouncerDown.interval(25);
+ return 0;
+ }
+ int loop()
+ {
+ int newDirection = this->read();
+
+ if (newDirection != this->switch_pos)
+ {
+ this->last_switch = this->switch_pos;
+ }
+ this->switch_pos = newDirection;
+
+ return this->switch_pos;
+ }
+
+ int last_switch = -1; // Track last switch position
+ int switch_pos = -1; // Current switch position
+
+protected:
+ int upPin;
+ int downPin;
+
+ Bounce debouncerUp;
+ Bounce debouncerDown;
+
+private:
+ int read()
+ {
+
+ this->debouncerUp.update();
+ this->debouncerDown.update();
+
+ bool up = this->debouncerUp.read() == 0 ? true : false;
+ bool down = this->debouncerDown.read() == 0 ? true : false;
+
+ int newDirection = 0;
+
+ if (up)
+ {
+ newDirection = POS3_DIRECTION::UP;
+ }
+ if (down)
+ {
+ newDirection = POS3_DIRECTION::DOWN;
+ }
+ if (!up && !down)
+ {
+ newDirection = POS3_DIRECTION::MIDDLE;
+ }
+ if (up && down)
+ {
+ newDirection = POS3_DIRECTION::INVALID;
+ }
+ return newDirection;
+ }
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/CurrentSensor.h b/resources/workshop/metal/saw/firmware/firmware/components/CurrentSensor.h
new file mode 100644
index 000000000..fd85f7ca6
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/CurrentSensor.h
@@ -0,0 +1,39 @@
+#ifndef CURRENT_SENSOR_H
+#define CURRENT_SENSOR_H
+
+#include "../config.h"
+#include "../common/macros.h"
+class CurrentSensor
+{
+
+public:
+ CurrentSensor(short _pin, short _interval) : pin(_pin),
+ interval(_interval),
+ ts(0) {}
+
+ bool ok()
+ {
+
+ }
+
+ bool setup()
+ {
+ }
+
+ void loop(millis_t now)
+ {
+ if (now - ts > interval)
+ {
+ value = analogRead(pin);
+ ts = now;
+ }
+ }
+ float value;
+private:
+ short interval;
+ short pin;
+ millis_t ts;
+
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/ExternalServo.h b/resources/workshop/metal/saw/firmware/firmware/components/ExternalServo.h
new file mode 100644
index 000000000..f89c0b5e9
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/ExternalServo.h
@@ -0,0 +1,95 @@
+#ifndef EXTERNAL_SERVO_H
+#define EXTERNAL_SERVO_H
+
+#include "../enums.h"
+#include "../common/macros.h"
+#include "../types.h"
+#include "../config.h"
+
+/***
+ * Managed component to control a server via external pulse generator
+ */
+class ExternalServo
+{
+public:
+ enum S_FLAGS
+ {
+ INITIATED = 1,
+ MOVING = 2,
+ RETRACTING = 3,
+ RETRACTED = 4,
+ FREEING = 5,
+ DONE = 6,
+ PAUSED = 7
+ };
+
+ class _LimitSwitch
+ {
+ public:
+ _LimitSwitch(short _pin) : pin(_pin),
+ ts(0){};
+ bool value;
+ byte pin;
+ millis_t ts;
+ void loop()
+ {
+ if (millis() - ts > LIMIT_SWITCH_INTERVAL)
+ {
+ value = digitalRead(pin);
+ ts = millis();
+ }
+ }
+ void setup()
+ {
+ pinMode(pin, INPUT);
+ }
+ };
+
+ ExternalServo(short _stepPin, short _dirPin) : stepPin(_stepPin),
+ dirPin(_dirPin),
+ pFlags(S_FLAGS::INITIATED)
+ {
+ }
+
+ short setup()
+ {
+ digitalWrite(stepPin, LOW);
+ digitalWrite(dirPin, LOW);
+ return E_OK;
+ }
+
+ short loop()
+ {
+ }
+
+ short stop()
+ {
+ digitalWrite(stepPin, LOW);
+ CBI(pFlags, S_FLAGS::MOVING);
+ CBI(pFlags, S_FLAGS::FREEING);
+ }
+
+ short move(short dir)
+ {
+ digitalWrite(stepPin, HIGH);
+ digitalWrite(dirPin, dir);
+ SBI(pFlags, S_FLAGS::MOVING);
+ }
+
+ int getFlags()
+ {
+ return pFlags;
+ }
+
+protected:
+ short stepPin;
+ short dirPin;
+ int pFlags;
+
+private:
+ int read()
+ {
+ }
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.cpp b/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.cpp
new file mode 100644
index 000000000..ab2b98a8c
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.cpp
@@ -0,0 +1,96 @@
+#include "IRSensor.h"
+#include "config.h"
+#include
+
+IRSensor::IRSensor()
+{
+ this->highTS = 0;
+ this->lowTS = 0;
+ this->dt = 0;
+ this->now = 0;
+ this->ir_moving = 0;
+}
+
+void IRSensor::debug(Stream &stream)
+{
+#ifdef IR_SPEED
+ stream
+ << "IR-MOVING : " << ir_moving << "IR-SPEED: " << (int)this->velocity;
+#else
+ stream << "IR-MOVING : " << (int)this->ir_moving;
+#endif
+}
+
+void IRSensor::count()
+{
+#ifdef IR_SPEED
+ if (digitalRead(IR_PIN) && (micros() - this->debounce > IR_INTERVAL) && digitalRead(IR_PIN))
+ {
+ // Check again that the encoder sends a good signal and then check that the time is greater than 1000 microseconds and check again that the signal is correct.
+ this->debounce = micros(); // Store the time to verify that we do not count the rebound in the signal.
+ pulses++;
+ }
+#endif
+}
+
+short IRSensor::setup()
+{
+#ifdef IR_SPEED
+ pinMode(IR_PIN, INPUT);
+ attachInterrupt(0, ir_count, RISING); // Configuration of interrupt 0, where it is connected.
+ this->pulses = 0;
+ this->rpm = 0;
+ this->timeold = 0;
+#endif
+}
+
+short IRSensor::loop()
+{
+#ifdef IR_SPEED
+ if (millis() - this->timeold >= IR_INTERVAL)
+ {
+ noInterrupts(); // Don't process interrupts during calculations // We disconnect the interrupt so it doesn't act in this part of the program.
+ this->rpm = (minute / this->pulsesperturn) / (millis() - timeold) * pulses; // Calculate the revolutions per minute
+ this->velocity = this->rpm * 3.1416 * this->wheel_diameter * 60 / 1000000; // Speed ​​calculation in [Km / h]
+ timeold = millis(); // We store the current time.
+ this->pulses = 0; // Initialize the pulses.
+ this->interrupts(); // Restart the interrupt processing // Reiniciamos la interrupción
+ }
+#endif
+
+ this->ir_value = digitalRead(IR_PIN);
+ this->now = millis();
+ if (this->ir_value == HIGH)
+ {
+ this->highTS = this->now;
+ }
+ else
+ {
+ this->lowTS = this->now;
+ }
+
+ if (this->highTS <= this->lowTS)
+ {
+ this->dt = this->lowTS - this->highTS;
+ }
+ else
+ {
+ this->dt = this->highTS - this->lowTS;
+ }
+
+ this->dt = abs(this->dt);
+
+ if (this->dt > IR_TIMEOUT)
+ {
+ this->ir_moving = 0;
+ }
+ else
+ {
+ this->ir_moving = 1;
+ }
+}
+
+short IRSensor::ok()
+{
+ return this->ir_moving == 1;
+}
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.h b/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.h
new file mode 100644
index 000000000..686219a1a
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/IRSensor.h
@@ -0,0 +1,42 @@
+#ifndef IRSENSOR_H
+#define IRSENSOR_H
+
+#include
+#include "types.h"
+
+/*/
+ @link : http://androminarobot-english.blogspot.com/2017/03/encoder-and-arduinotutorial-about-ir.html
+*/
+
+class IRSensor
+{
+
+public:
+
+ IRSensor();
+#ifdef IR_SPEED
+ unsigned int rpm; // RPM
+ volatile byte pulses; // Pulses per secs
+ millis_t timeold;
+ millis_t minute;
+ unsigned int pulsesperturn; // Number of notches the encoder disc has
+ const int wheel_diameter; // diameter [mm]
+ static volatile unsigned long debounce; // poor man's debouncer
+#endif
+
+ short ir_value;
+ bool ir_moving;
+ short ok();
+ void debug(Stream &stream);
+ void count();
+ short setup();
+ short loop();
+
+protected:
+ millis_t highTS; // Last HIGH TS
+ millis_t lowTS; // Last LOW TS
+ millis_t dt; // Last delta time between HIGH / LOW
+ millis_t now; // Temp. variable to store tick TS
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/PhotoElectricSensor.h b/resources/workshop/metal/saw/firmware/firmware/components/PhotoElectricSensor.h
new file mode 100644
index 000000000..ed4b35a1b
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/PhotoElectricSensor.h
@@ -0,0 +1,89 @@
+#ifndef PHOTO_ELECTRIC_SENSOR
+#define PHOTO_ELECTRIC_SENSOR
+
+// Typical photo electric sensor. This needs debouncing.
+// Currently used : OMRON - E3FB-DN22, see vendor files
+
+#include "../types.h"
+#include "../common/macros.h"
+#include "../common/ppmath.h"
+
+#define PES_TIMEOUT 1600
+class PhotoElectricSensor
+{
+public:
+ PhotoElectricSensor(short pin, short interval)
+ {
+ this->pin = pin;
+ this->interval = interval;
+ this->highTS = 0;
+ this->lowTS = 0;
+ this->dt = 0;
+ this->now = 0;
+ this->moving = 0;
+ this->setup();
+ }
+
+ short setup(){}
+ short loop()
+ {
+ now = millis();
+ if (now - dt > 500)
+ {
+ this->value = RANGE(analogRead(this->pin), 50 - 10, 50 + 10);
+ dt = now;
+ }
+ /*
+ this->debouncer.update();
+ this->value = !this->debouncer.read();
+
+ if (this->last != this->value)
+ {
+ this->last = this->value;
+ this->highTS = 0;
+ this->lowTS = 0;
+ }
+
+ this->now = millis();
+
+ if (this->value == HIGH)
+ {
+ this->highTS = this->now;
+ }
+ else
+ {
+ this->lowTS = this->now;
+ }
+
+ if (this->highTS <= this->lowTS)
+ {
+ this->dt = this->lowTS - this->highTS;
+ }
+ else
+ {
+ this->dt = this->highTS - this->lowTS;
+ }
+
+ this->dt = abs(this->dt);
+*/
+ return this->value;
+ }
+ short ok()
+ {
+ return this->value;
+ }
+ short value;
+ short moving;
+
+ millis_t highTS; // Last HIGH TS
+ millis_t lowTS; // Last LOW TS
+ millis_t dt; // Last delta time between HIGH / LOW
+ millis_t now; // Temp. variable to store tick TS
+ bool last;
+
+protected:
+ short pin;
+ short interval;
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/Proximity_Sensor.h b/resources/workshop/metal/saw/firmware/firmware/components/Proximity_Sensor.h
new file mode 100644
index 000000000..6decb92bd
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/Proximity_Sensor.h
@@ -0,0 +1,39 @@
+#ifndef PROXIMITY_SENSOR_H
+#define PROXIMITY_SENSOR_H
+
+// Typical proximity switch. This needs debouncing.
+// Wiring :
+// Blue -> GND
+// Brown -> 6 - 36 V
+// Black -> Digital In
+
+#include
+#include "../types.h"
+
+class ProximitySensor
+{
+public:
+ ProximitySensor(short _pin) : pin(_pin){}
+
+ short setup()
+ {
+ this->debouncer = Bounce();
+ this->debouncer.attach(this->pin, INPUT_PULLUP);
+ this->debouncer.interval(25);
+ this->loop();
+ return this->value;
+ }
+ short loop()
+ {
+ this->debouncer.update();
+ this->value = !this->debouncer.read();
+ return this->value;
+ }
+ bool value;
+
+protected:
+ uchar pin;
+ Bounce debouncer;
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/StatusLight.h b/resources/workshop/metal/saw/firmware/firmware/components/StatusLight.h
new file mode 100644
index 000000000..170d05fc5
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/StatusLight.h
@@ -0,0 +1,67 @@
+#ifndef STATUSLIGHT_H
+#define STATUSLIGHT_H
+
+class StatusLight
+{
+public:
+ StatusLight(short _pin) : pin(_pin)
+ {
+ doBlink = false;
+ status_blink_TS = 0;
+ last_blink = !digitalRead(pin);
+ }
+
+ short setup()
+ {
+ }
+
+ void setBlink(bool blink)
+ {
+ doBlink = blink;
+ }
+
+ void on()
+ {
+ digitalWrite(pin, HIGH);
+ }
+
+ void off()
+ {
+ digitalWrite(pin, LOW);
+ }
+
+ short loop()
+ {
+ if (doBlink)
+ {
+ if (millis() - status_blink_TS > 1000)
+ {
+ status_blink_TS = millis();
+ last_blink = !last_blink;
+ digitalWrite(pin, last_blink);
+ }
+ }
+ }
+
+ void status_loop()
+ {
+ }
+
+ void status_blink(bool blink)
+ {
+ if (!doBlink && blink)
+ {
+ blink_start_ts = millis();
+ }
+ doBlink = blink;
+ }
+
+ short pin;
+ millis_t status_blink_TS;
+ bool doBlink;
+ bool last_blink;
+ millis_t blink_start_ts;
+ millis_t max_blink_time; // stop blinking in an hour
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/TemperatureSensor.h b/resources/workshop/metal/saw/firmware/firmware/components/TemperatureSensor.h
new file mode 100644
index 000000000..e17f9953c
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/TemperatureSensor.h
@@ -0,0 +1,42 @@
+#ifndef TEMPERATURE_SENSOR_H
+#define TEMPERATURE_SENSOR_H
+
+#include
+#include "../config.h"
+#include "../macros.h"
+#include "../time.h"
+
+class TemperatureSensor
+{
+
+public:
+ TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)),
+ temperature(),
+ temperature_TS(millis()),
+ maxTemp(_max),
+ interval(_interval) {}
+
+ bool ok()
+ {
+ return temperature < maxTemp;
+ }
+
+ void loop()
+ {
+
+ if (millis() - temperature_TS > interval)
+ {
+ temperature_TS = millis();
+ temperature = ktc.readCelsius();
+ }
+ }
+
+private:
+ MAX6675 ktc;
+ short temperature;
+ short maxTemp;
+ short interval;
+ millis_t temperature_TS;
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/components/s151.h b/resources/workshop/metal/saw/firmware/firmware/components/s151.h
new file mode 100644
index 000000000..85e42f0a7
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/components/s151.h
@@ -0,0 +1,120 @@
+#ifndef S514_H
+#define S514_H
+
+#include
+#include "../enums.h"
+#include
+
+#define SI514 0x55
+
+// note that the s514 needs different settings for higher freqs, @see vendor/SiliconLabs
+#define FREQ 10000
+
+class S514
+{
+public:
+ Pos3()
+ {
+ }
+
+ short setup()
+ {
+ Wire.begin();
+ setFreq(FREQ);
+ }
+ int loop()
+ {
+ }
+
+protected:
+ void writeReg(unsigned char reg, unsigned char d)
+ {
+ Wire.beginTransmission(SI514);
+ Wire.write(reg);
+ Wire.write(d);
+ Wire.endTransmission();
+ }
+
+ void setFreq(unsigned char m_int,
+ unsigned long m_frac,
+ unsigned short hs_div,
+ unsigned char ls_div,
+ unsigned char lp1,
+ unsigned char lp2)
+ {
+ // 1: Clear OE (bit 2) in register 132 register
+ writeReg(0x84, 0x00);
+
+ // 2: Write LP1 and LP2, reg 0, [7:4],[3:0]
+ writeReg(0x00, uint8_t(((lp1 << 4) | (lp2))));
+
+ // 3: Write MFRAC[7:0], reg 5
+ writeReg(0x05, (m_frac & 0xFF));
+
+ // 4: Write MFRAC[15:8], reg 6
+ writeReg(0x06, (m_frac >> 8) & 0xFF);
+
+ // 5: Write MFRAC[23:16], reg 7
+ writeReg(0x07, (m_frac >> 16) & 0xFF);
+
+ // 6: Write (M_Int[2:0] M_Frac[28:24]) reg 8
+ writeReg(0x08, (m_int & 0x05) << 5 | (m_frac >> 24) & 0x1F);
+
+ // 7: Write (M_Int[8:3]) reg 9
+ writeReg(0x09, (m_int >> 3) & 0x1F);
+
+ // 8: Write HS_DIV[7:0] reg 10
+ writeReg(0x0A, hs_div & 0xFF);
+
+ // 9: Write LS_DIV[2:0] HS_DIV[9:8] reg 11
+ writeReg(0x0B, ((ls_div & 0x05) << 4) | ((hs_div >> 8) & 0x03));
+
+ // 10: start freq cal process, set reg 132 bit 0
+ writeReg(0x84, 0x01);
+
+ // 11: output enable
+ writeReg(0x84, 0x04);
+ }
+ setFreq(double freq)
+ {
+ unsigned char m_int = 5;
+ unsigned long m_frac;
+ unsigned short hs_div = 650;
+ unsigned char ls_div = 5;
+ unsigned char lp1 = 2;
+ unsigned char lp2 = 2;
+ double M = (freq * hs_div) / 31980000.0;
+ m_frac = (float)(M - m_int) * pow(2, 29);
+ Si514SetFreq(m_int, m_frac, hs_div, ls_div, lp1, lp2);
+ }
+#ifdef HAS_DEBUG
+ void readRegs(unsigned char reg, unsigned char numBytes)
+ {
+ int i = reg;
+ Wire.beginTransmission(SI514);
+ Wire.write(reg);
+ Wire.endTransmission();
+ Wire.requestFrom(SI514, numBytes);
+ while (Wire.available() && i - reg < numBytes)
+ {
+ byte b = Wire.read();
+ Serial.print("Reg ");
+ Serial.print(i);
+ Serial.print(":");
+ Serial.println(b, HEX);
+ i++;
+ }
+ }
+ void read()
+ {
+ readRegs(0x00, 1);
+ readRegs(0x05, 7);
+ readRegs(0x0B, 1);
+ readRegs(0x0E, 1);
+ readRegs(0x80, 1);
+ readRegs(0x84, 1);
+ }
+#endif
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/config.h b/resources/workshop/metal/saw/firmware/firmware/config.h
new file mode 100644
index 000000000..a1ab63683
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/config.h
@@ -0,0 +1,123 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include "enums.h"
+#include "common/macros.h"
+#include
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Core settings
+//
+
+#define LOOP_DELAY 10 // Our frame time, exluding delays in some places
+#define BOOT_DELAY 4000 // Wait at least this amount in ms after boot before doing anything
+
+// Please consider to set this to false for production - especially with the full feature set since this is requiring extra
+// time for the serial communication and will affect the overall framerate/performance
+// #define DEBUG true
+
+#define DEBUG_INTERVAL 1000
+#define DEBUG_BAUD_RATE 19200 // Serial port speed
+
+#define RELAY_ON 0 // The relay bank's on value (eg: normally closed)
+#define RELAY_OFF 255 // The relay bank's off value (eg: normally closed)
+
+#define HAS_DIRECTION_SWITCH
+#define DIR_SWITCH_UP_PIN CONTROLLINO_A0 // The 3 position's up output
+#define DIR_SWITCH_DOWN_PIN CONTROLLINO_A1 // The 3 position's down output
+
+// #define IGNORE_FIRST_DIRECTION // Uncomment to ignore the 3pos switch (forward/reverse) after booting. This prevents surprises but possibly also accidents.
+//#define DIR_SWITCH_DELAY 500 // If defined, add this as blocking delay between direction changes. Needed for some types of relays.
+
+// Interval to read analog inputs
+#define ANALOG_READ_INTERVAL 200
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Machine settings
+//
+
+// #define USE_MEGA // On Arduino Uno we have only limited ports which are not enough to enable all features.
+#define USE_CONTROLLINO
+
+// the relay type, please toggle if needed
+#define POWER_NC true
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Actuator
+//
+
+#define PRESS_LIMIT_UP_PIN CONTROLLINO_A4
+#define PRESS_LIMIT_DOWN_PIN CONTROLLINO_A5
+
+#define PRESS_SERVO_DIR_PIN CONTROLLINO_D3
+#define PRESS_SERVO_STEP_PIN CONTROLLINO_D2
+
+// Optional (non falsy): read servo's alarm signal
+#define PRESS_SERVO_ALARM_PIN CONTROLLINO_IN0
+
+// Optional (non falsy): turn on/off servo's power supply (to reset, after alarm)
+#define PRESS_SERVO_POWER_PIN CONTROLLINO_D1
+// Optional (non falsy): the max. time to move, if exceeded it's triggering an error in case the limit switch is broke
+#define PRESS_MAX_MOVE_TIME MIN_MS * 1.5
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Motor related
+//
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// General switches
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Feedback
+
+// Status LEDS (up, down, heat)
+#define STATUS_UP_PIN CONTROLLINO_D4
+#define STATUS_DOWN_PIN CONTROLLINO_D5
+#define STATUS_HEAT_PIN CONTROLLINO_A5
+
+#define FIRMWARE_VERSION 0.5
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Plastic Hub Studio - internals : used by external controller setups
+// Make sure it's matching
+#define FIRMATA_BAUD_RATE 19200
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Plastic Hub related sensors and addons
+
+////////////////////////////////////////////////////////////////
+//
+// HMI Bridge
+//
+
+////////////////////////////////////////////////////////////////
+//
+// Instrumentation
+//
+// #define MEARSURE_PERFORMANCE
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// externals
+//
+
+// pull in internal constants
+#include "constants.h"
+
+// pull in internal configs
+#include "config_adv.h"
+
+// The user_config.h is initially added to the github repository but changes will be ignored via .gitignore. Please keep this file safe and possibly
+// on a per tenant base stored. You can override parameters in this file by using #undef SOME_PARAMETER and then re-define again if needed, otherwise disable
+// default features by using #undef FEATURE_OR_PARAMETER.
+// This presents the possibilty to play with the code whilst staying in the loop with latest updates.
+#include "user_config.h"
+
+// At last we check all configs and spit compiler errors
+#include "config_validator.h"
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/config.txt b/resources/workshop/metal/saw/firmware/firmware/config.txt
new file mode 100644
index 000000000..67e4aa5f1
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/config.txt
@@ -0,0 +1,11 @@
+XLR - Drive :
+
+1 - GND -> GND
+2 - White -> Dir +
+3 - Red -> Pulse +
+
+XLR - Power :
+
+2 - White -> GND
+3 - RED -> VCC
+
diff --git a/resources/workshop/metal/saw/firmware/firmware/config/known_16bit_timers.h b/resources/workshop/metal/saw/firmware/firmware/config/known_16bit_timers.h
new file mode 100644
index 000000000..bdae33021
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/config/known_16bit_timers.h
@@ -0,0 +1,153 @@
+#ifndef known_16bit_timers_header_
+#define known_16bit_timers_header_
+
+// Wiring-S
+//
+#if defined(__AVR_ATmega644P__) && defined(WIRING)
+ #define TIMER1_A_PIN 5
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 6
+
+// Teensy 2.0
+//
+#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
+ #define TIMER1_A_PIN 14
+ #define TIMER1_B_PIN 15
+ #define TIMER1_C_PIN 4
+ #define TIMER1_ICP_PIN 22
+ #define TIMER1_CLK_PIN 11
+ #define TIMER3_A_PIN 9
+ #define TIMER3_ICP_PIN 10
+
+// Teensy++ 2.0
+#elif defined(__AVR_AT90USB1286__) && defined(CORE_TEENSY)
+ #define TIMER1_A_PIN 25
+ #define TIMER1_B_PIN 26
+ #define TIMER1_C_PIN 27
+ #define TIMER1_ICP_PIN 4
+ #define TIMER1_CLK_PIN 6
+ #define TIMER3_A_PIN 16
+ #define TIMER3_B_PIN 15
+ #define TIMER3_C_PIN 14
+ #define TIMER3_ICP_PIN 17
+ #define TIMER3_CLK_PIN 13
+
+// Teensy 3.0
+//
+#elif defined(__MK20DX128__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+
+// Teensy 3.1 / Teensy 3.2
+//
+#elif defined(__MK20DX256__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+ #define TIMER3_A_PIN 32
+ #define TIMER3_B_PIN 25
+ #define TIMER3_ICP_PIN 32
+
+// Teensy 3.5 / Teensy 3.6
+//
+#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+ #define TIMER3_A_PIN 29
+ #define TIMER3_B_PIN 30
+ #define TIMER3_ICP_PIN 29
+
+// Teensy-LC
+//
+#elif defined(__MKL26Z64__)
+ #define TIMER1_A_PIN 16
+ #define TIMER1_B_PIN 17
+ #define TIMER1_ICP_PIN 17
+ #define TIMER3_A_PIN 3
+ #define TIMER3_B_PIN 4
+ #define TIMER3_ICP_PIN 4
+
+// Arduino Mega
+//
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+ #define TIMER1_A_PIN 11
+ #define TIMER1_B_PIN 12
+ #define TIMER1_C_PIN 13
+ #define TIMER3_A_PIN 5
+ #define TIMER3_B_PIN 2
+ #define TIMER3_C_PIN 3
+ #define TIMER4_A_PIN 6
+ #define TIMER4_B_PIN 7
+ #define TIMER4_C_PIN 8
+ #define TIMER4_ICP_PIN 49
+ #define TIMER5_A_PIN 46
+ #define TIMER5_B_PIN 45
+ #define TIMER5_C_PIN 44
+ #define TIMER3_ICP_PIN 48
+ #define TIMER3_CLK_PIN 47
+
+// Arduino Leonardo, Yun, etc
+//
+#elif defined(__AVR_ATmega32U4__)
+ #define TIMER1_A_PIN 9
+ #define TIMER1_B_PIN 10
+ #define TIMER1_C_PIN 11
+ #define TIMER1_ICP_PIN 4
+ #define TIMER1_CLK_PIN 12
+ #define TIMER3_A_PIN 5
+ #define TIMER3_ICP_PIN 13
+
+// Uno, Duemilanove, LilyPad, etc
+//
+#elif defined (__AVR_ATmega168__) || defined (__AVR_ATmega328P__)
+ #define TIMER1_A_PIN 9
+ #define TIMER1_B_PIN 10
+ #define TIMER1_ICP_PIN 8
+ #define TIMER1_CLK_PIN 5
+
+// Sanguino
+//
+#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
+ #define TIMER1_A_PIN 13
+ #define TIMER1_B_PIN 12
+ #define TIMER1_ICP_PIN 14
+ #define TIMER1_CLK_PIN 1
+
+// Wildfire - Wicked Devices
+//
+#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION >= 3
+ #define TIMER1_A_PIN 5 // PD5
+ #define TIMER1_B_PIN 8 // PD4
+ #define TIMER1_ICP_PIN 6 // PD6
+ #define TIMER1_CLK_PIN 23 // PB1
+ #define TIMER3_A_PIN 12 // PB6
+ #define TIMER3_B_PIN 13 // PB7
+ #define TIMER3_ICP_PIN 9 // PB5
+ #define TIMER3_CLK_PIN 0 // PD0
+#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION < 3
+ #define TIMER1_A_PIN 5 // PD5
+ #define TIMER1_B_PIN 4 // PD4
+ #define TIMER1_ICP_PIN 6 // PD6
+ #define TIMER1_CLK_PIN 15 // PB1
+ #define TIMER3_A_PIN 12 // PB6
+ #define TIMER3_B_PIN 13 // PB7
+ #define TIMER3_ICP_PIN 11 // PB5
+ #define TIMER3_CLK_PIN 0 // PD0
+
+// Mighty-1284 - Maniacbug
+//
+#elif defined(__AVR_ATmega1284P__)
+ #define TIMER1_A_PIN 12 // PD5
+ #define TIMER1_B_PIN 13 // PD4
+ #define TIMER1_ICP_PIN 14 // PD6
+ #define TIMER1_CLK_PIN 1 // PB1
+ #define TIMER3_A_PIN 6 // PB6
+ #define TIMER3_B_PIN 7 // PB7
+ #define TIMER3_ICP_PIN 5 // PB5
+ #define TIMER3_CLK_PIN 8 // PD0
+
+#endif
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/config_adv.h b/resources/workshop/metal/saw/firmware/firmware/config_adv.h
new file mode 100644
index 000000000..455bfa659
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/config_adv.h
@@ -0,0 +1,383 @@
+#ifndef CONFIG_ADV_H
+#define CONFIG_ADV_H
+
+#ifdef HAS_DIP
+
+#ifdef USE_MEGA
+#define DIP_START 30
+#else
+#ifdef USE_UNO
+#error "No Dip support for now"
+#endif
+#endif // HAS_DIP
+
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+//
+// Power settings
+
+// optional current sensor to validate primary power is there
+// #define POWER_CSENSOR_PRIMARY CONTROLLINO_A15
+
+// optional current sensor to validate primary power is there
+#define POWER_CSENSOR_SECONDARY CONTROLLINO_A14
+
+////////////////////////////////////////////////////////////////////////////////
+//
+// LinearActuator settings and timings
+//
+// Times are base on observations rather than calculations. Calculating it
+// will affect plunger speed drasitcally even more lower spec boards.
+
+// interval before reading the limit switch
+// this setting will affect your plunging speed since analogRead will
+// consume some time and we do have only one thread.
+#define LIMIT_SWITCH_INTERVAL 100
+
+// #define BRIDGE_HAS_RESPONSE
+/////////////////////////////////////////////////////////////
+//
+// Error codes
+//
+#define E_MSG_OK "Ok"
+#define E_MSG_STUCK "Shredder is stuck"
+
+// common operating failures
+#define E_OK 0 //all good
+#define E_STUCK 100 //Shredder stuck
+
+// power failures
+
+#define E_POWER_PRIM_ON 145 // Power is on whilst it shouldn't be
+#define E_POWER_PRIM_OFF 146 // Power is off whilst it should be
+
+#define E_POWER_SEC_ON 147 // Power is on whilst it shouldn't be
+#define E_POWER_SEC_OFF 148 // Power is off whilst it should be
+#define E_POWER 150 // Nothing is online
+
+#define E_VFD_OFFLINE E_POWER_PRIM_OFF // VFD should be online
+#define E_PLUNGER_OFFLINE E_POWER_SEC_OFF // Plunger should be online
+
+// sensor failures
+#define E_VFD_CURRENT 200 // VFD current abnormal: below or above average
+#define E_PLUNGER_CURRENT 210 // Plunger current abnormal: below or above average
+#define E_OPERATING_SWITCH 220 // Operating switch invalid value
+
+#define E_PLUNGER_LIMIT 230 // Something is wrong with the limit switches, should
+#define E_PLUNGER_OVERLOAD 235 // Stepper above average
+
+#define E_CARTRIDGE_OPEN 240 // Cartridge open sensor doesn't work
+#define E_SERVICE_OPEN 241 // Sensor open sensor doesn't work
+
+////////////////////////////
+//
+// sub system failures
+//
+#define E_USER_START 1000 // base offset for sub system errors
+
+#define E_BRIDGE_LOSS 400 // bridge poll timeout
+
+// bridge
+#define E_BRIDGE_START 2000 // base offset for custom bridge errors
+#define E_BRIDGE_CUSTOM(A) E_USER_START + A // Custom bridge error
+#define E_BRIDGE_PARITY E_BRIDGE_CUSTOM(1) // @todo, parity check failure
+#define E_BRIDGE_CRC E_BRIDGE_CUSTOM(2) // @todo, crc failure
+#define E_BRIDGE_FLOOD E_BRIDGE_CUSTOM(3) // @todo, msg queue
+
+// extrusion
+#define E_EX_BASE 3000 // base offset extruder
+#define E_EX_CUSTOM(A) E_EX_BASE + A // Custom bridge error
+
+#ifdef CONTROLLINO_MEGA_H
+
+#define CONTROLLINO_ETHERNET_CHIP_SELECT 70
+#define CONTROLLINO_ETHERNET_INTERRUPT 71
+#define CONTROLLINO_RTC_CHIP_SELECT 72
+#define CONTROLLINO_RTC_INTERRUPT 73
+#define CONTROLLINO_OVERLOAD 74
+#define CONTROLLINO_RS485_DE 75
+#define CONTROLLINO_RS485_nRE 76
+
+#define CONTROLLINO_PIN_HEADER_PWM_00 2
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_00 2
+#define CONTROLLINO_SCREW_TERMINAL_PWM_00 2
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_00 2
+
+#define CONTROLLINO_PIN_HEADER_PWM_01 3
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_01 3
+#define CONTROLLINO_SCREW_TERMINAL_PWM_01 3
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_01 3
+
+#define CONTROLLINO_PIN_HEADER_PWM_02 4
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_02 4
+#define CONTROLLINO_SCREW_TERMINAL_PWM_02 4
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_02 4
+
+#define CONTROLLINO_PIN_HEADER_PWM_03 5
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_03 5
+#define CONTROLLINO_SCREW_TERMINAL_PWM_03 5
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_03 5
+
+#define CONTROLLINO_PIN_HEADER_PWM_04 6
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_04 6
+#define CONTROLLINO_SCREW_TERMINAL_PWM_04 6
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_04 6
+
+#define CONTROLLINO_PIN_HEADER_PWM_05 7
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_05 7
+#define CONTROLLINO_SCREW_TERMINAL_PWM_05 7
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_05 7
+
+#define CONTROLLINO_PIN_HEADER_PWM_06 8
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_06 8
+#define CONTROLLINO_SCREW_TERMINAL_PWM_06 8
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_06 8
+
+#define CONTROLLINO_PIN_HEADER_PWM_07 9
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_07 9
+#define CONTROLLINO_SCREW_TERMINAL_PWM_07 9
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_07 9
+
+#define CONTROLLINO_PIN_HEADER_PWM_08 10
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_08 10
+#define CONTROLLINO_SCREW_TERMINAL_PWM_08 10
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_08 10
+
+#define CONTROLLINO_PIN_HEADER_PWM_09 11
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_09 11
+#define CONTROLLINO_SCREW_TERMINAL_PWM_09 11
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_09 11
+
+#define CONTROLLINO_PIN_HEADER_PWM_10 12
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_10 12
+#define CONTROLLINO_SCREW_TERMINAL_PWM_10 12
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_10 12
+
+#define CONTROLLINO_PIN_HEADER_PWM_11 13
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_11 13
+#define CONTROLLINO_SCREW_TERMINAL_PWM_11 13
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_11 13
+
+#define CONTROLLINO_RS485_TX 14
+
+#define CONTROLLINO_RS485_RX 15
+
+#define CONTROLLINO_UART_TX 16
+
+#define CONTROLLINO_UART_RX 17
+
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_16 18
+#define CONTROLLINO_PIN_HEADER_INT_00 18
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_16 18
+#define CONTROLLINO_SCREW_TERMINAL_INT_00 18
+
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_17 19
+#define CONTROLLINO_PIN_HEADER_INT_01 19
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_17 19
+#define CONTROLLINO_SCREW_TERMINAL_INT_01 19
+
+#define CONTROLLINO_PIN_HEADER_SDA 20
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_25 20
+
+#define CONTROLLINO_PIN_HEADER_SCL 21
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_24 21
+
+#define CONTROLLINO_RELAY_00 22
+
+#define CONTROLLINO_RELAY_01 23
+
+#define CONTROLLINO_RELAY_02 24
+
+#define CONTROLLINO_RELAY_03 25
+
+#define CONTROLLINO_RELAY_04 26
+
+#define CONTROLLINO_RELAY_05 27
+
+#define CONTROLLINO_RELAY_06 28
+
+#define CONTROLLINO_RELAY_07 29
+
+#define CONTROLLINO_RELAY_08 30
+
+#define CONTROLLINO_RELAY_09 31
+
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_12 42
+
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_13 43
+
+#define CONTROLLINO_PIN_HEADER_PWM_12 44
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_14 44
+
+#define CONTROLLINO_PIN_HEADER_PWM_13 45
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_15 45
+
+#define CONTROLLINO_PIN_HEADER_MISO 50
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_29 50
+
+#define CONTROLLINO_PIN_HEADER_MOSI 51
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_28 51
+
+#define CONTROLLINO_PIN_HEADER_SCK 52
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_27 52
+
+#define CONTROLLINO_PIN_HEADER_SS 53
+#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_26 53
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_00 54
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_00 54
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_00 54
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_00 54
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_00 54
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_00 54
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_01 55
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_01 55
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_01 55
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_01 55
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_01 55
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_01 55
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_02 56
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_02 56
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_02 56
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_02 56
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_02 56
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_02 56
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_03 57
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_03 57
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_03 57
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_03 57
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_03 57
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_03 57
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_04 58
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_04 58
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_04 58
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_04 58
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_04 58
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_04 58
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_05 59
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_05 59
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_05 59
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_05 59
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_05 59
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_05 59
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_06 60
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_06 60
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_06 60
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_06 60
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_06 60
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_06 60
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_07 61
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_07 61
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_07 61
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_07 61
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_07 61
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_07 61
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_08 62
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_08 62
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_08 62
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_08 62
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_08 62
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_08 62
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_09 63
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_09 63
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_09 63
+#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_09 63
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_09 63
+#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_09 63
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_10 64
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_10 64
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_10 64
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_11 65
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_11 65
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_11 65
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_12 66
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_12 66
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_12 66
+
+#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_13 67
+#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_13 67
+#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_13 67
+
+#define CONTROLLINO_D0 2
+#define CONTROLLINO_D1 3
+#define CONTROLLINO_D2 4
+#define CONTROLLINO_D3 5
+#define CONTROLLINO_D4 6
+#define CONTROLLINO_D5 7
+#define CONTROLLINO_D6 8
+#define CONTROLLINO_D7 9
+#define CONTROLLINO_D8 10
+#define CONTROLLINO_D9 11
+#define CONTROLLINO_D10 12
+#define CONTROLLINO_D11 13
+#define CONTROLLINO_D12 42
+#define CONTROLLINO_D13 43
+#define CONTROLLINO_D14 44
+#define CONTROLLINO_D15 45
+#define CONTROLLINO_D16 46
+#define CONTROLLINO_D17 47
+#define CONTROLLINO_D18 48
+#define CONTROLLINO_D19 49
+#define CONTROLLINO_D20 77
+#define CONTROLLINO_D21 78
+#define CONTROLLINO_D22 79
+#define CONTROLLINO_D23 80
+
+#define CONTROLLINO_A0 54
+#define CONTROLLINO_A1 55
+#define CONTROLLINO_A2 56
+#define CONTROLLINO_A3 57
+#define CONTROLLINO_A4 58
+#define CONTROLLINO_A5 59
+#define CONTROLLINO_A6 60
+#define CONTROLLINO_A7 61
+#define CONTROLLINO_A8 62
+#define CONTROLLINO_A9 63
+#define CONTROLLINO_A10 64
+#define CONTROLLINO_A11 65
+#define CONTROLLINO_A12 66
+#define CONTROLLINO_A13 67
+#define CONTROLLINO_A14 68
+#define CONTROLLINO_A15 69
+#define CONTROLLINO_I16 38
+#define CONTROLLINO_I17 39
+#define CONTROLLINO_I18 40
+#define CONTROLLINO_IN0 18
+#define CONTROLLINO_IN1 19
+
+#define CONTROLLINO_MINUS 14
+#define CONTROLLINO_PLUS 15
+
+#define CONTROLLINO_R0 22
+#define CONTROLLINO_R1 23
+#define CONTROLLINO_R2 24
+#define CONTROLLINO_R3 25
+#define CONTROLLINO_R4 26
+#define CONTROLLINO_R5 27
+#define CONTROLLINO_R6 28
+#define CONTROLLINO_R7 29
+#define CONTROLLINO_R8 30
+#define CONTROLLINO_R9 31
+#define CONTROLLINO_R10 32
+#define CONTROLLINO_R11 33
+#define CONTROLLINO_R12 34
+#define CONTROLLINO_R13 35
+#define CONTROLLINO_R14 36
+#define CONTROLLINO_R15 37
+
+#endif
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/config_validator.h b/resources/workshop/metal/saw/firmware/firmware/config_validator.h
new file mode 100644
index 000000000..3382f9ebb
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/config_validator.h
@@ -0,0 +1,21 @@
+#ifndef CONFIG_VALIDATOR
+#define CONFIG_VALIDATOR
+
+#include "common/macros.h"
+
+#if defined(ENABLE_AUTO_REVERSE_PIN) && defined(HAS_AUTO_REVERSE_MODE)
+ #error "You can not have auto-revese toggle and a 3 pos mode switch"
+#endif
+
+#if DEBUG == true && USE_FIRMATA && DEBUG_BAUD_RATE !=FIRMATA_BAUD_RATE
+ #error "Debug baud rate must match firmata baud rate"
+#endif
+
+
+#if defined(USE_UNO) && defined(IR_SPEED)
+ #if IR_PIN !=2 && IR_PIN !=3
+ #error "For speed computation on the UNO, you need to use pins D2 or D3!"
+ #endif
+#endif
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/constants.h b/resources/workshop/metal/saw/firmware/firmware/constants.h
new file mode 100644
index 000000000..e27d766e0
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/constants.h
@@ -0,0 +1,127 @@
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+#include "enums.h"
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Primary - Motor related (shredder, extrusion, grinder)
+
+#define MOTOR_FREQ_NORMAL 50 // set this to 60 Hz if needed
+#define MOTOR_RPM 1480 // the actual motor speed
+#define MOTOR_REDUCTION 0.03 // ie: 0.03 means 1:30
+
+// Thresholds
+
+// the maximum override in %, eg: 0.5 = 50% and it's not recommeded to run
+// the motor below 50% of it's designed operating frequency - it's getting hot
+#define MOTOR_LOW_FREQ_LIMIT 0.50
+// the maximum override in %, eg: 0.5 = 50% and it's not recommeded to run
+// the motor above 50% of it's designed operating frequency
+#define MOTOR_HIGH_FREQ_LIMIT 0.50
+
+// - PRE-CALCS
+#define MOTOR_FREQ_CMIN MOTOR_FREQ_NORMAL - (MOTOR_FREQ_NORMAL * MOTOR_LOW_FREQ_LIMIT)
+#define MOTOR_FREQ_CMAX MOTOR_FREQ_NORMAL + (MOTOR_FREQ_NORMAL * MOTOR_HIGH_FREQ_LIMIT)
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Shredder related
+
+// default shredding speed, when chaning machine mode, it will snap to this
+// value - if quick speed dial is available or other reasons (eg: remote)
+// those values are currently based on v3 observations
+#define RPM_SHREDDERING_DEFAULT 60
+
+// min. shredding speed - when in shredder only mode, it won't go below
+#define RPM_SHREDDERING_MIN 30
+
+// max. shredding speed - when in shredder only mode, it won't go above
+#define RPM_SHREDDERING_MAX 130
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Grinder related - Standalone/Combo
+
+// default grinding speed, when chaning machine mode, it will snap to this
+// value - if quick speed dial is available or other reasons (eg: remote)
+// those values are currently for a 28 mm hexbar
+#define RPM_GRINDING_DEFAULT 440
+
+// min. grinding speed - when in grinder only mode, it won't go below
+#define RPM_GRINDING_MIN 400
+
+// max. grinding speed - when in grinder only mode, it won't go above
+#define RPM_GRINDING_MAX 500
+
+// user - land scaler (ie: radius)
+#define RPM_GRINDER_SCALE 1
+
+// transmission ratio from motor to grinder
+// ie: 0.03 means 1:30
+#define RPM_GRINDER_SHREDDER_SCALE 1
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Extrusion related - Standalone
+
+// default extrusion speed, when chaning machine mode, it will snap to this
+// value - if quick speed dial is available or other reasons (eg: remote)
+#define RPM_EXTRUSION_DEFAULT 50
+
+// min. extrusion speed - when in extrusion only mode, it won't go below
+#define RPM_EXTRUSION_MIN 25
+
+// max. extrusion speed - when in extrusion only mode, it won't go above
+#define RPM_EXTRUSION_MAX 150
+
+// user - land scaler
+#define RPM_EXTRUSION_SCALE 1
+
+/////////////////////////////////////////////////////////////////////////
+//
+// VFD - Standalone
+
+// Speed in (VSI)
+#define VFD_VSI_MIN_V_SPEED 0 //
+#define VFD_VSI_MAX_V_SPEED 5 // most VFDs take speed regulation from 0 - 10
+#define VFD_VSI_SCALE 1.0 // For noise, ie: voltage loss
+
+#define VFD_QSPEED_1 1 // VFD quick speed dial profile 1
+#define VFD_QSPEED_2 2 // VFD quick speed dial profile 2
+#define VFD_QSPEED_3 3 // VFD quick speed dial profile 3
+#define VFD_QSPEED_4 4 // VFD quick speed dial profile 4
+#define VFD_QSPEED_5 5 // VFD quick speed dial profile 5
+#define VFD_QSPEED_6 6 // VFD quick speed dial profile 5
+
+#define ADDON_MOTOR_IDLE "MotorIdle"
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Plastic type related scaling
+// @TODO : RPM scaling per plastic type
+
+#define RPM_GRINDING_PET 440
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Addons
+//
+
+#define HOPPER_LOADED_STR "HopperLoaded"
+#define MOTOR_IDLE_STR "MotorIdle"
+#define VFD_STR "VDF"
+#define DIRECTION_SWITCH_STR "DirectionSwitch"
+#define MOTOR_LOAD_STR "MotorLoad"
+#define ENCLOSURE_SENSOR_STR "EnclosureSensor"
+#define MOTOR_TEMPERATURE_STR "MotorTemperature"
+#define POWER_STR "Power"
+#define LINEAR_ACTUATOR_STR "LinearActuator"
+#define CARTRDIGE_FULL_STR "CartridgeFull"
+#define MOTOR_IR_SPEED_STR "MotorIRSpeed"
+#define AUTO_REVERSE_STR "AutoReverse"
+#define OPERATION_MODE_SWITCH_STR "OperationModeSwitch"
+#define APP_STR "App"
+#define RMOTOR_CONTROL_STR "RMotorControl"
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/enums.h b/resources/workshop/metal/saw/firmware/firmware/enums.h
new file mode 100644
index 000000000..37cf5a9d6
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/enums.h
@@ -0,0 +1,113 @@
+#ifndef ENUMS_H
+#define ENUMS_H
+
+enum PIN_TYPE
+{
+ ANALOG,
+ DIGITAL
+};
+
+enum BOARD
+{
+ UNO,
+ MEGA
+};
+
+enum POS3_DIRECTION
+{
+ UP = 1,
+ MIDDLE = 0,
+ DOWN = 2,
+ INVALID = -1
+};
+
+enum MODE
+{
+ /*
+ HALT = 0,
+ STARTING = 1,
+ SHREDDING = 2,
+ BREAKING = 3,
+ // REVERSING = 4,
+ // JAMMING = 5,
+ FATAL = 6,
+ RESET = 7,
+ SUSPENDING = 8,
+ SUSPEND = 9,
+ RESUMING = 10
+ */
+};
+
+enum AR_MODE
+{
+ NORMAL = 1, // Shredding
+ EXTRUSION = 2, // Extrusion (no reverse)
+ NONE = 3, // Disable any jamming detection
+ REMOTE = 4 // User land, ie: Firmata, I2C or PlasticHub-Studio
+};
+
+enum MACHINE_FEATURES
+{
+ SHREDDER = 1 << 1,
+ EXTRUDER = 1 << 2,
+ INJECTOR = 1 << 3,
+ GRINDER = 1 << 4,
+ PRINTER = 1 << 5
+};
+
+enum ADDON_FLAGS
+{
+ DEBUG = 1,
+ INFO = 2,
+ LOOP = 3,
+ DISABLED = 4,
+ SETUP = 5,
+ MAIN = 6,
+ STATE = 7
+};
+
+enum ADDONS
+{
+ MOTOR_IDLE = 1,
+ MOTOR_LOAD = 2,
+ MOTOR_TEMPERATURE = 3,
+ VFD_CONTROL = 4,
+ DIRECTION_SWITCH = 5,
+ ENCLOSURE_SENSOR = 6,
+ MOTOR_SPEED = 7,
+ AUTO_REVERSE = 8,
+ CARTRIDGE_FULL_SENSOR_1 = 9,
+ DIP_SWITCH = 10,
+ POWER = 11,
+ OPERATION_MODE_SWITCH = 20,
+ HOPPER_LOADED = 21,
+ SERIAL_BRIDGE = 23,
+ ACTUATOR = 24,
+ APP = 25,
+ MODBUS_BRIDGE = 26,
+ RMOTOR_CONTROL = 30,
+ LAST = 64
+};
+
+enum POWER_CIRCUIT
+{
+ POWER_PRIMARY = 0,
+ POWER_SECONDARY = 1
+};
+
+enum OPERATION_MODE
+{
+ OP_NONE = 0,
+ OP_NORMAL = 1,
+ OP_DEBUG = 2,
+ OP_SERVICE = 3,
+ OP_TEST
+};
+enum ERROR
+{
+ ERROR_OK = 0,
+ ERROR_WARNING = 1,
+ ERROR_FATAL = 2
+};
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/features.h b/resources/workshop/metal/saw/firmware/firmware/features.h
new file mode 100644
index 000000000..5aef03e17
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/features.h
@@ -0,0 +1,74 @@
+#ifndef FEATURES_H
+#define FEATURES_H
+
+#ifdef HAS_BRIDGE
+ #include "bridge.h"
+#endif
+
+#ifdef HAS_SERIAL
+ #include "serial.h"
+#endif
+
+
+#ifdef HAS_DIP
+#include "_DipSwitch.h"
+#endif
+
+#ifdef HAS_TEMPERTURE
+#include "temperature.h"
+#endif
+
+#ifdef HAS_SOUND
+#include "alarm.h"
+#endif
+
+
+#ifdef HAS_STATUS
+ #include "addons/Status.h"
+#endif
+
+#ifdef HAS_RESET
+#include "reset.h"
+#endif
+
+#if defined(POWER_0) || defined(POWER_1)
+ #include "addons/Power.h"
+ #define HAS_POWER
+#endif
+
+
+#ifdef HAS_DIP
+ #include "addons/_DipSwitch.h"
+#endif
+
+
+
+#if defined(OP_MODE_1_PIN)
+ #include "addons/OperationModeSwitch.h"
+ #define HAS_OP_MODE_SWITCH
+#endif
+
+#if defined(PRESS_SERVO_STEP_PIN) && defined(PRESS_SERVO_DIR_PIN)
+ #include "components/ExternalServo.h"
+#endif
+
+#if defined(FWD_PIN) && defined(REV_PIN)
+ #include "addons/DirectionSwitch.h"
+ #define HAS_DIRECTION_SWITCH
+#endif
+
+#include "addons/DirectionSwitch.h"
+#include "LinearActuator.h"
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Plastic Hub - Addons
+//
+
+// Plastic Hub Studio - remote control
+#ifdef USE_FIRMATA
+#include "firmata_link.h"
+#endif
+
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/firmware.ino b/resources/workshop/metal/saw/firmware/firmware/firmware.ino
new file mode 100644
index 000000000..d0dd16cd0
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/firmware.ino
@@ -0,0 +1,11 @@
+#include "app.h"
+
+App app = App();
+
+void setup(){
+ app.setup();
+ app.info();
+}
+void loop(){
+ app.loop();
+}
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/package.json b/resources/workshop/metal/saw/firmware/firmware/package.json
new file mode 100644
index 000000000..2ae349d66
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/package.json
@@ -0,0 +1,32 @@
+{
+ "name": "@plastichub/osr-firmware-saw",
+ "version": "0.0.0",
+ "main": "index.js",
+ "family": "OSR",
+ "vendor" : "PlasticHub",
+ "support" : "support@plastic-hub.com | www.plastic-hub.com",
+ "build" : "SAW-SAC-RevA",
+ "src" : "https://gitlab.com/plastichub/osr/osr-workshop/tree/master/metal/saw/firmware/firmware",
+ "cid": -1,
+ "scripts": {
+ "test": "echo \"Error: no test specified\" && exit 1"
+ },
+ "repository": {
+ "type": "git",
+ "url": "git+https://gitlab.com/plastichub/osr/osr-workshop/firmware.git"
+ },
+ "keywords": [
+ "precious",
+ "plastic"
+ ],
+ "author": "PlasticHUB",
+ "license": "GPL-3.0-or-later",
+ "bugs": {
+ "url": "https://gitlab.com/plastichub/osr/firmware/issues"
+ },
+ "homepage": "https://gitlab.com/plastichub/osr/firmware#readme",
+ "dependencies": {
+ "@xblox/fs": "^0.13.19",
+ "simple-git": "^1.131.0"
+ }
+}
diff --git a/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.cpp b/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.cpp
new file mode 100644
index 000000000..6ba5f40c4
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.cpp
@@ -0,0 +1,93 @@
+#include "ppmath_statistics.h"
+
+Statistic::Statistic()
+{
+ clear();
+}
+
+// resets all counters
+void Statistic::clear()
+{
+ _cnt = 0;
+ _sum = 0;
+ _min = 0;
+ _max = 0;
+#ifdef STAT_USE_STDEV
+ _ssqdif = 0.0; // not _ssq but sum of square differences
+ // which is SUM(from i = 1 to N) of
+ // (f(i)-_ave_N)**2
+#endif
+}
+
+// adds a new value to the data-set
+void Statistic::add(const float value)
+{
+ if (_cnt == 0)
+ {
+ _min = value;
+ _max = value;
+ }
+ else
+ {
+ if (value < _min)
+ _min = value;
+ else if (value > _max)
+ _max = value;
+ }
+ _sum += value;
+ _cnt++;
+
+#ifdef STAT_USE_STDEV
+ if (_cnt > 1)
+ {
+ float _store = (_sum / _cnt - value);
+ _ssqdif = _ssqdif + _cnt * _store * _store / (_cnt - 1);
+ // ~10% faster but limits the amount of samples to 65K as _cnt*_cnt overflows
+ // float _store = _sum - _cnt * value;
+ // _ssqdif = _ssqdif + _store * _store / (_cnt*_cnt - _cnt);
+ }
+#endif
+}
+
+// returns the average of the data-set added sofar
+float Statistic::average() const
+{
+ if (_cnt == 0)
+ return NAN; // original code returned 0
+ return _sum / _cnt;
+}
+
+// Population standard deviation = s = sqrt [ S ( Xi - � )2 / N ]
+// http://www.suite101.com/content/how-is-standard-deviation-used-a99084
+#ifdef STAT_USE_STDEV
+
+float Statistic::variance() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return _ssqdif / _cnt;
+}
+
+float Statistic::mean() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return this->sum() / _cnt;
+}
+
+float Statistic::pop_stdev() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return sqrt(_ssqdif / _cnt);
+}
+
+float Statistic::unbiased_stdev() const
+{
+ if (_cnt < 2)
+ return NAN; // otherwise DIV0 error
+ return sqrt(_ssqdif / (_cnt - 1));
+}
+
+#endif
+// END OF FILE
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.h b/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.h
new file mode 100644
index 000000000..01d8887b9
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/ppmath_statistics.h
@@ -0,0 +1,116 @@
+#ifndef PPMATH_STATISTICS_H
+#define PPMATH_STATISTICS_H
+
+#include
+#include
+
+#define STAT_USE_STDEV
+
+#ifdef __cplusplus
+
+// C++11 solution that is standards compliant. Return type is deduced automatically
+template
+static inline constexpr auto MIN(const L lhs, const R rhs) -> decltype(lhs + rhs)
+{
+ return lhs < rhs ? lhs : rhs;
+}
+template
+static inline constexpr auto MAX(const L lhs, const R rhs) -> decltype(lhs + rhs)
+{
+ return lhs > rhs ? lhs : rhs;
+}
+template
+static inline constexpr const T ABS(const T v)
+{
+ return v >= 0 ? v : -v;
+}
+#else
+// Using GCC extensions, but Travis GCC version does not like it and gives
+// "error: statement-expressions are not allowed outside functions nor in template-argument lists"
+#define MIN(a, b) \
+ ({__typeof__(a) _a = (a); \
+ __typeof__(b) _b = (b); \
+ _a < _b ? _a : _b; })
+
+#define MAX(a, b) \
+ ({__typeof__(a) _a = (a); \
+ __typeof__(b) _b = (b); \
+ _a > _b ? _a : _b; })
+
+#define ABS(a) \
+ ({__typeof__(a) _a = (a); \
+ _a >= 0 ? _a : -_a; })
+
+#endif
+
+class Statistic
+{
+public:
+ Statistic(); // "switches on/off" stdev run time
+ void clear(); // "switches on/off" stdev run time
+ void add(const float);
+
+ // returns the number of values added
+ uint32_t count() const { return _cnt; }; // zero if empty
+ float sum() const { return _sum; }; // zero if empty
+ float minimum() const { return _min; }; // zero if empty
+ float maximum() const { return _max; }; // zero if empty
+ float average() const; // NAN if empty
+ float mean() const; // zero if empty
+
+#ifdef STAT_USE_STDEV
+ float variance() const; // NAN if empty
+ float pop_stdev() const; // population stdev // NAN if empty
+ float unbiased_stdev() const; // NAN if empty
+#endif
+
+protected:
+ uint32_t _cnt;
+ float _sum;
+ float _min;
+ float _max;
+#ifdef STAT_USE_STDEV
+ float _ssqdif; // sum of squares difference
+#endif
+};
+
+/**
+ * Returns the kth q-quantile.
+ * @link http://en.wikipedia.org/wiki/Quantile#Quantiles_of_a_population
+ * ie: median is 1st 2-quantile
+ * ie: upper quartile is 3rd 4-quantile
+ * @return {Number} q-quantile of values.
+ */
+/*
+const quantile = (arr: number[], i: number, n: number) => {
+ if (i === 0) return Math.min.apply(null, arr);
+ if (i === n) return Math.max.apply(null, arr);
+
+ let sorted = arr.slice(0);
+ sorted.sort((a, b) => a - b);
+ let index = sorted.length * i / n;
+
+ if (index % 1 === 0) {
+ return 0.5 * sorted[index - 1] + 0.5 * sorted[index];
+ }
+
+ return sorted[~~index];
+};
+
+export const median = (arr: number[]) => quantile(arr, 1, 2);
+
+export const sum = (arr: number[]) => arr.reduce((a, b) => a + b, 0);
+
+export const mean = (arr: number[]) => sum(arr) / arr.length;
+
+
+// sqare errors along mean
+const sdiff = (arr: number[], mean: number) => arr.map((v) =>
+ Math.pow(v - mean, 2)
+);
+
+export const standardDeviation = (arr: number[]) =>
+ Math.sqrt(mean(sdiff(arr, mean(arr))));
+*/
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/types.h b/resources/workshop/metal/saw/firmware/firmware/types.h
new file mode 100644
index 000000000..c33a7a3a5
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/types.h
@@ -0,0 +1,11 @@
+#ifndef TYPES_H
+#define TYPES_H
+
+#include
+
+typedef unsigned long millis_t;
+typedef unsigned short ushort;
+typedef unsigned char uchar;
+
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/metal/saw/firmware/firmware/user_config.h b/resources/workshop/metal/saw/firmware/firmware/user_config.h
new file mode 100644
index 000000000..a0c1ec4c8
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/user_config.h
@@ -0,0 +1,4 @@
+#ifndef USER_CONFIG_H
+#define USER_CONFIG_H
+
+#endif
diff --git a/resources/workshop/metal/saw/firmware/firmware/util/crc16.h b/resources/workshop/metal/saw/firmware/firmware/util/crc16.h
new file mode 100644
index 000000000..3ed528e99
--- /dev/null
+++ b/resources/workshop/metal/saw/firmware/firmware/util/crc16.h
@@ -0,0 +1,88 @@
+/**
+@file
+CRC Computations
+
+@defgroup util_crc16 "util/crc16.h": CRC Computations
+@code#include "util/crc16.h"@endcode
+
+This header file provides functions for calculating
+cyclic redundancy checks (CRC) using common polynomials.
+Modified by Doc Walker to be processor-independent (removed inline
+assembler to allow it to compile on SAM3X8E processors).
+
+@par References:
+Jack Crenshaw's "Implementing CRCs" article in the January 1992 issue of @e
+Embedded @e Systems @e Programming. This may be difficult to find, but it
+explains CRC's in very clear and concise terms. Well worth the effort to
+obtain a copy.
+
+*/
+/* Copyright (c) 2002, 2003, 2004 Marek Michalkiewicz
+ Copyright (c) 2005, 2007 Joerg Wunsch
+ Copyright (c) 2013 Dave Hylands
+ Copyright (c) 2013 Frederic Nadeau
+ Copyright (c) 2015 Doc Walker
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in
+ the documentation and/or other materials provided with the
+ distribution.
+
+ * Neither the name of the copyright holders nor the names of
+ contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE. */
+
+
+#ifndef _UTIL_CRC16_H_
+#define _UTIL_CRC16_H_
+
+
+/** @ingroup util_crc16
+ Processor-independent CRC-16 calculation.
+
+ Polynomial: x^16 + x^15 + x^2 + 1 (0xA001)
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
diff --git a/resources/workshop/projects/pid-controller/README.md b/resources/workshop/projects/pid-controller/README.md
new file mode 100644
index 000000000..b914ebd55
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/README.md
@@ -0,0 +1,84 @@
+# Multichannel PID controller
+
+Purpose of this PID controller is to lower overall amperage by cycling periodically through SSRs.
+
+This is based on [osPID](http://ospid.com/blog/download/)
+
+### Hardware
+
+- [Controllino - Mega (Arduino compatible)](https://www.controllino.biz/product/controllino-mega/). [See PIN layout](./vendor/controllino/CONTROLLINO-MEGA-Pinout-1.jpg)
+
+
+
+- Optional: OLED & keypad control
+- 8 channels
+- Optional: Modbus
+- TC sensor module, MAX6675 | MAX31855
+
+## Features
+
+### PID
+
+- Autotune per PID
+- Support for multiple TCs (see Marlin firmware)
+
+### Configuration
+
+- Set max Amp
+- Set max/min heat time per cell/partition
+
+## Milestones / Todos
+
+- [x] Check/Simulate performance bottle necks for Mega
+- [x] Temperature logger, serial & MaxC based
+- [ ] Integrate PID/Auto-tune
+ - [ ] EEprom storage ?
+- [x] Debug interface via RS485
+- [x] Data - reader via RS232 (Matlab)
+- [ ] Configuration (remote / local) -> Control-Freak - HMI
+- [-] Model testing/verification
+
+## Edge cases / Errors
+
+- [ ] PID-Partition Timeout : PID didn't reach target with limits
+- [ ] PID/Partition Overshooting : PID or operator malfunction
+- [ ] PID Auto-tuning timeout : autotuning too long
+- [ ] PID/Partition interference : partition overlap noise ?
+
+## Modes
+
+- [ ] Groups (partition groups)
+- [ ] Serial (single linked partition group)
+- [ ] Remote (HMI & control)
+- [x] Master controller, only. Eg: control other PIDs via Modbus
+
+## PP/PH
+
+### New parameters
+
+- [ ] Ramp-time
+- [ ] Amp Budget
+- [ ] Sub SP hold time
+
+### New behaviours
+
+- [ ] Currently there are multiple issues surfacing regarding the sheetpress. A profile should allow to have multiple target temperature points (eg: 1 hour to hold softening point, 30 mins for holding melting point rage, 10 mins for slightly over melting point : pressing phase) with a holding & ramp time each.
+- [ ] The user should be able to adjust these profiles per flake size. For that we should also study the effects of various flake sizes regarding stresses created in the sheets.
+
+### Modbus Implementation
+
+- [-] Should implement broadcast queries : Status (Run/Alarm,...) , SP(s) & PV
+
+### References
+
+- [PID research](https://gitlab.com/plastichub/osr/research#pid-control)
+
+### Hydra tests/experiments
+
+- [x] calc. heat transfer, x & square (with screw | without screw | loaded)
+- [x] Inkbird vs Rex
+- [x] PID param transfer from E5 to Inkbird, Rexc : NO
+- [x] test TC mount variants
+- [x] different man. PID params (soak, hysteresis, ..)
+
+
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/Arduino-PID-Library-1.2.0.zip b/resources/workshop/projects/pid-controller/arduino-libraries/Arduino-PID-Library-1.2.0.zip
new file mode 100644
index 000000000..e19d6db8c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/Arduino-PID-Library-1.2.0.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dcbf835b493efaf173590cf06ee1100d7416372b967a520541434fb5d39ae6b
+size 10372
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/Bounce2-master.zip b/resources/workshop/projects/pid-controller/arduino-libraries/Bounce2-master.zip
new file mode 100644
index 000000000..7132fd558
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/Bounce2-master.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a18dd6a25045eb75d5d4122a55704861b0219b0ef286ffb089b9488c493036
+size 253603
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/DHT-sensor-library-1.3.8.zip b/resources/workshop/projects/pid-controller/arduino-libraries/DHT-sensor-library-1.3.8.zip
new file mode 100644
index 000000000..853c6e122
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/DHT-sensor-library-1.3.8.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d919d9430f4610a310e6f0f380056569672969bb70d51374287e9f7ca25a7146
+size 19010
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/DIO2.zip b/resources/workshop/projects/pid-controller/arduino-libraries/DIO2.zip
new file mode 100644
index 000000000..90d1834b5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/DIO2.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7680764349e4f0e79331e4bb42328e0e066d99291b0855d022fcaba18c95768f
+size 25304
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.ino b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.ino
new file mode 100644
index 000000000..aec4aae7f
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.ino
@@ -0,0 +1,53 @@
+/*******************************************************************************
+* Thermocouple to serial for MAX31855 example
+* Version: 1.00
+* Date: 26-12-2011
+* Company: Rocket Scream Electronics
+* Website: www.rocketscream.com
+*
+* This is an example of using the MAX31855 library for Arduino to read
+* temperature from a thermocouple and send the reading to serial interfacec.
+* Please check our wiki (www.rocketscream.com/wiki) for more information on
+* using this piece of library.
+*
+* This example code is licensed under Creative Commons Attribution-ShareAlike
+* 3.0 Unported License.
+*
+* Revision Description
+* ======== ===========
+* 1.00 Initial public release.
+*
+*******************************************************************************/
+// ***** INCLUDES *****
+#include
+
+// ***** PIN DEFINITIONS *****
+const unsigned char thermocoupleSO = 12;
+const unsigned char thermocoupleCS = 10;
+const unsigned char thermocoupleCLK = 13;
+
+MAX31855 MAX31855(thermocoupleSO, thermocoupleCS, thermocoupleCLK);
+
+void setup()
+{
+ Serial.begin(57600);
+}
+
+void loop()
+{
+ double temperature;
+
+ // Retrieve thermocouple temperature in Degree Celsius
+ temperature = MAX31855.readThermocouple(CELSIUS);
+ Serial.print("Thermocouple temperature: ");
+ Serial.print(temperature);
+ Serial.println(" Degree Celsius");
+
+ // Retrieve cold junction temperature in Degree Celsius
+ temperature = MAX31855.readJunction(CELSIUS);
+ Serial.print("Junction temperature: ");
+ Serial.print(temperature);
+ Serial.println(" Degree Celsius");
+
+ delay(1000);
+}
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.pde b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.pde
new file mode 100644
index 000000000..aec4aae7f
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/Examples/ThermocoupleToSerial/ThermocoupleToSerial.pde
@@ -0,0 +1,53 @@
+/*******************************************************************************
+* Thermocouple to serial for MAX31855 example
+* Version: 1.00
+* Date: 26-12-2011
+* Company: Rocket Scream Electronics
+* Website: www.rocketscream.com
+*
+* This is an example of using the MAX31855 library for Arduino to read
+* temperature from a thermocouple and send the reading to serial interfacec.
+* Please check our wiki (www.rocketscream.com/wiki) for more information on
+* using this piece of library.
+*
+* This example code is licensed under Creative Commons Attribution-ShareAlike
+* 3.0 Unported License.
+*
+* Revision Description
+* ======== ===========
+* 1.00 Initial public release.
+*
+*******************************************************************************/
+// ***** INCLUDES *****
+#include
+
+// ***** PIN DEFINITIONS *****
+const unsigned char thermocoupleSO = 12;
+const unsigned char thermocoupleCS = 10;
+const unsigned char thermocoupleCLK = 13;
+
+MAX31855 MAX31855(thermocoupleSO, thermocoupleCS, thermocoupleCLK);
+
+void setup()
+{
+ Serial.begin(57600);
+}
+
+void loop()
+{
+ double temperature;
+
+ // Retrieve thermocouple temperature in Degree Celsius
+ temperature = MAX31855.readThermocouple(CELSIUS);
+ Serial.print("Thermocouple temperature: ");
+ Serial.print(temperature);
+ Serial.println(" Degree Celsius");
+
+ // Retrieve cold junction temperature in Degree Celsius
+ temperature = MAX31855.readJunction(CELSIUS);
+ Serial.print("Junction temperature: ");
+ Serial.print(temperature);
+ Serial.println(" Degree Celsius");
+
+ delay(1000);
+}
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.cpp b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.cpp
new file mode 100644
index 000000000..e86f5602b
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.cpp
@@ -0,0 +1,230 @@
+/*******************************************************************************
+* MAX31855 Library
+* Version: 1.10
+* Date: 24-07-2012
+* Company: Rocket Scream Electronics
+* Website: www.rocketscream.com
+*
+* This is a MAX31855 library for Arduino. Please check our wiki
+* (www.rocketscream.com/wiki) for more information on using this piece of
+* library.
+*
+* This library is licensed under Creative Commons Attribution-ShareAlike 3.0
+* Unported License.
+*
+* Revision Description
+* ======== ===========
+* 1.10 Added negative temperature support for both junction & thermocouple.
+* 1.00 Initial public release.
+*
+*******************************************************************************/
+#include "MAX31855.h"
+
+MAX31855::MAX31855(unsigned char SO, unsigned char CS, unsigned char SCK)
+{
+ so = SO;
+ cs = CS;
+ sck = SCK;
+
+ // MAX31855 data output pin
+ pinMode(so, INPUT);
+ // MAX31855 chip select input pin
+ pinMode(cs, OUTPUT);
+ // MAX31855 clock input pin
+ pinMode(sck, OUTPUT);
+
+ // Default output pins state
+ digitalWrite(cs, HIGH);
+ digitalWrite(sck, LOW);
+}
+
+/*******************************************************************************
+* Name: readThermocouple
+* Description: Read the thermocouple temperature either in Degree Celsius or
+* Fahrenheit. Internally, the conversion takes place in the
+* background within 100 ms. Values are updated only when the CS
+* line is high.
+*
+* Argument Description
+* ========= ===========
+* 1. unit Unit of temperature required: CELSIUS or FAHRENHEIT
+*
+* Return Description
+* ========= ===========
+* temperature Temperature of the thermocouple either in Degree Celsius or
+* Fahrenheit. If fault is detected, FAULT_OPEN, FAULT_SHORT_GND or
+* FAULT_SHORT_VCC will be returned. These fault values are outside
+* of the temperature range the MAX31855 is capable of.
+*******************************************************************************/
+double MAX31855::readThermocouple(unit_t unit)
+{
+ unsigned long data;
+ double temperature;
+
+ // Initialize temperature
+ temperature = 0;
+
+ // Shift in 32-bit of data from MAX31855
+ data = readData();
+
+ // If fault is detected
+ if (data & 0x00010000)
+ {
+ // Check for fault type (3 LSB)
+ switch (data & 0x00000007)
+ {
+ // Open circuit
+ case 0x01:
+ temperature = FAULT_OPEN;
+ break;
+
+ // Thermocouple short to GND
+ case 0x02:
+ temperature = FAULT_SHORT_GND;
+ break;
+
+ // Thermocouple short to VCC
+ case 0x04:
+ temperature = FAULT_SHORT_VCC;
+ break;
+ }
+ }
+ // No fault detected
+ else
+ {
+ // Retrieve thermocouple temperature data and strip redundant data
+ data = data >> 18;
+ // Bit-14 is the sign
+ temperature = (data & 0x00001FFF);
+
+ // Check for negative temperature
+ if (data & 0x00002000)
+ {
+ // 2's complement operation
+ // Invert
+ data = ~data;
+ // Ensure operation involves lower 13-bit only
+ temperature = data & 0x00001FFF;
+ // Add 1 to obtain the positive number
+ temperature += 1;
+ // Make temperature negative
+ temperature *= -1;
+ }
+
+ // Convert to Degree Celsius
+ temperature *= 0.25;
+
+ // If temperature unit in Fahrenheit is desired
+ if (unit == FAHRENHEIT)
+ {
+ // Convert Degree Celsius to Fahrenheit
+ temperature = (temperature * 9.0/5.0)+ 32;
+ }
+ }
+ return (temperature);
+}
+
+/*******************************************************************************
+* Name: readJunction
+* Description: Read the thermocouple temperature either in Degree Celsius or
+* Fahrenheit. Internally, the conversion takes place in the
+* background within 100 ms. Values are updated only when the CS
+* line is high.
+*
+* Argument Description
+* ========= ===========
+* 1. unit Unit of temperature required: CELSIUS or FAHRENHEIT
+*
+* Return Description
+* ========= ===========
+* temperature Temperature of the cold junction either in Degree Celsius or
+* Fahrenheit.
+*
+*******************************************************************************/
+double MAX31855::readJunction(unit_t unit)
+{
+ double temperature;
+ unsigned long data;
+
+ // Shift in 32-bit of data from MAX31855
+ data = readData();
+
+ // Strip fault data bits & reserved bit
+ data = data >> 4;
+ // Bit-12 is the sign
+ temperature = (data & 0x000007FF);
+
+ // Check for negative temperature
+ if (data & 0x00000800)
+ {
+ // 2's complement operation
+ // Invert
+ data = ~data;
+ // Ensure operation involves lower 11-bit only
+ temperature = data & 0x000007FF;
+ // Add 1 to obtain the positive number
+ temperature += 1;
+ // Make temperature negative
+ temperature *= -1;
+ }
+
+ // Convert to Degree Celsius
+ temperature *= 0.0625;
+
+ // If temperature unit in Fahrenheit is desired
+ if (unit == FAHRENHEIT)
+ {
+ // Convert Degree Celsius to Fahrenheit
+ temperature = (temperature * 9.0/5.0)+ 32;
+ }
+
+ // Return the temperature
+ return (temperature);
+}
+
+/*******************************************************************************
+* Name: readData
+* Description: Shift in 32-bit of data from MAX31855 chip. Minimum clock pulse
+* width is 100 ns. No delay is required in this case.
+*
+* Argument Description
+* ========= ===========
+* 1. NIL
+*
+* Return Description
+* ========= ===========
+* data 32-bit of data acquired from the MAX31855 chip.
+*
+*******************************************************************************/
+unsigned long MAX31855::readData()
+{
+ int bitCount;
+ unsigned long data;
+
+ // Clear data
+ data = 0;
+
+ // Select the MAX31855 chip
+ digitalWrite(cs, LOW);
+
+ // Shift in 32-bit of data
+ for (bitCount = 31; bitCount >= 0; bitCount--)
+ {
+ digitalWrite(sck, HIGH);
+
+ // If data bit is high
+ if (digitalRead(so))
+ {
+ // Need to type cast data type to unsigned long, else compiler will
+ // truncate to 16-bit
+ data |= ((unsigned long)1 << bitCount);
+ }
+
+ digitalWrite(sck, LOW);
+ }
+
+ // Deselect MAX31855 chip
+ digitalWrite(cs, HIGH);
+
+ return(data);
+}
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.h b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.h
new file mode 100644
index 000000000..0ad0fd5f2
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/MAX31855.h
@@ -0,0 +1,36 @@
+#ifndef MAX31855_H
+#define MAX31855_H
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+#else
+ #include "WProgram.h"
+#endif
+
+#define FAULT_OPEN 10000
+#define FAULT_SHORT_GND 10001
+#define FAULT_SHORT_VCC 10002
+
+enum unit_t
+{
+ CELSIUS,
+ FAHRENHEIT
+};
+
+class MAX31855
+{
+ public:
+ MAX31855(unsigned char SO, unsigned char CS, unsigned char SCK);
+
+ double readThermocouple(unit_t unit);
+ double readJunction(unit_t unit);
+
+ private:
+ unsigned char so;
+ unsigned char cs;
+ unsigned char sck;
+
+ unsigned long readData();
+
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/keywords.txt b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/keywords.txt
new file mode 100644
index 000000000..73d38e43e
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX31855/keywords.txt
@@ -0,0 +1,29 @@
+#######################################
+# Syntax Coloring Map MAX31855
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+MAX31855 KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+readThermocouple KEYWORD2
+readJunction KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+CELSIUS LITERAL1
+FAHRENHEIT LITERAL1
+FAULT_OPEN LITERAL1
+FAULT_SHORT_GND LITERAL1
+FAULT_SHORT_VCC LITERAL1
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/MAX6675_library-1.0.1.zip b/resources/workshop/projects/pid-controller/arduino-libraries/MAX6675_library-1.0.1.zip
new file mode 100644
index 000000000..26d07dbd4
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/MAX6675_library-1.0.1.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b1390251d10164aaaaee6ef6fe3d43595d193c51cbe45cad5171b72078b536
+size 4353
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/NewPing_v1.9.1.zip b/resources/workshop/projects/pid-controller/arduino-libraries/NewPing_v1.9.1.zip
new file mode 100644
index 000000000..db05011dd
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/NewPing_v1.9.1.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75f7e0754429873c11f3a74496f425b3ffda8791b2d77a47130a751930e6f6d7
+size 19242
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/Streaming-5.0.0.zip b/resources/workshop/projects/pid-controller/arduino-libraries/Streaming-5.0.0.zip
new file mode 100644
index 000000000..02f636aac
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/Streaming-5.0.0.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b25f6261f193dc3076674f1322b9b77a2aedefca3ddae52408bf336d9016f7
+size 4637
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/TimerOne-1.1.0.zip b/resources/workshop/projects/pid-controller/arduino-libraries/TimerOne-1.1.0.zip
new file mode 100644
index 000000000..04cecda53
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/TimerOne-1.1.0.zip
@@ -0,0 +1,3 @@
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diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/Vector-1.1.2.zip b/resources/workshop/projects/pid-controller/arduino-libraries/Vector-1.1.2.zip
new file mode 100644
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--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/Vector-1.1.2.zip
@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/arduino-Tools40-master.zip
@@ -0,0 +1,3 @@
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+size 61759
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf b/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf
new file mode 100644
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--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf
@@ -0,0 +1,3 @@
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+oid sha256:967cba98c096e1efd6e5ff8f101efc7781d00a172482fa6c50f3a7e2191b8713
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diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-MINI-Pinout-1.jpg b/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-MINI-Pinout-1.jpg
new file mode 100644
index 000000000..36de2fa60
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/CONTROLLINO-MINI-Pinout-1.jpg
@@ -0,0 +1,3 @@
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+oid sha256:7efd19359bfbdfa8c3dda9c8388a37f728e449443458dd7dd257d1b680fcc76c
+size 2465358
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new file mode 100644
index 000000000..3d8d1eed5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/boards/controllino-mini/MINI_DATASHEET-19-04-20161.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87efb67116cceb38efea6178321ec9379723c607ff29859905eb0886b84de8cf
+size 171827
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/boards/package_ControllinoHardware_index.json b/resources/workshop/projects/pid-controller/arduino-libraries/boards/package_ControllinoHardware_index.json
new file mode 100644
index 000000000..f7642081d
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/boards/package_ControllinoHardware_index.json
@@ -0,0 +1,232 @@
+{
+ "packages": [
+ {
+ "name": "CONTROLLINO_Boards",
+ "maintainer": "CONTROLLINO",
+ "websiteURL": "https://controllino.biz/",
+ "email": "info@controllino.biz",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "platforms": [
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "1.0.0",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/85e5ff22bb53cb3ffdbefd00f6ae30533db8cf86/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:0ca4811376820e2cfad4a6f840f9a05935efdbc7ed79d021c91b008c87cfd234",
+ "size": "216717",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.8.1-arduino5"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.0.1-arduino5"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "1.1.0",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/c2f7ac0e27daae484a9d9f99a2ef4d8209002598/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:2ed3f3eaadb27da7e1a75063536c9dba3609e26d20c7ceee638cbfde93e10ec1",
+ "size": "223237",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.8.1-arduino5"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.0.1-arduino5"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "2.0.0",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/bbf44c9d965e5ff767f14cc8b5aa8f98e1cee681/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:d7f79ce738b0608bec3a340252aa79aaa6414b430b0945d5c770601bcb7b47af",
+ "size": "257287",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.9.2-atmel3.5.3-arduino2"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.3.0-arduino8"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "2.0.1",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/da2516ea2d6f2a5bb7976d3d06ef779da5685312/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:4FDAA6E210F68CFB77C5247F7ADE7C55D0065A2B23D6CD27747A932D0E1D8F43",
+ "size": "240312",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.9.2-atmel3.5.3-arduino2"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.3.0-arduino8"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "3.0.0",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/cca67c1cefa77897be062c05827176a3e8be07c2/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:653e16df2533b9fc3f360080876a5285a5aad2b7a8753fdf73eba6a7a1ad4dde",
+ "size": "63054",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.9.2-atmel3.5.3-arduino2"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.3.0-arduino8"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "3.0.2",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/blob/1b422df4f4d57215d21f15a2c14c8f82d85a69c1/Boards/ControllinoHW.zip?raw=true",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:54122590abc97decb22f9ee698834c999130482eb4801a662fc7e5e4b2b1948f",
+ "size": "65808",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.9.2-atmel3.5.3-arduino2"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.3.0-arduino8"
+ }
+ ]
+ },
+ {
+ "name": "CONTROLLINO Boards",
+ "architecture": "avr",
+ "version": "3.1.0",
+ "category": "Contributed",
+ "url": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/raw/master/Boards/ControllinoHW.zip",
+ "archiveFileName": "ControllinoHW.zip",
+ "checksum": "SHA-256:3520d650305373537c295874d88805ff49230c00b8db85606ec8a63969259f31",
+ "size": "65715",
+ "help": {
+ "online": "https://github.com/CONTROLLINO-PLC/CONTROLLINO_Library/issues"
+ },
+ "boards": [
+ { "name": "MINI" },
+ { "name": "MAXI" },
+ { "name": "MAXI Automation" },
+ { "name": "MEGA" }
+ ],
+ "toolsDependencies": [
+ {
+ "packager": "arduino",
+ "name": "avr-gcc",
+ "version": "4.9.2-atmel3.5.3-arduino2"
+ },
+ {
+ "packager": "arduino",
+ "name": "avrdude",
+ "version": "6.3.0-arduino8"
+ }
+ ]
+ }
+ ],
+ "tools":[]
+ }
+ ]
+}
diff --git a/resources/workshop/projects/pid-controller/arduino-libraries/fastgpio-arduino-2.1.0.zip b/resources/workshop/projects/pid-controller/arduino-libraries/fastgpio-arduino-2.1.0.zip
new file mode 100644
index 000000000..ce2989723
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/arduino-libraries/fastgpio-arduino-2.1.0.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:986e4373669ed1885cadd2f9ae51c33f58cf3818a84393bb99409efc652d102f
+size 12931
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Cassandra.JPG b/resources/workshop/projects/pid-controller/documents/cases/Cassandra.JPG
new file mode 100644
index 000000000..8b9bd796a
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/documents/cases/Cassandra.JPG
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23d4867a8769c40a5ee06ebb74958c4fb39837c65e9d17eb04a34e3ada0a2e26
+size 159294
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Cassandra.md b/resources/workshop/projects/pid-controller/documents/cases/Cassandra.md
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.PDF b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.PDF
new file mode 100644
index 000000000..344668d60
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.PDF
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14eba1a7253015a42c73b74008569adc4cb4c11e08d9c694d516c6cdb581f23
+size 28771
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.md b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.md
new file mode 100644
index 000000000..f6f9dfe40
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.md
@@ -0,0 +1,3 @@
+## Sheetpress Partitions
+
+
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.png b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.png
new file mode 100644
index 000000000..58cb38787
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ba8c521330ecac8f78fa128faa66742547376c2eb5926260ce65dc0adc7c7f
+size 110924
diff --git a/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.svg b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.svg
new file mode 100644
index 000000000..19cf852fc
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/documents/cases/Sheetpress cell 4.2.svg
@@ -0,0 +1,1309 @@
+
+image/svg+xml 636.40 636.40 842.53 848.52
+#include
+#include
+
+bool Addon::hasFlag(uchar flag)
+{
+ return TEST(flags, flag);
+}
+void Addon::setFlag(uchar flag)
+{
+ flags = SBI(flags, flag);
+}
+void Addon::clearFlag(uchar flag)
+{
+ CBI(flags, flag);
+}
+void Addon::debug(Stream *stream)
+{
+
+}
+void Addon::info(Stream *stream)
+{
+
+}
+void Addon::enable()
+{
+ this->clearFlag(DISABLED);
+}
+void Addon::disable()
+{
+ this->setFlag(DISABLED);
+}
+bool Addon::enabled()
+{
+ return this->hasFlag(DISABLED);
+}
+
+Addon *byId(Addons addons, uchar id)
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->id == id)
+ {
+ return addon;
+ }
+ }
+ return NULL;
+}
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/Addon.h b/resources/workshop/projects/pid-controller/firmware/Addon.h
new file mode 100644
index 000000000..5497368cc
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/Addon.h
@@ -0,0 +1,72 @@
+#ifndef ADDON_H
+#define ADDON_H
+
+#include
+#include
+
+#include "enums.h"
+#include "common/macros.h"
+
+#define ADDON_NORMAL 1 << LOOP | 1 << INFO | 1 << SETUP
+#ifdef HAS_STATES
+ #define ADDON_STATED ADDON_NORMAL | 1 << STATE
+#else
+ #define ADDON_STATED ADDON_NORMAL
+#endif
+
+class Stream;
+
+class Addon
+{
+
+public:
+ const String name;
+ const short id;
+ millis_t now;
+ millis_t last;
+ millis_t dt;
+ Addon(String _name, short _id) : name(_name),
+ id(_id),
+ now(0),
+ last(0),
+ dt(0)
+ {
+ flags = ADDON_NORMAL;
+ }
+
+ Addon(String _name, short _id, short _flags) : name(_name),
+ id(_id),
+ flags(_flags)
+ {
+ }
+
+ virtual void debug(Stream *stream);
+ virtual void info(Stream *stream);
+ virtual short setup(){};
+ virtual short loop(){};
+ virtual short ok(){};
+ virtual bool pause(){};
+ virtual bool resume(){};
+ virtual bool destroy(){};
+ virtual String state() { return ""; };
+
+ int flags;
+ void setFlag(uchar flag);
+ bool hasFlag(uchar flag);
+ void clearFlag(uchar flag);
+ void enable();
+ void disable();
+ bool enabled();
+
+ #ifdef HAS_ADDON_EEP_STORE
+ void save(void* store);
+ void restore(void* store);
+ #endif
+
+};
+
+typedef Vector Addons;
+Addon *byId(Addons addons, uchar id);
+typedef short (Addon::*AddonFnPtr)(short);
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/MultiPIDController.h b/resources/workshop/projects/pid-controller/firmware/MultiPIDController.h
new file mode 100644
index 000000000..6e04074fe
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/MultiPIDController.h
@@ -0,0 +1,26 @@
+#ifndef MULTI_PID_CONTROLLER_H
+#define MULTI_PID_CONTROLLER_H
+
+#include
+#include
+#include "../Addon.h"
+#include "../config.h"
+
+#include "./common/macros.h"
+#include "./common/ppmath.h"
+
+class Partition;
+
+class MultiPIDController : public Addon
+{
+public:
+ MultiPIDController() : Addon(MPID_CTRL_STR, MPIDCTRL, ADDON_STATED)
+ {
+ this->setFlag(DEBUG);
+ }
+
+private:
+ Partition *partions[MAX_PARTITIONS];
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/Partition.h b/resources/workshop/projects/pid-controller/firmware/Partition.h
new file mode 100644
index 000000000..411bd7bea
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/Partition.h
@@ -0,0 +1,28 @@
+#ifndef PARTITION_H
+#define PARTITION_H
+
+#include
+#include "./config.h"
+#include "./macros.h"
+#include "./time.h"
+
+/***
+ * The heating cell
+ */
+class Partition
+{
+public:
+ ushort state; // type: PARTITION_STATE
+private:
+ ushort pin; // GPIO
+ ushort id;
+ const char name[124]; // for logging
+
+ // computation memory
+ millis_t last_active;
+ millis_t last_duration;
+
+ Partition* next; // for prio/linking
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/TimerOne.cpp b/resources/workshop/projects/pid-controller/firmware/TimerOne.cpp
new file mode 100644
index 000000000..7e838d0ae
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/TimerOne.cpp
@@ -0,0 +1,54 @@
+/*
+ * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328
+ * Original code by Jesse Tane for http://labs.ideo.com August 2008
+ * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
+ * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
+ * Modified Oct 2009 by Dan Clemens to work with timer1 of the ATMega1280 or Arduino Mega
+ * Modified April 2012 by Paul Stoffregen
+ * Modified again, June 2014 by Paul Stoffregen
+ * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality
+ *
+ * This is free software. You can redistribute it and/or modify it under
+ * the terms of Creative Commons Attribution 3.0 United States License.
+ * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
+ * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
+ *
+ */
+
+#include "TimerOne.h"
+
+TimerOne Timer1; // preinstatiate
+
+unsigned short TimerOne::pwmPeriod = 0;
+unsigned char TimerOne::clockSelectBits = 0;
+void (*TimerOne::isrCallback)() = TimerOne::isrDefaultUnused;
+
+// interrupt service routine that wraps a user defined function supplied by attachInterrupt
+#if defined (__AVR_ATtiny85__)
+ISR(TIMER1_COMPA_vect)
+{
+ Timer1.isrCallback();
+}
+#elif defined(__AVR__)
+ISR(TIMER1_OVF_vect)
+{
+ Timer1.isrCallback();
+}
+
+#elif defined(__arm__) && defined(CORE_TEENSY)
+void ftm1_isr(void)
+{
+ uint32_t sc = FTM1_SC;
+ #ifdef KINETISL
+ if (sc & 0x80) FTM1_SC = sc;
+ #else
+ if (sc & 0x80) FTM1_SC = sc & 0x7F;
+ #endif
+ Timer1.isrCallback();
+}
+
+#endif
+
+void TimerOne::isrDefaultUnused()
+{
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/TimerOne.h b/resources/workshop/projects/pid-controller/firmware/TimerOne.h
new file mode 100644
index 000000000..940412dd2
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/TimerOne.h
@@ -0,0 +1,485 @@
+/*
+ * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328
+ * Original code by Jesse Tane for http://labs.ideo.com August 2008
+ * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
+ * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
+ * Modified April 2012 by Paul Stoffregen - portable to other AVR chips, use inline functions
+ * Modified again, June 2014 by Paul Stoffregen - support Teensy 3.x & even more AVR chips
+ * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality
+ *
+ *
+ * This is free software. You can redistribute it and/or modify it under
+ * the terms of Creative Commons Attribution 3.0 United States License.
+ * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/
+ * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA.
+ *
+ */
+
+#ifndef TimerOne_h_
+#define TimerOne_h_
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "config/known_16bit_timers.h"
+#if defined (__AVR_ATtiny85__)
+#define TIMER1_RESOLUTION 256UL // Timer1 is 8 bit
+#elif defined(__AVR__)
+#define TIMER1_RESOLUTION 65536UL // Timer1 is 16 bit
+#else
+#define TIMER1_RESOLUTION 65536UL // assume 16 bits for non-AVR chips
+#endif
+
+// Placing nearly all the code in this .h file allows the functions to be
+// inlined by the compiler. In the very common case with constant values
+// the compiler will perform all calculations and simply write constants
+// to the hardware registers (for example, setPeriod).
+
+
+class TimerOne
+{
+
+#if defined (__AVR_ATtiny85__)
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1); //clear timer1 when it matches the value in OCR1C
+ TIMSK |= _BV(OCIE1A); //enable interrupt when OCR1A matches the timer value
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = microseconds * ratio;
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = _BV(CS10);
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2UL) {
+ clockSelectBits = _BV(CS11);
+ pwmPeriod = cycles / 2;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4UL) {
+ clockSelectBits = _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 4;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8UL) {
+ clockSelectBits = _BV(CS12);
+ pwmPeriod = cycles / 8;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 16;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 32UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS11);
+ pwmPeriod = cycles / 32;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64UL) {
+ clockSelectBits = _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 64UL;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 128UL) {
+ clockSelectBits = _BV(CS13);
+ pwmPeriod = cycles / 128;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 256UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS10);
+ pwmPeriod = cycles / 256;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 512UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS11);
+ pwmPeriod = cycles / 512;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 1024UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 1024;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2048UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12);
+ pwmPeriod = cycles / 2048;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4096UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 4096;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8192UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11);
+ pwmPeriod = cycles / 8192;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16384UL) {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 16384;
+ } else {
+ clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10);
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+ OCR1A = pwmPeriod;
+ OCR1C = pwmPeriod;
+ TCCR1 = _BV(CTC1) | clockSelectBits;
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ TCCR1 = 0;
+ TCNT1 = 0;
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1);
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ TCCR1 = _BV(CTC1) | clockSelectBits;
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ //Not implemented yet for ATTiny85
+ //TO DO
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ TIMSK |= _BV(OCIE1A);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ //TIMSK = 0; // Timer 0 and Timer 1 both use TIMSK register so setting it to 0 will override settings for Timer1 as well
+ TIMSK &= ~_BV(OCIE1A);
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+ static const byte ratio = (F_CPU)/ ( 1000000 );
+
+#elif defined(__AVR__)
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13); // set mode as phase and frequency correct pwm, stop the timer
+ TCCR1A = 0; // clear control register A
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = (F_CPU / 2000000) * microseconds;
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = _BV(CS10);
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = _BV(CS11);
+ pwmPeriod = cycles / 8;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64) {
+ clockSelectBits = _BV(CS11) | _BV(CS10);
+ pwmPeriod = cycles / 64;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 256) {
+ clockSelectBits = _BV(CS12);
+ pwmPeriod = cycles / 256;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 1024) {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = cycles / 1024;
+ } else {
+ clockSelectBits = _BV(CS12) | _BV(CS10);
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+ ICR1 = pwmPeriod;
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ TCCR1B = 0;
+ TCNT1 = 0; // TODO: does this cause an undesired interrupt?
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13);
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
+ unsigned long dutyCycle = pwmPeriod;
+ dutyCycle *= duty;
+ dutyCycle >>= 10;
+ if (pin == TIMER1_A_PIN) OCR1A = dutyCycle;
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) OCR1B = dutyCycle;
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) OCR1C = dutyCycle;
+ #endif
+ }
+ void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) { pinMode(TIMER1_A_PIN, OUTPUT); TCCR1A |= _BV(COM1A1); }
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) { pinMode(TIMER1_B_PIN, OUTPUT); TCCR1A |= _BV(COM1B1); }
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) { pinMode(TIMER1_C_PIN, OUTPUT); TCCR1A |= _BV(COM1C1); }
+ #endif
+ setPwmDuty(pin, duty);
+ TCCR1B = _BV(WGM13) | clockSelectBits;
+ }
+ void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
+ if (microseconds > 0) setPeriod(microseconds);
+ pwm(pin, duty);
+ }
+ void disablePwm(char pin) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) TCCR1A &= ~_BV(COM1A1);
+ #ifdef TIMER1_B_PIN
+ else if (pin == TIMER1_B_PIN) TCCR1A &= ~_BV(COM1B1);
+ #endif
+ #ifdef TIMER1_C_PIN
+ else if (pin == TIMER1_C_PIN) TCCR1A &= ~_BV(COM1C1);
+ #endif
+ }
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ TIMSK1 = _BV(TOIE1);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ TIMSK1 = 0;
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ // properties
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+
+
+
+
+
+
+#elif defined(__arm__) && defined(CORE_TEENSY)
+
+#if defined(KINETISK)
+#define F_TIMER F_BUS
+#elif defined(KINETISL)
+#define F_TIMER (F_PLL/2)
+#endif
+
+ public:
+ //****************************
+ // Configuration
+ //****************************
+ void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) {
+ setPeriod(microseconds);
+ }
+ void setPeriod(unsigned long microseconds) __attribute__((always_inline)) {
+ const unsigned long cycles = (F_TIMER / 2000000) * microseconds;
+ // A much faster if-else
+ // This is like a binary serch tree and no more than 3 conditions are evaluated.
+ // I haven't checked if this becomes significantly longer ASM than the simple ladder.
+ // It looks very similar to the ladder tho: same # of if's and else's
+
+ /*
+ // This code does not work properly in all cases :(
+ // https://github.com/PaulStoffregen/TimerOne/issues/17
+ if (cycles < TIMER1_RESOLUTION * 16) {
+ if (cycles < TIMER1_RESOLUTION * 4) {
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = 0;
+ pwmPeriod = cycles;
+ }else{
+ clockSelectBits = 1;
+ pwmPeriod = cycles >> 1;
+ }
+ }else{
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = 3;
+ pwmPeriod = cycles >> 3;
+ }else{
+ clockSelectBits = 4;
+ pwmPeriod = cycles >> 4;
+ }
+ }
+ }else{
+ if (cycles > TIMER1_RESOLUTION * 64) {
+ if (cycles > TIMER1_RESOLUTION * 128) {
+ clockSelectBits = 7;
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }else{
+ clockSelectBits = 7;
+ pwmPeriod = cycles >> 7;
+ }
+ }
+ else{
+ if (cycles > TIMER1_RESOLUTION * 32) {
+ clockSelectBits = 6;
+ pwmPeriod = cycles >> 6;
+ }else{
+ clockSelectBits = 5;
+ pwmPeriod = cycles >> 5;
+ }
+ }
+ }
+ */
+ if (cycles < TIMER1_RESOLUTION) {
+ clockSelectBits = 0;
+ pwmPeriod = cycles;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 2) {
+ clockSelectBits = 1;
+ pwmPeriod = cycles >> 1;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 4) {
+ clockSelectBits = 2;
+ pwmPeriod = cycles >> 2;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 8) {
+ clockSelectBits = 3;
+ pwmPeriod = cycles >> 3;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 16) {
+ clockSelectBits = 4;
+ pwmPeriod = cycles >> 4;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 32) {
+ clockSelectBits = 5;
+ pwmPeriod = cycles >> 5;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 64) {
+ clockSelectBits = 6;
+ pwmPeriod = cycles >> 6;
+ } else
+ if (cycles < TIMER1_RESOLUTION * 128) {
+ clockSelectBits = 7;
+ pwmPeriod = cycles >> 7;
+ } else {
+ clockSelectBits = 7;
+ pwmPeriod = TIMER1_RESOLUTION - 1;
+ }
+
+ uint32_t sc = FTM1_SC;
+ FTM1_SC = 0;
+ FTM1_MOD = pwmPeriod;
+ FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | clockSelectBits | (sc & FTM_SC_TOIE);
+ }
+
+ //****************************
+ // Run Control
+ //****************************
+ void start() __attribute__((always_inline)) {
+ stop();
+ FTM1_CNT = 0;
+ resume();
+ }
+ void stop() __attribute__((always_inline)) {
+ FTM1_SC = FTM1_SC & (FTM_SC_TOIE | FTM_SC_CPWMS | FTM_SC_PS(7));
+ }
+ void restart() __attribute__((always_inline)) {
+ start();
+ }
+ void resume() __attribute__((always_inline)) {
+ FTM1_SC = (FTM1_SC & (FTM_SC_TOIE | FTM_SC_PS(7))) | FTM_SC_CPWMS | FTM_SC_CLKS(1);
+ }
+
+ //****************************
+ // PWM outputs
+ //****************************
+ void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) {
+ unsigned long dutyCycle = pwmPeriod;
+ dutyCycle *= duty;
+ dutyCycle >>= 10;
+ if (pin == TIMER1_A_PIN) {
+ FTM1_C0V = dutyCycle;
+ } else if (pin == TIMER1_B_PIN) {
+ FTM1_C1V = dutyCycle;
+ }
+ }
+ void pwm(char pin, unsigned int duty) __attribute__((always_inline)) {
+ setPwmDuty(pin, duty);
+ if (pin == TIMER1_A_PIN) {
+ *portConfigRegister(TIMER1_A_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
+ } else if (pin == TIMER1_B_PIN) {
+ *portConfigRegister(TIMER1_B_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE;
+ }
+ }
+ void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) {
+ if (microseconds > 0) setPeriod(microseconds);
+ pwm(pin, duty);
+ }
+ void disablePwm(char pin) __attribute__((always_inline)) {
+ if (pin == TIMER1_A_PIN) {
+ *portConfigRegister(TIMER1_A_PIN) = 0;
+ } else if (pin == TIMER1_B_PIN) {
+ *portConfigRegister(TIMER1_B_PIN) = 0;
+ }
+ }
+
+ //****************************
+ // Interrupt Function
+ //****************************
+ void attachInterrupt(void (*isr)()) __attribute__((always_inline)) {
+ isrCallback = isr;
+ FTM1_SC |= FTM_SC_TOIE;
+ NVIC_ENABLE_IRQ(IRQ_FTM1);
+ }
+ void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) {
+ if(microseconds > 0) setPeriod(microseconds);
+ attachInterrupt(isr);
+ }
+ void detachInterrupt() __attribute__((always_inline)) {
+ FTM1_SC &= ~FTM_SC_TOIE;
+ NVIC_DISABLE_IRQ(IRQ_FTM1);
+ }
+ static void (*isrCallback)();
+ static void isrDefaultUnused();
+
+ private:
+ // properties
+ static unsigned short pwmPeriod;
+ static unsigned char clockSelectBits;
+
+#undef F_TIMER
+
+#endif
+};
+
+extern TimerOne Timer1;
+
+#endif
+
diff --git a/resources/workshop/projects/pid-controller/firmware/Version.h b/resources/workshop/projects/pid-controller/firmware/Version.h
new file mode 100644
index 000000000..faf26dc9c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/Version.h
@@ -0,0 +1,9 @@
+#ifndef VERSION_H
+
+ #define VERSION_H
+
+ #define VERSION "0.7|2f05843f89b2b8f6d75276ba363f7c2e17383e0b"
+
+ #define CID "47"
+
+ #endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/CurrentSensor.h b/resources/workshop/projects/pid-controller/firmware/addons/CurrentSensor.h
new file mode 100644
index 000000000..a6ebf9894
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/CurrentSensor.h
@@ -0,0 +1,59 @@
+#ifndef CURRENT_SENSOR_H
+#define CURRENT_SENSOR_H
+
+#include
+#include
+#include "../Addon.h"
+#include "../config.h"
+
+#include "../common/macros.h"
+#include "../common/ppmath.h"
+
+class CurrentSensor : public Addon
+{
+public:
+ CurrentSensor(short _pin) : pin(_pin),
+ load(0),
+ Addon(CURRENT_SENSOR_STR, CURRENT_SENSOR)
+ {
+ // this->setFlag(DEBUG);
+ }
+
+ short setup()
+ {
+ pinMode(pin, INPUT);
+ loop();
+ }
+
+ short loop()
+ {
+ if (now - last > MOTOR_LOAD_READ_INTERVAL)
+ {
+ load = digitalRead(pin);
+ last = now;
+ }
+ return load;
+ }
+
+ short ok()
+ {
+ return !load;
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ":" << ok();
+ }
+
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : " SPACE("Pin:" << pin);
+ }
+
+ millis_t lastOverload;
+
+protected:
+ short pin;
+ short load;
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/DirectionSwitch.h b/resources/workshop/projects/pid-controller/firmware/addons/DirectionSwitch.h
new file mode 100644
index 000000000..71bffb72d
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/DirectionSwitch.h
@@ -0,0 +1,56 @@
+#ifndef DIRECTION_SWITCH_H
+#define DIRECTION_SWITCH_H
+
+#include "../config.h"
+#include "../components/3PosAnalog.h"
+#include "../Addon.h"
+#include
+#include "../common/macros.h"
+
+class DirectionSwitch : public Addon
+{
+public:
+ Pos3Analog dir_switch;
+ DirectionSwitch() : dir_switch(DIR_SWITCH_UP_PIN, DIR_SWITCH_DOWN_PIN),
+ Addon(DIRECTION_SWITCH_STR, DIRECTION_SWITCH)
+ {
+
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ":" << SPACE(dir_switch.switch_pos) << SPACE(dir_switch.last_switch);
+ }
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : " SPACE("Up Pin:" << DIR_SWITCH_UP_PIN) << SPACE("\t | Down Pin :" << DIR_SWITCH_DOWN_PIN);
+ }
+ short setup()
+ {
+ dir_switch.setup();
+ return loop();
+ }
+ short loop()
+ {
+ if (now - dt > ANALOG_READ_INTERVAL)
+ {
+ _value = dir_switch.loop();
+ dt = now;
+ }
+ return _value;
+ }
+ short value()
+ {
+ return _value;
+ }
+
+ short last()
+ {
+ return dir_switch.last_switch;
+ }
+
+private:
+ short _value;
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/MotorTemperature.h b/resources/workshop/projects/pid-controller/firmware/addons/MotorTemperature.h
new file mode 100644
index 000000000..63d152cde
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/MotorTemperature.h
@@ -0,0 +1,40 @@
+#ifndef MOTOR_TEMPERATURE_H
+#define MOTOR_TEMPERATURE_H
+
+#include
+#include "Addon.h"
+#include "config.h"
+#include
+#include "../common/macros.h"
+#include "TemperatureSensor.h"
+
+class MotorTemperature : public Addon
+{
+private:
+ TemperatureSensor sensor;
+
+public:
+ MotorTemperature() : sensor(MOTOR_TEMPERTURE_SCK_PIN, MOTOR_TEMPERTURE_CS_PIN, MOTOR_TEMPERTURE_SO_PIN, MOTOR_TEMPERTURE_MAX, MOTOR_TEMPERTURE_INTERVAL),
+ Addon(MOTOR_TEMPERATURE_STR, MOTOR_TEMPERATURE) {}
+
+ virtual short ok()
+ {
+ return sensor.ok();
+ }
+ void debug(Stream *stream)
+ {
+ // *stream << this->name << ":" << this->ok();
+ }
+ void info(Stream *stream)
+ {
+ /*
+ *stream << this->name << "\n\t : " <<
+ SPACE("Pin SCK:" << MOTOR_TEMPERTURE_SCK_PIN ) <<
+ SPACE("Pin CS :" << MOTOR_TEMPERTURE_CS_PIN ) <<
+ SPACE("Pin SO:" << MOTOR_TEMPERTURE_SO_PIN ) <<
+ SPACE("Max" << MOTOR_TEMPERTURE_MAX ) <<
+ SPACE("Interval" << MOTOR_TEMPERTURE_INTERVAL );
+ */
+ }
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/OperationModeSwitch.h b/resources/workshop/projects/pid-controller/firmware/addons/OperationModeSwitch.h
new file mode 100644
index 000000000..4822eab45
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/OperationModeSwitch.h
@@ -0,0 +1,148 @@
+#ifndef OPERATION_MODE_SWITCH_H
+#define OPERATION_MODE_SWITCH_H
+
+#ifdef HAS_STATES
+#include
+#endif
+
+#ifndef OP_MODE_ANALOG
+#include
+#endif
+
+#include "../config.h"
+#include "../Addon.h"
+#include
+#include "../common/macros.h"
+#include "../common/ppmath.h"
+
+class OperationModeSwitch : public Addon
+{
+
+public:
+ short pin1;
+#ifdef OP_MODE_ANALOG
+ ushort level1;
+ ushort level2;
+ ushort level3;
+ OperationModeSwitch(short _pin1, ushort _level1, ushort _level2, ushort _level3) : pin1(_pin1),
+ level1(_level1),
+ level2(_level2),
+ level3(_level3),
+ Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH)
+ {
+ //setFlag(DEBUG);
+ }
+#ifdef HAS_STATES
+ String state()
+ {
+ const int capacity = JSON_OBJECT_SIZE(2);
+ StaticJsonDocument doc;
+ doc['0'] = id;
+ doc['1'] = value();
+ return doc.as();
+ }
+#endif
+ void debug(Stream *stream)
+ {
+ //*stream << this->name << SPACE(value());
+ }
+ void info(Stream *stream)
+ {
+ //*stream << this->name << "\n\t ";
+ }
+
+ short value()
+ {
+ ushort value = analogRead(pin1);
+ if (RANGE(value, level1 - 10, level1 + 10))
+ {
+ return OP_DEBUG;
+ }
+ if (RANGE(value, level2 - 10, level2 + 10))
+ {
+ return OP_NORMAL;
+ }
+ if (RANGE(value, level3 - 10, level3 + 10))
+ {
+ return OP_SERVICE;
+ }
+ return OP_NONE;
+ }
+ short setup()
+ {
+ }
+
+ short loop()
+ {
+ // Serial.println(analogRead(pin1));
+ }
+
+#else
+ Bounce debouncer1;
+ Bounce debouncer2;
+ Bounce debouncer3;
+ short pin1;
+ short pin2;
+ short pin3;
+
+ OperationModeSwitch(short _pin1, short _pin2, short _pin3) : pin1(_pin1), // 1-2
+ pin2(_pin2), // 5-6
+ pin3(_pin3), // 9-10
+ Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH)
+ {
+ }
+
+ void debug(Stream *stream)
+ {
+ *stream << this->name << ": PIN1 " << SPACE(!debouncer1.read()) << ": PIN2 " << SPACE(!debouncer2.read()) << ": PIN3 " << SPACE(!debouncer3.read());
+ }
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : ";
+ }
+
+ short value()
+ {
+ if (!debouncer1.read())
+ {
+ return OP_DEBUG;
+ }
+
+ if (!debouncer2.read())
+ {
+ return OP_NORMAL;
+ }
+
+ if (!debouncer3.read())
+ {
+ return OP_SERVICE;
+ }
+
+ return OP_NONE;
+ }
+ short setup()
+ {
+ this->debouncer1 = Bounce();
+ this->debouncer1.attach(this->pin1, INPUT_PULLUP);
+ this->debouncer1.interval(25);
+
+ this->debouncer2 = Bounce();
+ this->debouncer2.attach(this->pin2, INPUT_PULLUP);
+ this->debouncer2.interval(25);
+
+ this->debouncer3 = Bounce();
+ this->debouncer3.attach(this->pin3, INPUT_PULLUP);
+ this->debouncer3.interval(25);
+ }
+
+ short loop()
+ {
+ this->debouncer1.update();
+ this->debouncer2.update();
+ this->debouncer3.update();
+ }
+
+#endif
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/Reset.h b/resources/workshop/projects/pid-controller/firmware/addons/Reset.h
new file mode 100644
index 000000000..9b1cab20f
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/Reset.h
@@ -0,0 +1,30 @@
+#ifndef RESET_H
+#define RESET_H
+
+// This module uses currently a normally closed momentary button.
+
+static millis_t sw_reset_TS = 0;
+
+static void reset_setup()
+{
+ pinMode(RESET_PIN, INPUT_PULLUP);
+ sw_reset_TS = millis();
+}
+
+static void reset_loop()
+{
+ if (millis() - sw_reset_TS > RESET_INTERVAL) {
+ #if RESET_NC == true
+ // globals.isReset = digitalRead(RESET_PIN);
+ #else
+ // globals.isReset = !digitalRead(RESET_PIN);
+ #endif
+
+ sw_reset_TS = millis();
+ // if(globals.isReset && DEBUG){
+ // Serial.println("reset");
+ // }
+ }
+}
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/Status.h b/resources/workshop/projects/pid-controller/firmware/addons/Status.h
new file mode 100644
index 000000000..1fd66289c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/Status.h
@@ -0,0 +1,110 @@
+#ifndef STATUS_H
+#define STATUS_H
+
+#include "../addon.h"
+#include "../types.h"
+#include "../common/macros.h"
+
+#include
+
+class Status : public Addon
+{
+public:
+ Status(short _errorPin, short _okPin) : errorPin(_errorPin),
+ okPin(_okPin),
+ status_blink_TS(0),
+ doBlink(false),
+ last_blink(true),
+ blink_start_ts(0),
+ max_blink_time(HOUR_MS),
+ Addon(STATUS_STR, STATUS)
+ {
+ }
+
+ short setup()
+ {
+ pinMode(okPin, OUTPUT);
+ pinMode(errorPin, OUTPUT);
+ }
+
+ short loop()
+ {
+ if (now - status_blink_TS > 1000)
+ {
+ status_blink_TS = millis();
+ last_blink = !last_blink;
+ if (doBlink)
+ {
+ digitalWrite(errorPin, last_blink);
+ }
+
+ if (now - blink_start_ts > max_blink_time)
+ {
+ doBlink = false;
+ }
+ }
+ }
+ void status_blink(bool blink)
+ {
+ if (!doBlink && blink)
+ {
+ blink_start_ts = millis();
+ }
+ doBlink = blink;
+ }
+
+ void setStatusAllOn()
+ {
+ if (doBlink)
+ {
+ return;
+ }
+ digitalWrite(errorPin, HIGH);
+ digitalWrite(okPin, HIGH);
+ }
+
+ void setStatusAllOff()
+ {
+ if (doBlink)
+ {
+ return;
+ }
+ digitalWrite(errorPin, LOW);
+ digitalWrite(okPin, LOW);
+ }
+
+ void setStatus(bool error)
+ {
+ if (doBlink)
+ {
+ return;
+ }
+ if (error)
+ {
+ digitalWrite(errorPin, HIGH);
+ digitalWrite(okPin, LOW);
+ }
+ else
+ {
+ digitalWrite(okPin, HIGH);
+ digitalWrite(errorPin, LOW);
+ }
+ }
+
+ void info(Stream *stream)
+ {
+ *stream << this->name << "\n\t : " SPACE("Error Pin:" << errorPin) << SPACE("\t | Ok Pin :" << okPin);
+ }
+
+private:
+ millis_t status_blink_TS;
+ bool doBlink;
+ bool last_blink;
+ millis_t blink_start_ts;
+ millis_t max_blink_time;
+
+ short okPin;
+ short errorPin;
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/addons/TemperatureSensor.h b/resources/workshop/projects/pid-controller/firmware/addons/TemperatureSensor.h
new file mode 100644
index 000000000..e17f9953c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/addons/TemperatureSensor.h
@@ -0,0 +1,42 @@
+#ifndef TEMPERATURE_SENSOR_H
+#define TEMPERATURE_SENSOR_H
+
+#include
+#include "../config.h"
+#include "../macros.h"
+#include "../time.h"
+
+class TemperatureSensor
+{
+
+public:
+ TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)),
+ temperature(),
+ temperature_TS(millis()),
+ maxTemp(_max),
+ interval(_interval) {}
+
+ bool ok()
+ {
+ return temperature < maxTemp;
+ }
+
+ void loop()
+ {
+
+ if (millis() - temperature_TS > interval)
+ {
+ temperature_TS = millis();
+ temperature = ktc.readCelsius();
+ }
+ }
+
+private:
+ MAX6675 ktc;
+ short temperature;
+ short maxTemp;
+ short interval;
+ millis_t temperature_TS;
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/app.cpp b/resources/workshop/projects/pid-controller/firmware/app.cpp
new file mode 100644
index 000000000..458e84f49
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/app.cpp
@@ -0,0 +1,192 @@
+#include
+#include
+#include
+#include "app.h"
+#include "features.h"
+#include
+#include "Version.h"
+
+// #define DEBUG_MEM
+
+static Addon *addonsArray[10];
+
+#ifdef HAS_STATES
+short App::appState(short nop)
+{
+ uchar s = addons.size();
+ uchar si = 0;
+ String out = "";
+ uchar l = numByFlag(STATE);
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (!!(addon->hasFlag(STATE)))
+ {
+ si++;
+ out += addon->state();
+ if (si < l)
+ {
+ out += ",";
+ }
+ }
+ }
+ const char *response = Bridge::CreateResponse(STATE_RESPONSE_CODE, 0, out.c_str());
+ Serial.write(response);
+}
+#endif
+
+short App::ok()
+{
+ return E_OK;
+}
+
+App::App() : Addon("APP", APP, 1 << STATE),
+#ifdef HAS_STATUS
+ status(new Status(STATUS_ERROR_PIN, STATUS_OK_PIN)),
+#endif
+ cSensor(new CurrentSensor(CURRENT_SENSOR_PIN))
+{
+}
+
+short App::getAppState(short val)
+{
+ return _state;
+}
+void (*resetFunction)(void) = 0; // Self reset (to be used with watchdog)
+
+void printMem()
+{
+ Serial.print("mem: ");
+ Serial.print(freeMemory());
+ Serial.println('--');
+}
+short App::setup()
+{
+ Serial.begin(DEBUG_BAUD_RATE);
+ Serial.print("Booting Firmware ...................... \n\n");
+ Serial.print(FIRMWARE_VERSION);
+ Serial.print(" | ");
+ Serial.print(VERSION);
+ Serial.print(" | ");
+ Serial.print(CID);
+ Serial.println(" - \n");
+ addons.setStorage(addonsArray);
+ setup_addons();
+
+#ifdef MEARSURE_PERFORMANCE
+ printPerfTS = 0;
+ addonLoopTime = 0;
+ bridgeLoopTime = 0;
+#endif
+ debugTS = 0;
+ loopTS = 0;
+ _state = 0;
+#ifdef DEBUG_MEM
+ timer.every(
+ 5000, [](App *app) -> void {
+ printMem();
+ },
+ this);
+#endif
+}
+
+void App::onError(int error)
+{
+ if (_state != ERROR)
+ {
+#ifdef HAS_STATUS
+ status->status_blink(true);
+#endif
+
+ _state = ERROR;
+ }
+}
+
+short App::loop()
+{
+ timer.tick();
+ now = millis();
+ loop_addons();
+ loop_com();
+ loop_pid();
+ delay(LOOP_DELAY);
+}
+
+void App::loop_com()
+{
+ if (millis() - comTS > 300)
+ {
+#if defined(HAS_BRIDGE) && defined(HAS_SERIAL)
+ PPSerial::Message *msg = serialBridge->read();
+ if (msg)
+ {
+ switch (msg->verb)
+ {
+
+ case Bridge::EC_METHOD:
+ {
+ char *strings[3];
+ char *ptr = NULL;
+ byte index = 0;
+
+ ptr = strtok(msg->payload, ":");
+
+ while (ptr != NULL && index < 4)
+ {
+ strings[index] = ptr;
+ index++;
+ ptr = strtok(NULL, ":");
+ }
+
+ int id = atoi(strings[0]);
+ char *_method = strings[1];
+
+ SKeyVal *method = VSL::instance()->hasMethod(id, _method);
+ if (method)
+ {
+ int arg = atoi(strings[2]);
+ Addon *addon = (Addon *)method->instance;
+ AddonFnPtr ptr = method->mPtr;
+ short ret = (addon->*ptr)(arg);
+
+ if (TEST(msg->flags, Bridge::STATE))
+ {
+ #ifdef HAS_STATES
+ this->appState(0);
+ #endif
+ }
+ else if (TEST(msg->flags, Bridge::RECEIPT))
+ {
+ #ifdef BRIDGE_HAS_RESPONSE
+ const char *response = Bridge::CreateResponse(msg->id, 0, ret);
+ Serial.write(response);
+ #endif
+ }
+ if (TEST(msg->flags, Bridge::DEBUG))
+ {
+ // Serial.println("Called command");
+ }
+ }
+ else
+ {
+ VSL::instance()->debug();
+ if (TEST(msg->flags, Bridge::DEBUG))
+ {
+ /*
+ Serial.print("Incoming message, cant find class & method ");
+ Serial.print(_class);
+ Serial.print(":");
+ Serial.print(_method);
+ Serial.print("\n");
+ */
+ }
+ }
+ break;
+ }
+ }
+ msg->payload = NULL;
+ }
+#endif
+ comTS = millis();
+ }
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/app.h b/resources/workshop/projects/pid-controller/firmware/app.h
new file mode 100644
index 000000000..82a072e1c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/app.h
@@ -0,0 +1,97 @@
+#ifndef APP_H
+#define APP_H
+
+#include "config.h"
+#include
+#include "types.h"
+#include "Addon.h"
+#include "common/timer.h"
+
+class DirectionSwitch;
+class CurrentSensor;
+class Status;
+class PPSerial;
+class ModbusBridge;
+
+class App : public Addon
+{
+
+public:
+ App();
+
+ DirectionSwitch *dirSwitch;
+ CurrentSensor *cSensor;
+ Status *status;
+
+ PPSerial *serialBridge;
+ ModbusBridge *modbusBridge;
+
+ Addon *byId(short id);
+
+ short setup();
+ short loop();
+ short debug();
+ short info();
+ short ok();
+
+ void loop_service();
+ void loop_com();
+ void loop_simulate();
+ void loop_pid();
+ void loop_addons();
+ void setup_addons();
+ void onDidSetupAddons();
+
+ ushort numByFlag(ushort flag);
+ short shred(short value = 0);
+ ushort loopShred();
+ void loopShredCancel();
+
+ void onError(int error);
+
+ Vector addons;
+
+ // bridge
+ short setFlag(ushort addonId, ushort flag);
+
+#ifdef HAS_STATES
+ short appState(short nop = 0);
+ String state();
+#endif
+
+ millis_t loopTS;
+ millis_t wait;
+ millis_t comTS;
+ millis_t waitTS;
+ Timer<10, millis> timer; // 10 concurrent tasks, using micros as resolution
+
+ enum APP_STATE
+ {
+ RESET = 0,
+ REMOTE = 2,
+ LOCAL = 3,
+ TEST = 3,
+ ERROR = 5
+ };
+
+ short _state;
+ short _error;
+ short getLastError(short val = 0){
+ return _error;
+ }
+ short setLastError(short val = 0);
+ short setAppState(short newState);
+ short getAppState(short val);
+
+private:
+
+#ifdef MEARSURE_PERFORMANCE
+ millis_t addonLoopTime;
+ millis_t bridgeLoopTime;
+ millis_t printPerfTS;
+#endif
+
+ millis_t debugTS;
+};
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/app_addons.cpp b/resources/workshop/projects/pid-controller/firmware/app_addons.cpp
new file mode 100644
index 000000000..b43e54f9e
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/app_addons.cpp
@@ -0,0 +1,150 @@
+#include
+#include
+#include
+#include "app.h"
+#include "config.h"
+#include "types.h"
+#include "common/macros.h"
+#include "Addon.h"
+#include "features.h"
+
+
+void App::onDidSetupAddons(){
+
+ #ifdef HAS_STATUS
+ status->setStatusAllOn();
+ delay(SECS * 2);
+ status->setStatusAllOff();
+ status->setStatus(false);
+ #endif
+}
+
+short App::setFlag(ushort addonId, ushort flag)
+{
+ Addon *addon = byId(addonId);
+ if (addon)
+ {
+ addon->setFlag(flag);
+ return E_OK;
+ }
+ return ERROR_WARNING;
+}
+
+ushort App::numByFlag(ushort flag)
+{
+ uchar s = addons.size();
+ uchar l = 0;
+ String out = "";
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (!!(addon->hasFlag(flag)))
+ {
+ l++;
+ }
+ }
+ return l;
+}
+
+short App::debug()
+{
+#ifndef MEARSURE_PERFORMANCE
+ if (millis() - debugTS > DEBUG_INTERVAL)
+ {
+ uchar s = addons.size();
+ uchar nb = 0;
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(DEBUG))
+ {
+ (addon->debug)(&Serial);
+ Serial.println("\n");
+ nb++;
+ }
+ }
+ if (nb)
+ {
+ Serial.println("\n");
+ }
+ debugTS = millis();
+ }
+#endif
+}
+
+short App::info()
+{
+ Serial.print("Addon configuration : \n\n");
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(INFO))
+ {
+ addon->info(&Serial);
+ Serial << "\n";
+ }
+ }
+}
+
+Addon *App::byId(short id)
+{
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->id == id)
+ {
+ return addon;
+ }
+ }
+ return NULL;
+}
+
+void App::setup_addons()
+{
+#ifdef HAS_STATUS
+ addons.push_back((Addon *)status);
+#endif
+ addons.push_back((Addon *)cSensor);
+ addons.push_back((Addon *)this);
+
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(SETUP))
+ {
+ addon->setup();
+ }
+ }
+ onDidSetupAddons();
+}
+void App::loop_addons()
+{
+
+#ifdef MEARSURE_PERFORMANCE
+ millis_t now = millis();
+#endif
+
+ uchar s = addons.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ Addon *addon = addons[i];
+ if (addon->hasFlag(LOOP))
+ {
+ addon->now = now;
+ addon->loop();
+ }
+ }
+
+#ifdef MEARSURE_PERFORMANCE
+ addonLoopTime = millis() - now;
+ if (millis() - printPerfTS > 3000)
+ {
+ printPerfTS = now;
+ Serial << SPACE("Addon loop time") << addonLoopTime << "\n";
+ }
+#endif
+ debug();
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/app_ctrl.cpp b/resources/workshop/projects/pid-controller/firmware/app_ctrl.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/resources/workshop/projects/pid-controller/firmware/app_pid.cpp b/resources/workshop/projects/pid-controller/firmware/app_pid.cpp
new file mode 100644
index 000000000..b35f79562
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/app_pid.cpp
@@ -0,0 +1,2 @@
+#include "app.h"
+
diff --git a/resources/workshop/projects/pid-controller/firmware/auto-tune/Examples/AutoTune_Example/AutoTune_Example.pde b/resources/workshop/projects/pid-controller/firmware/auto-tune/Examples/AutoTune_Example/AutoTune_Example.pde
new file mode 100644
index 000000000..64131f3cb
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/auto-tune/Examples/AutoTune_Example/AutoTune_Example.pde
@@ -0,0 +1,161 @@
+#include
+#include
+
+byte ATuneModeRemember=2;
+double input=80, output=50, setpoint=180;
+double kp=2,ki=0.5,kd=2;
+
+double kpmodel=1.5, taup=100, theta[50];
+double outputStart=5;
+double aTuneStep=50, aTuneNoise=1, aTuneStartValue=100;
+unsigned int aTuneLookBack=20;
+
+boolean tuning = false;
+unsigned long modelTime, serialTime;
+
+PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
+PID_ATune aTune(&input, &output);
+
+//set to false to connect to the real world
+boolean useSimulation = true;
+
+void setup()
+{
+ if(useSimulation)
+ {
+ for(byte i=0;i<50;i++)
+ {
+ theta[i]=outputStart;
+ }
+ modelTime = 0;
+ }
+ //Setup the pid
+ myPID.SetMode(AUTOMATIC);
+
+ if(tuning)
+ {
+ tuning=false;
+ changeAutoTune();
+ tuning=true;
+ }
+
+ serialTime = 0;
+ Serial.begin(9600);
+
+}
+
+void loop()
+{
+
+ unsigned long now = millis();
+
+ if(!useSimulation)
+ { //pull the input in from the real world
+ input = analogRead(0);
+ }
+
+ if(tuning)
+ {
+ byte val = (aTune.Runtime());
+ if (val!=0)
+ {
+ tuning = false;
+ }
+ if(!tuning)
+ { //we're done, set the tuning parameters
+ kp = aTune.GetKp();
+ ki = aTune.GetKi();
+ kd = aTune.GetKd();
+ myPID.SetTunings(kp,ki,kd);
+ AutoTuneHelper(false);
+ }
+ }
+ else myPID.Compute();
+
+ if(useSimulation)
+ {
+ theta[30]=output;
+ if(now>=modelTime)
+ {
+ modelTime +=100;
+ DoModel();
+ }
+ }
+ else
+ {
+ analogWrite(0,output);
+ }
+
+ //send-receive with processing if it's time
+ if(millis()>serialTime)
+ {
+ SerialReceive();
+ SerialSend();
+ serialTime+=500;
+ }
+}
+
+void changeAutoTune()
+{
+ if(!tuning)
+ {
+ //Set the output to the desired starting frequency.
+ output=aTuneStartValue;
+ aTune.SetNoiseBand(aTuneNoise);
+ aTune.SetOutputStep(aTuneStep);
+ aTune.SetLookbackSec((int)aTuneLookBack);
+ AutoTuneHelper(true);
+ tuning = true;
+ }
+ else
+ { //cancel autotune
+ aTune.Cancel();
+ tuning = false;
+ AutoTuneHelper(false);
+ }
+}
+
+void AutoTuneHelper(boolean start)
+{
+ if(start)
+ ATuneModeRemember = myPID.GetMode();
+ else
+ myPID.SetMode(ATuneModeRemember);
+}
+
+
+void SerialSend()
+{
+ Serial.print("setpoint: ");Serial.print(setpoint); Serial.print(" ");
+ Serial.print("input: ");Serial.print(input); Serial.print(" ");
+ Serial.print("output: ");Serial.print(output); Serial.print(" ");
+ if(tuning){
+ Serial.println("tuning mode");
+ } else {
+ Serial.print("kp: ");Serial.print(myPID.GetKp());Serial.print(" ");
+ Serial.print("ki: ");Serial.print(myPID.GetKi());Serial.print(" ");
+ Serial.print("kd: ");Serial.print(myPID.GetKd());Serial.println();
+ }
+}
+
+void SerialReceive()
+{
+ if(Serial.available())
+ {
+ char b = Serial.read();
+ Serial.flush();
+ if((b=='1' && !tuning) || (b!='1' && tuning))changeAutoTune();
+ }
+}
+
+void DoModel()
+{
+ //cycle the dead time
+ for(byte i=0;i<49;i++)
+ {
+ theta[i] = theta[i+1];
+ }
+ //compute the input
+ input = (kpmodel / taup) *(theta[0]-outputStart) + input*(1-1/taup) + ((float)random(-10,10))/100;
+
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.cpp b/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.cpp
new file mode 100644
index 000000000..4d0e11eea
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.cpp
@@ -0,0 +1,196 @@
+#if ARDUINO >= 100
+ #include "Arduino.h"
+#else
+ #include "WProgram.h"
+#endif
+
+#include
+
+
+PID_ATune::PID_ATune(double* Input, double* Output)
+{
+ input = Input;
+ output = Output;
+ controlType =0 ; //default to PI
+ noiseBand = 0.5;
+ running = false;
+ oStep = 30;
+ SetLookbackSec(10);
+ lastTime = millis();
+
+}
+
+
+
+void PID_ATune::Cancel()
+{
+ running = false;
+}
+
+int PID_ATune::Runtime()
+{
+ justevaled=false;
+ if(peakCount>9 && running)
+ {
+ running = false;
+ FinishUp();
+ return 1;
+ }
+ unsigned long now = millis();
+
+ if((now-lastTime)absMax)absMax=refVal;
+ if(refValsetpoint+noiseBand) *output = outputStart-oStep;
+ else if (refVal=0;i--)
+ {
+ double val = lastInputs[i];
+ if(isMax) isMax = refVal>val;
+ if(isMin) isMin = refVal2)
+ { //we've transitioned. check if we can autotune based on the last peaks
+ double avgSeparation = (abs(peaks[peakCount-1]-peaks[peakCount-2])+abs(peaks[peakCount-2]-peaks[peakCount-3]))/2;
+ if( avgSeparation < 0.05*(absMax-absMin))
+ {
+ FinishUp();
+ running = false;
+ return 1;
+
+ }
+ }
+ justchanged=false;
+ return 0;
+}
+void PID_ATune::FinishUp()
+{
+ *output = outputStart;
+ //we can generate tuning parameters!
+ Ku = 4*(2*oStep)/((absMax-absMin)*3.14159);
+ Pu = (double)(peak1-peak2) / 1000;
+}
+
+double PID_ATune::GetKp()
+{
+ return controlType==1 ? 0.6 * Ku : 0.4 * Ku;
+}
+
+double PID_ATune::GetKi()
+{
+ return controlType==1? 1.2*Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
+}
+
+double PID_ATune::GetKd()
+{
+ return controlType==1? 0.075 * Ku * Pu : 0; //Kd = Kc * Td
+}
+
+void PID_ATune::SetOutputStep(double Step)
+{
+ oStep = Step;
+}
+
+double PID_ATune::GetOutputStep()
+{
+ return oStep;
+}
+
+void PID_ATune::SetControlType(int Type) //0=PI, 1=PID
+{
+ controlType = Type;
+}
+int PID_ATune::GetControlType()
+{
+ return controlType;
+}
+
+void PID_ATune::SetNoiseBand(double Band)
+{
+ noiseBand = Band;
+}
+
+double PID_ATune::GetNoiseBand()
+{
+ return noiseBand;
+}
+
+void PID_ATune::SetLookbackSec(int value)
+{
+ if (value<1) value = 1;
+
+ if(value<25)
+ {
+ nLookBack = value * 4;
+ sampleTime = 250;
+ }
+ else
+ {
+ nLookBack = 100;
+ sampleTime = value*10;
+ }
+}
+
+int PID_ATune::GetLookbackSec()
+{
+ return nLookBack * sampleTime / 1000;
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.h b/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.h
new file mode 100644
index 000000000..f029c062c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/auto-tune/PID_AutoTune_v0.h
@@ -0,0 +1,55 @@
+#ifndef PID_AutoTune_v0
+#define PID_AutoTune_v0
+#define LIBRARY_VERSION 0.0.1
+
+class PID_ATune
+{
+
+
+ public:
+ //commonly used functions **************************************************************************
+ PID_ATune(double*, double*); // * Constructor. links the Autotune to a given PID
+ int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
+ void Cancel(); // * Stops the AutoTune
+
+ void SetOutputStep(double); // * how far above and below the starting value will the output step?
+ double GetOutputStep(); //
+
+ void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
+ int GetControlType(); // or PID. (0=PI, 1=PID)
+
+ void SetLookbackSec(int); // * how far back are we looking to identify peaks
+ int GetLookbackSec(); //
+
+ void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
+ double GetNoiseBand(); // this should be acurately set
+
+ double GetKp(); // * once autotune is complete, these functions contain the
+ double GetKi(); // computed tuning parameters.
+ double GetKd(); //
+
+ private:
+ void FinishUp();
+ bool isMax, isMin;
+ double *input, *output;
+ double setpoint;
+ double noiseBand;
+ int controlType;
+ bool running;
+ unsigned long peak1, peak2, lastTime;
+ int sampleTime;
+ int nLookBack;
+ int peakType;
+ double lastInputs[101];
+ double peaks[10];
+ int peakCount;
+ bool justchanged;
+ bool justevaled;
+ double absMax, absMin;
+ double oStep;
+ double outputStart;
+ double Ku, Pu;
+
+};
+#endif
+
diff --git a/resources/workshop/projects/pid-controller/firmware/bridge.cpp b/resources/workshop/projects/pid-controller/firmware/bridge.cpp
new file mode 100644
index 000000000..b892d6ffc
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/bridge.cpp
@@ -0,0 +1,121 @@
+#include "bridge.h"
+#include
+#include
+#include "constants.h"
+
+typedef struct
+{
+ short key;
+ char *value;
+} TAddons;
+
+const TAddons addonsDict[]{};
+
+static VSL *_instance;
+class SKeyVal;
+SKeyVal *clazzMaps[20];
+Vector clazzes;
+
+class SKeyValS
+{
+public:
+ void *instance;
+ ushort id;
+ SKeyValS() {}
+ SKeyValS(void *_instance, ushort _id) : instance(_instance),
+ id(_id) {}
+};
+
+char *getAddonName(short key)
+{
+ for (uchar i = 0; i < sizeof(addonsDict) / sizeof(TAddons); ++i)
+ {
+ if (addonsDict[i].key == key)
+ {
+ return addonsDict[i].value;
+ }
+ }
+ return NULL;
+}
+short getAddonKey(String name)
+{
+ for (uchar i = 0; i < sizeof(addonsDict) / sizeof(TAddons); ++i)
+ {
+ if (name.equals(String(addonsDict[i].value)))
+ {
+ return addonsDict[i].value;
+ }
+ }
+ return -1;
+}
+
+void VSL::init()
+{
+ _instance = new VSL();
+ clazzes.setStorage(clazzMaps);
+}
+
+VSL *VSL::instance()
+{
+ if (!_instance)
+ {
+ VSL::init();
+ }
+ return _instance;
+}
+
+SKeyVal *VSL::hasMethod(ushort id, String methodName)
+{
+ uchar s = clazzes.size();
+ for (uchar i = 0; i < s; i++)
+ {
+
+ SKeyVal *val = clazzes.at(i);
+ if (val->key == id && val->methodName.equals(methodName))
+ {
+ return val;
+ }
+ }
+ return NULL;
+}
+void VSL::debug()
+{
+#ifdef BRIDGE_DEBUG
+ uchar s = clazzes.size();
+ for (uchar i = 0; i < s; i++)
+ {
+ SKeyVal *val = clazzes.at(i);
+ Serial.print(val->className);
+ Serial.print(":");
+ Serial.print(val->methodName);
+ Serial.print("\n");
+ }
+#endif
+}
+
+SKeyVal *VSL::registerMemberFunction(ushort id, Addon *clazz, char *method, AddonFnPtr ptr, char *ret)
+{
+ SKeyVal *meth = hasMethod(id, method);
+ if (meth)
+ {
+#ifdef BRIDGE_DEBUG
+ Serial << "Register class member: "
+ << SPACE(name << "::" << method)
+ << "already registered! \n";
+#endif
+ }
+ else
+ {
+#ifdef BRIDGE_DEBUG
+ if (!getAddonKey(name))
+ {
+ Serial.println("invalid addon key");
+ }
+#endif
+ meth = new SKeyVal(id, clazz, method, ptr);
+ //Serial << "Register member method:"
+ // << SPACE(meth->className << "::" << meth->methodName)
+ // << "\n";
+ clazzes.push_back(meth);
+ }
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/bridge.h b/resources/workshop/projects/pid-controller/firmware/bridge.h
new file mode 100644
index 000000000..1dc2c83ce
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/bridge.h
@@ -0,0 +1,81 @@
+#ifndef BRDIGE_H
+#define BRIDGE_H
+
+#include "Addon.h"
+#include
+class App;
+class SKeyVal;
+class SKeyValS;
+
+class SKeyVal
+{
+public:
+ short key;
+ void *instance;
+ String methodName;
+ AddonFnPtr mPtr;
+ SKeyVal() {}
+ SKeyVal(ushort _key, void *_instance, String _methodName, AddonFnPtr _mPtr) : key(_key),
+ instance(_instance),
+ methodName(_methodName),
+ mPtr(_mPtr) {}
+};
+class VSL
+{
+public:
+ SKeyVal *registerMemberFunction(
+ ushort id,
+ Addon *clazz,
+ char *method,
+ AddonFnPtr ptr,
+ char *ret);
+
+ static void init();
+ static VSL *instance();
+ SKeyVal *VSL::hasMethod(ushort id, String method);
+ void debug();
+};
+
+#define REGISTER_CLASS_MEMBER_FN(id, inst, methodName, method, ret) \
+ { \
+ VSL::instance()->registerMemberFunction(id, inst, methodName, method, "2"); \
+ }
+#endif
+
+namespace Bridge
+{
+
+static const char *START_STR = "<<";
+static const char *END_STR = ">>";
+static const char RESPONSE_DEL = ';';
+static const char *CreateResponse(short id, short error, short ret)
+{
+ static char response[1024] = {'\0'};
+ snprintf(response, sizeof(response), "%s%d%c%d%c%d%s\r", START_STR, id, RESPONSE_DEL, error, RESPONSE_DEL, ret, END_STR);
+ return response;
+}
+static const char *CreateResponse(short id, short error, const char *ret)
+{
+ static char response[1024] = {'\0'};
+ snprintf(response, sizeof(response), "%s%d%c%d%c%s%s\r", START_STR, id, RESPONSE_DEL, error, RESPONSE_DEL, ret, END_STR);
+ return response;
+}
+
+enum ECALLS
+{
+ EC_COMMAND = 1,
+ EC_METHOD = 2,
+ EC_FUNC = 3,
+ EC_USER = 10
+};
+
+enum MessageFlags
+{
+ NEW = 1,
+ PROCESSING = 2,
+ PROCESSED = 3,
+ DEBUG = 4,
+ RECEIPT = 5,
+ STATE = 6
+};
+} // namespace Bridge
diff --git a/resources/workshop/projects/pid-controller/firmware/common/Pin.h b/resources/workshop/projects/pid-controller/firmware/common/Pin.h
new file mode 100644
index 000000000..1d2688ca5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/common/Pin.h
@@ -0,0 +1,512 @@
+#ifndef PIN_H
+#define PIN_H
+
+// this class doesn't outperform fastgpio but is works with AtmelMega
+
+#include
+
+#define DDR_HIGH (*_DDR |= _offset) ///< Set the DDR register to HIGH for the pin
+#define DDR_TOGGLE (*_DDR ^= _offset) ///< Set the DDR register to the inverse for the pin
+#define DDR_LOW (*_DDR &= _ioffset) ///< Set the DDR register to LOW for the pin
+
+#define PORT_HIGH (*_PORT |= _offset) ///< Set the PORT register to HIGH for the pin
+#define PORT_TOGGLE (*_PORT ^= _offset) ///< Set the PORT register to the inverse for the pin
+#define PORT_LOW (*_PORT &= _ioffset) ///< Set the PORT register to LOW for the pin
+
+#define DDR_ON (*_DDR & _offset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 0
+#define DDR_OFF (*_DDR | _ioffset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 1
+
+#define PORT_ON (*_PORT & _offset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 0
+#define PORT_OFF (*_PORT | _ioffset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 1
+
+#define PIN_ON (*_PIN & _offset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 0
+#define PIN_OFF (*_PIN | _ioffset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 1
+
+class Pin
+{
+public:
+ Pin(uint8_t number)
+ {
+ _number = number;
+ _offset = digitalPinToBitMask(_number);
+ _ioffset = ~_offset;
+ _timer = digitalPinToTimer(_number);
+ _PIN = portInputRegister(digitalPinToPort(_number));
+ _PORT = portOutputRegister(digitalPinToPort(_number));
+ _DDR = portModeRegister(digitalPinToPort(_number));
+ }
+
+ /**
+ Custom board constructor
+
+ getAnalogValue() and setDutyCycle(int value) not supported
+
+ @param number pin number written on board
+ @param offset bit mask used to access pin in registers
+ @param timer timer for pin
+ @param PIN input register for pin
+ @param PORT data register for pin
+ @param DDR data direction register for pin
+ */
+ Pin(uint8_t number, uint8_t offset, uint8_t timer, volatile uint8_t *PIN, volatile uint8_t *PORT, volatile uint8_t *DDR)
+ {
+ _number = number;
+ _offset = offset;
+ _ioffset = ~_offset;
+ _timer = timer;
+ _PIN = PIN;
+ _PORT = PORT;
+ _DDR = DDR;
+ }
+
+ // ################################# Operators #################################
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return true if the value of the pin is HIGH, false otherwise
+ */
+ operator bool() const
+ {
+ return bool(PIN_ON);
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ Pin &operator=(uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+
+ return *this;
+ }
+
+ // ################################# Getters #################################
+
+ /**
+ Get the pin number
+
+ @return pin number
+ */
+ uint8_t getNumber()
+ {
+ return _number;
+ }
+
+ /**
+ Get the pin offset
+
+ @return pin offset
+ */
+ uint8_t getOffset()
+ {
+ return _offset;
+ }
+
+ /**
+ Get the inverse pin offset
+
+ @return inverse pin offset
+ */
+ uint8_t getInverseOffset()
+ {
+ return _ioffset;
+ }
+
+ /**
+ Get the pin timer
+
+ @return pin timer
+ */
+ uint8_t getTimer()
+ {
+ return _timer;
+ }
+
+ /**
+ Get a pointer to the PIN register
+
+ @return pointer to the PIN register
+ */
+ volatile uint8_t *getPIN()
+ {
+ return _PIN;
+ }
+
+ /**
+ Get a pointer to the PORT register
+
+ @return pointer to the PORT register
+ */
+ volatile uint8_t *getPORT()
+ {
+ return _PORT;
+ }
+
+ /**
+ Get a pointer to the DDR register
+
+ @return pointer to the DDR register
+ */
+ volatile uint8_t *getDDR()
+ {
+ return _DDR;
+ }
+
+ /**
+ Get the mode of the pin from the DDR register
+
+ @return mode of the pin (OUTPUT, INPUT)
+ */
+ uint8_t getMode()
+ {
+ if (DDR_ON)
+ {
+ return OUTPUT;
+ }
+ else
+ {
+ return INPUT;
+ }
+ }
+
+ /**
+ Get the state of the pin from the PORT register
+
+ @return state of the pin (HIGH, LOW)
+ */
+ uint8_t getState()
+ {
+ if (PORT_ON)
+ {
+ return HIGH;
+ }
+ else
+ {
+ return LOW;
+ }
+ }
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return value of the pin (HIGH, LOW)
+ */
+ uint8_t getValue()
+ {
+ if (PIN_ON)
+ {
+ return HIGH;
+ }
+ else
+ {
+ return LOW;
+ }
+ }
+
+ /**
+ Get the analog value of the pin
+
+ @return analog value of the pin (0-1023)
+ */
+ uint16_t getAnalogValue()
+ {
+ return analogRead(_number);
+ }
+
+ /**
+ Set the pin mode and pin state
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void set(uint8_t mode, uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ */
+ void setMode(uint8_t mode)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void setState(uint8_t state)
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ // #################### Input ####################
+
+ void setInput()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to on
+ */
+ void setPullupOn()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to off
+ */
+ void setPullupOff()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to on
+ */
+ void setInputPullupOn()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to off
+ */
+ void setInputPullupOff()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // #################### Output ####################
+
+ /**
+ Set the pin mode to output
+ */
+ void setOutput()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to HIGH
+ */
+ void setHigh()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to LOW
+ */
+ void setLow()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to HIGH
+ */
+ void setOutputHigh()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to LOW
+ */
+ void setOutputLow()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the PWM duty cycle
+
+ @param value the duty cycle (0-255)
+ */
+ void setDutyCycle(int value)
+ {
+ analogWrite(_number, value);
+ }
+
+ // ################################# Utilities #################################
+
+ /**
+ Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT)
+ */
+ void toggleMode()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ DDR_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ /**
+ Toggle the pin state (HIGH -> LOW, LOW -> HIGH)
+ */
+ void toggleState()
+ {
+ uint8_t oldSREG = SREG;
+ cli();
+ PORT_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ // #################### RC Timer ####################
+
+ /**
+ Set the pin mode to input and decrement a counter until the pin goes HIGH or the counter reaches 0 then set the pin mode to output and return the counter value
+
+ @param count the initial value for the counter to start at (0-65535)
+
+ @return the value remaining on the counter when the pin state went to HIGH or 0 if the counter reached 0
+ */
+ volatile unsigned int rcTimer(volatile unsigned int count)
+ {
+ uint8_t status;
+ asm volatile(
+ // Save interupt status and disable interupts
+ "in %[status], __SREG__ \n\t" // Store current interupt status in variable 's'
+ "cli \n\t" // Disable interupts
+
+ // Set Pin to input mode to start charging capacitor
+ "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__)
+ "and __tmp_reg__, %[_ioffset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the DDR register
+
+ // Count time before Pin becomes high
+ "loop%=: \n\t" // Label for looping
+ //"ld __tmp_reg__,%a[_PIN] \n\t" // Load the PIN register into r0 (__tmp_reg__)
+ "and __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "brne end%= \n\t" // End the loop if r0 (__tmp_reg__) is not equal to zero by branching to label 'end'
+ "dec %[count] \n\t" // Decrement the value of 'count' by one
+ "brne loop%= \n\t" // If the value of 'count' is not equal to zero continue the loop by branching to label 'loop'
+
+ // Done counting
+ "end%=: \n\t" // Label for ending loop
+ // Set Pin to output mode to start discharging capacitor
+ "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__)
+ "or __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__)
+ "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the PORT register
+
+ // Restore interupt status
+ "out __SREG__, %[status] \n\t" // Load interupt status from variable 's'
+
+ // Outputs
+ :
+ [ count ] "+r"(count), // The value the counter was at when the pin went high
+ [ status ] "=&r"(status) // The interupt status
+
+ // Inputs
+ :
+ [ _DDR ] "e"(_DDR), // The address of the DDR register for the pin
+ [ _PIN ] "e"(_PIN), // The address of the PIN register for the pin
+ [ _offset ] "r"(_offset), // The bit mask used to access pin in registers
+ [ _ioffset ] "r"(_ioffset) // The inverse bit mask used to access pin in registers
+ );
+
+ return count;
+ }
+
+private:
+ uint8_t _number;
+ uint8_t _offset;
+ uint8_t _ioffset;
+ uint8_t _timer;
+ volatile uint8_t *_PIN;
+ volatile uint8_t *_PORT;
+ volatile uint8_t *_DDR;
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/common/PinGroup.h b/resources/workshop/projects/pid-controller/firmware/common/PinGroup.h
new file mode 100644
index 000000000..dbbab12fb
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/common/PinGroup.h
@@ -0,0 +1,469 @@
+#ifndef PIN_GROUP_H
+#define PIN_GROUP_H
+
+#include "Pin.h"
+
+/**
+ Class for simultaneous operations on Arduino I/O pins
+ */
+class PinGroup
+{
+public:
+ template
+ PinGroup(Pin (&pins)[N])
+ {
+ _offset = pins[0].getOffset();
+ _PIN = pins[0].getPIN();
+ _PORT = pins[0].getPORT();
+ _DDR = pins[0].getDDR();
+ _numbers[0] = pins[0].getNumber();
+ _valid = true;
+
+ for (int i = 1; i < N; i++)
+ {
+ if (_DDR != pins[i].getDDR())
+ {
+ _valid = false;
+ }
+ _offset |= pins[i].getOffset();
+ _numbers[i] = pins[i].getNumber();
+ }
+ _ioffset = ~_offset;
+ }
+
+ // ################################# Operators #################################
+ /**
+ Compare the value of the pin
+
+ @param value the state of the pin (HIGH, LOW)
+
+ @return true if the value of all of the pins are equal to the value passed in, false otherwise
+ */
+ bool operator==(uint8_t value)
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return (value == HIGH);
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return (value == LOW);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ /**
+ Compare the value of the pin
+
+ @param value the state of the pin (HIGH, LOW)
+
+ @return true if the value of all of the pins are not equal to the value passed in, false otherwise
+ */
+ bool operator!=(uint8_t value)
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return (value == LOW);
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return (value == HIGH);
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ PinGroup &operator=(uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+
+ return *this;
+ }
+
+ // ################################# Getters #################################
+
+ /**
+ Get the pin numbers
+
+ @return array of pin numbers
+ */
+ uint8_t *getNumbers()
+ {
+ return _numbers;
+ }
+
+ /**
+ Get the pin offset
+
+ @return pin offset
+ */
+ uint8_t getOffset()
+ {
+ return _offset;
+ }
+
+ /**
+ Get the inverse pin offset
+
+ @return inverse pin offset
+ */
+ uint8_t getInverseOffset()
+ {
+ return _ioffset;
+ }
+
+ /**
+ Get a pointer to the PIN register
+
+ @return pointer to the PIN register
+ */
+ volatile uint8_t *getPIN()
+ {
+ return _PIN;
+ }
+
+ /**
+ Get a pointer to the PORT register
+
+ @return pointer to the PORT register
+ */
+ volatile uint8_t *getPORT()
+ {
+ return _PORT;
+ }
+
+ /**
+ Get a pointer to the DDR register
+
+ @return pointer to the DDR register
+ */
+ volatile uint8_t *getDDR()
+ {
+ return _DDR;
+ }
+
+ /**
+ Get the mode of the pin from the DDR register
+
+ @return mode of the pin (OUTPUT, INPUT, -1)
+ */
+ uint8_t getMode()
+ {
+ uint8_t status = *_DDR;
+ if ((status & _offset) == _offset)
+ {
+ return OUTPUT;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return INPUT;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Get the state of the pin from the PORT register
+
+ @return state of the pin (HIGH, LOW, -1)
+ */
+ uint8_t getState()
+ {
+ uint8_t status = *_PORT;
+ if ((status & _offset) == _offset)
+ {
+ return HIGH;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return LOW;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Get the value of the pin from the PIN register
+
+ @return value of the pin (HIGH, LOW, -1)
+ */
+ uint8_t getValue()
+ {
+ uint8_t status = *_PIN;
+ if ((status & _offset) == _offset)
+ {
+ return HIGH;
+ }
+ else if ((status | _ioffset) == _ioffset)
+ {
+ return LOW;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+
+ /**
+ Check the group to ensure all pins use the same registers
+
+ @return true if the pins in the group all use the same registers, false otherwise
+ */
+ bool isValid()
+ {
+ return _valid;
+ }
+
+ // ################################# Setters #################################
+
+ // #################### Generic ####################
+
+ /**
+ Set the pin mode and pin state
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void set(uint8_t mode, uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode
+
+ @param mode the mode of the pin (OUTPUT, INPUT)
+ */
+ void setMode(uint8_t mode)
+ {
+ oldSREG = SREG;
+ cli();
+ if (mode == INPUT)
+ {
+ DDR_LOW;
+ }
+ else
+ {
+ DDR_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin state
+
+ @param state the state of the pin (HIGH, LOW)
+ */
+ void setState(uint8_t state)
+ {
+ oldSREG = SREG;
+ cli();
+ if (state == LOW)
+ {
+ PORT_LOW;
+ }
+ else
+ {
+ PORT_HIGH;
+ }
+ SREG = oldSREG;
+ }
+
+ // #################### Input ####################
+
+ /**
+ Set the pin mode to input
+ */
+ void setInput()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to on
+ */
+ void setPullupOn()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin pullup resistor to off
+ */
+ void setPullupOff()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to on
+ */
+ void setInputPullupOn()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to input and the pin pullup resistor to off
+ */
+ void setInputPullupOff()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_LOW;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // #################### Output ####################
+
+ /**
+ Set the pin mode to output
+ */
+ void setOutput()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to HIGH
+ */
+ void setHigh()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin output to LOW
+ */
+ void setLow()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to HIGH
+ */
+ void setOutputHigh()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_HIGH;
+ SREG = oldSREG;
+ }
+
+ /**
+ Set the pin mode to output and the pin output to LOW
+ */
+ void setOutputLow()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_HIGH;
+ PORT_LOW;
+ SREG = oldSREG;
+ }
+
+ // ################################# Utilities #################################
+
+ // #################### Toggle ####################
+
+ /**
+ Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT)
+ */
+ void toggleMode()
+ {
+ oldSREG = SREG;
+ cli();
+ DDR_TOGGLE;
+ SREG = oldSREG;
+ }
+
+ /**
+ Toggle the pin state (HIGH -> LOW, LOW -> HIGH)
+ */
+ void toggleState()
+ {
+ oldSREG = SREG;
+ cli();
+ PORT_TOGGLE;
+ SREG = oldSREG;
+ }
+
+private:
+ uint8_t _numbers[8];
+ uint8_t _offset;
+ uint8_t _ioffset;
+ bool _valid;
+ uint8_t oldSREG;
+ volatile uint8_t *_PIN;
+ volatile uint8_t *_PORT;
+ volatile uint8_t *_DDR;
+};
diff --git a/resources/workshop/projects/pid-controller/firmware/common/macros.h b/resources/workshop/projects/pid-controller/firmware/common/macros.h
new file mode 100644
index 000000000..a25308726
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/common/macros.h
@@ -0,0 +1,98 @@
+#ifndef MACROS_H
+#define MACROS_H
+
+#include "../types.h"
+
+// Macros for adding
+#define INC_0 1
+#define INC_1 2
+#define INC_2 3
+#define INC_3 4
+#define INC_4 5
+#define INC_5 6
+#define INC_6 7
+#define INC_7 8
+#define INC_8 9
+#define INCREMENT_(n) INC_ ##n
+#define INCREMENT(n) INCREMENT_(n)
+
+// Macros for subtracting
+#define DEC_1 0
+#define DEC_2 1
+#define DEC_3 2
+#define DEC_4 3
+#define DEC_5 4
+#define DEC_6 5
+#define DEC_7 6
+#define DEC_8 7
+#define DEC_9 8
+#define DECREMENT_(n) DEC_ ##n
+#define DECREMENT(n) DECREMENT_(n)
+
+// compiler - & C quirks
+#define FORCE_INLINE __attribute__((always_inline)) inline
+#define _UNUSED __attribute__((unused))
+
+// fallback noop
+#define NOOP do{} while(0)
+
+//Option testing
+#define _CAT(a, ...) a ## __VA_ARGS__
+#define SWITCH_ENABLED_ 1
+#define ENABLED(b) _CAT(SWITCH_ENABLED_, b)
+
+// time
+#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
+#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
+
+#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
+#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
+#define HOUR_MS ((millis_t)1000 * (millis_t)(60 * 60))
+#define MIN_MS ((millis_t)1000 * (millis_t)(60))
+#define SECS ((millis_t)1000)
+
+// bit masks
+#undef _BV
+#define _BV(b) (1 << (b))
+#define TEST(n,b) !!((n)&_BV(b))
+#define SBI(n,b) (n |= _BV(b))
+#define CBI(n,b) (n &= ~_BV(b))
+#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
+
+#define _BV32(b) (1UL << (b))
+#define TEST32(n,b) !!((n)&_BV32(b))
+#define SBI32(n,b) (n |= _BV32(b))
+#define CBI32(n,b) (n &= ~_BV32(b))
+#define SIGN(a) ((a>0)-(a<0))
+
+// math basics
+
+#define WITHIN(V,L,H) ((V) >= (L) && (V) <= (H))
+#define NUMERIC(a) WITHIN(a, '0', '9')
+#define DECIMAL(a) (NUMERIC(a) || a == '.')
+#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+')
+#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+')
+#define COUNT(a) (sizeof(a)/sizeof(*a))
+#define ZERO(a) memset(a,0,sizeof(a))
+#define COPY(a,b) memcpy(a,b,MIN(sizeof(a),sizeof(b)))
+
+
+// #define M_PI 3.14159265358979323846f
+#define RADIANS(d) ((d)*M_PI/180.0f)
+#define DEGREES(r) ((r)*180.0f/M_PI)
+#define CEILING(x,y) (((x) + (y) - 1) / (y))
+
+// Macros for initializing arrays
+#define ARRAY_6(v1, v2, v3, v4, v5, v6, ...) { v1, v2, v3, v4, v5, v6 }
+#define ARRAY_5(v1, v2, v3, v4, v5, ...) { v1, v2, v3, v4, v5 }
+#define ARRAY_4(v1, v2, v3, v4, ...) { v1, v2, v3, v4 }
+#define ARRAY_3(v1, v2, v3, ...) { v1, v2, v3 }
+#define ARRAY_2(v1, v2, ...) { v1, v2 }
+#define ARRAY_1(v1, ...) { v1 }
+
+#define _ARRAY_N(N, ...) ARRAY_ ##N(__VA_ARGS__)
+#define ARRAY_N(N, ...) _ARRAY_N(N, __VA_ARGS__)
+
+#define SPACE(A) " " << A << " "
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/common/ppmath.h b/resources/workshop/projects/pid-controller/firmware/common/ppmath.h
new file mode 100644
index 000000000..93ac9d821
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/common/ppmath.h
@@ -0,0 +1,14 @@
+#ifndef PPMATH_H
+#define PPMATH_H
+
+template
+T clamp(const T &value, const T &low, const T &high)
+{
+ return value < low ? low : (value > high ? high : value);
+}
+
+#define RANGE(i, min, max) ((i > min) && (i < max)) ? true : false
+
+#define NCLAMP(x, min, max) (x - min) / (max - min)
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/common/timer.h b/resources/workshop/projects/pid-controller/firmware/common/timer.h
new file mode 100644
index 000000000..603d7583f
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/common/timer.h
@@ -0,0 +1,136 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include
+#else
+#include
+#endif
+
+#include "macros.h"
+
+#ifndef TIMER_MAX_TASKS
+#define TIMER_MAX_TASKS 0x10
+#endif
+
+template <
+ size_t max_tasks = TIMER_MAX_TASKS, /* max allocated tasks */
+ unsigned long (*time_func)() = millis /* time function for timer */
+ >
+class Timer
+{
+public:
+ typedef bool (*handler_t)(void *opaque); /* task handler func signature */
+ /* Calls handler with opaque as argument in delay units of time */
+ bool
+ in(unsigned long delay, handler_t h, void *opaque = NULL)
+ {
+ return add_task(time_func(), delay, h, opaque);
+ }
+
+ /* Calls handler with opaque as argument at time */
+ bool
+ at(unsigned long time, handler_t h, void *opaque = NULL)
+ {
+ const unsigned long now = time_func();
+ return add_task(now, time - now, h, opaque);
+ }
+
+ /* Calls handler with opaque as argument every interval units of time */
+ bool
+ every(unsigned long interval, handler_t h, void *opaque = NULL)
+ {
+ return add_task(time_func(), interval, h, opaque, interval);
+ }
+
+
+ /* Ticks the timer forward - call this function in loop() */
+ void
+ tick()
+ {
+ tick(time_func());
+ }
+
+ /* Ticks the timer forward - call this function in loop() */
+ inline void
+ tick(unsigned long t)
+ {
+ for (size_t i = 0; i < max_tasks; ++i)
+ {
+ struct task *const task = &tasks[i];
+ const unsigned long duration = t - task->start;
+
+ if (task->handler && duration >= task->expires)
+ {
+ task->repeat = task->handler(task->opaque) && task->repeat;
+
+ if (task->repeat)
+ task->start = t;
+ else
+ remove(task);
+ }else{
+ }
+ }
+ }
+
+private:
+ struct task
+ {
+ handler_t handler; /* task handler callback func */
+ void *opaque; /* argument given to the callback handler */
+ unsigned long start,
+ expires, /* when the task expires */
+ repeat; /* repeat task */
+ } tasks[max_tasks];
+
+ inline void
+ remove(struct task *task)
+ {
+ task->handler = NULL;
+ task->opaque = NULL;
+ task->start = 0;
+ task->expires = 0;
+ task->repeat = 0;
+ }
+
+ inline struct task *
+ next_task_slot()
+ {
+ for (size_t i = 0; i < max_tasks; ++i)
+ {
+ struct task *const slot = &tasks[i];
+ if (slot->handler == NULL)
+ return slot;
+ }
+
+ return NULL;
+ }
+
+ inline struct task *
+ add_task(unsigned long start, unsigned long expires,
+ handler_t h, void *opaque, bool repeat = 0)
+ {
+ struct task *const slot = next_task_slot();
+
+ if (!slot){
+ return NULL;
+ }
+
+ slot->handler = h;
+ slot->opaque = opaque;
+ slot->start = start;
+ slot->expires = expires;
+ slot->repeat = repeat;
+
+ return slot;
+ }
+};
+
+/* create a timer with the default settings */
+inline Timer<>
+timer_create_default()
+{
+ return Timer<>();
+}
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/components/3PosAnalog.h b/resources/workshop/projects/pid-controller/firmware/components/3PosAnalog.h
new file mode 100644
index 000000000..f43d816da
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/components/3PosAnalog.h
@@ -0,0 +1,80 @@
+#ifndef POS3_ANALOG_H
+#define POS3_ANALOG_H
+
+#include
+#include "../enums.h"
+#include "../common/ppmath.h"
+
+class Pos3Analog
+{
+public:
+ Pos3Analog(short _upPin, short _downPin) : upPin(_upPin), downPin(_downPin)
+ {
+ }
+
+ short setup()
+ {
+ pinMode(upPin, INPUT_PULLUP);
+ pinMode(downPin, INPUT_PULLUP);
+ last_switch = loop();
+ return 0;
+ }
+
+ short loop()
+ {
+ uchar newDirection = this->read();
+
+ if (newDirection != this->switch_pos)
+ {
+ this->last_switch = this->switch_pos;
+ }
+ this->switch_pos = newDirection;
+ return this->switch_pos;
+ }
+
+ short last_switch = -1; // Track last switch position
+ short switch_pos = -1; // Current switch position
+ short upPin;
+ short downPin;
+
+
+private:
+ uchar read()
+ {
+
+ bool up = RANGE(analogRead(upPin), 240, 260);
+ bool down = RANGE(analogRead(downPin), 240, 260);
+
+ uchar newDirection = 0;
+
+ if (up)
+ {
+ newDirection = POS3_DIRECTION::UP;
+ }
+ if (down)
+ {
+ newDirection = POS3_DIRECTION::DOWN;
+ }
+ if (!up && !down)
+ {
+ newDirection = POS3_DIRECTION::MIDDLE;
+ }
+ if (up && down)
+ {
+ newDirection = POS3_DIRECTION::INVALID;
+ }
+ return newDirection;
+ }
+
+ bool changed()
+ {
+ return last_switch != switch_pos;
+ }
+
+ bool clear()
+ {
+ return last_switch = switch_pos;
+ }
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/components/3pos.h b/resources/workshop/projects/pid-controller/firmware/components/3pos.h
new file mode 100644
index 000000000..defa892df
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/components/3pos.h
@@ -0,0 +1,81 @@
+#ifndef POS3_H
+#define POS3_H
+
+#include
+#include "../enums.h"
+
+class Pos3
+{
+public:
+ Pos3(int _upPin, int _downPin) : upPin(_upPin), downPin(_downPin)
+ {
+ }
+
+ int setup()
+ {
+
+ this->debouncerUp = Bounce();
+ this->debouncerUp.attach(this->upPin, INPUT_PULLUP);
+ this->debouncerUp.interval(25);
+
+ this->debouncerDown = Bounce();
+ this->debouncerDown.attach(this->downPin, INPUT_PULLUP);
+ this->debouncerDown.interval(25);
+ return 0;
+ }
+ int loop()
+ {
+ int newDirection = this->read();
+
+ if (newDirection != this->switch_pos)
+ {
+ this->last_switch = this->switch_pos;
+ }
+ this->switch_pos = newDirection;
+
+ return this->switch_pos;
+ }
+
+ int last_switch = -1; // Track last switch position
+ int switch_pos = -1; // Current switch position
+
+protected:
+ int upPin;
+ int downPin;
+
+ Bounce debouncerUp;
+ Bounce debouncerDown;
+
+private:
+ int read()
+ {
+
+ this->debouncerUp.update();
+ this->debouncerDown.update();
+
+ bool up = this->debouncerUp.read() == 0 ? true : false;
+ bool down = this->debouncerDown.read() == 0 ? true : false;
+
+ int newDirection = 0;
+
+ if (up)
+ {
+ newDirection = POS3_DIRECTION::UP;
+ }
+ if (down)
+ {
+ newDirection = POS3_DIRECTION::DOWN;
+ }
+ if (!up && !down)
+ {
+ newDirection = POS3_DIRECTION::MIDDLE;
+ }
+ if (up && down)
+ {
+ newDirection = POS3_DIRECTION::INVALID;
+ }
+ return newDirection;
+ }
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/components/TemperatureSensor.h b/resources/workshop/projects/pid-controller/firmware/components/TemperatureSensor.h
new file mode 100644
index 000000000..e17f9953c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/components/TemperatureSensor.h
@@ -0,0 +1,42 @@
+#ifndef TEMPERATURE_SENSOR_H
+#define TEMPERATURE_SENSOR_H
+
+#include
+#include "../config.h"
+#include "../macros.h"
+#include "../time.h"
+
+class TemperatureSensor
+{
+
+public:
+ TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)),
+ temperature(),
+ temperature_TS(millis()),
+ maxTemp(_max),
+ interval(_interval) {}
+
+ bool ok()
+ {
+ return temperature < maxTemp;
+ }
+
+ void loop()
+ {
+
+ if (millis() - temperature_TS > interval)
+ {
+ temperature_TS = millis();
+ temperature = ktc.readCelsius();
+ }
+ }
+
+private:
+ MAX6675 ktc;
+ short temperature;
+ short maxTemp;
+ short interval;
+ millis_t temperature_TS;
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/config.h b/resources/workshop/projects/pid-controller/firmware/config.h
new file mode 100644
index 000000000..b12f29602
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/config.h
@@ -0,0 +1,91 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include "enums.h"
+#include "common/macros.h"
+#include
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Core settings
+//
+
+#define LOOP_DELAY 500 // Our frame time, exluding delays in some places
+#define BOOT_DELAY 1000 // Wait at least this amount in ms after boot before doing anything
+
+// Please consider to set this to false for production - especially with the full feature set since this is requiring extra
+// time for the serial communication and will affect the overall framerate/performance
+// #define DEBUG true
+
+#define DEBUG_INTERVAL 1000
+#define DEBUG_BAUD_RATE 19200 // Serial port speed
+
+#define RELAY_ON 0 // The relay bank's on value (eg: normally closed)
+#define RELAY_OFF 255 // The relay bank's off value (eg: normally closed)
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Machine settings
+//
+
+// #define USE_MEGA // On Arduino Uno we have only limited ports which are not enough to enable all features.
+#define USE_CONTROLLINO
+// #define HAS_AUTOREVERSE
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// General switches
+
+// Reset button - uncomment to activate. This will unlock the fatal state in case of jamming or other problems.
+//#define HAS_RESET
+#define RESET_PIN 3
+#define RESET_DELAY 1000 // Time to wait when reset has been hit or hold. This is good to give the system some time
+#define RESET_FATAL true // Makes the reset button act as emergency button. User has to go into stop positon first to unlock it again otherwise it keeps spinning after the RESET_DELAY
+#define RESET_INTERVAL 300 // Interval to read the NC reset button
+#define RESET_NC true // Toggles the reset button type between NC and NO
+
+// Operation Mode Switch
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Heating Cell/Partition
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Feedback
+
+// Status LEDS (ok, error) - uncomment to activate
+#define HAS_STATUS
+#define STATUS_OK_PIN CONTROLLINO_D2
+#define STATUS_ERROR_PIN CONTROLLINO_D3
+
+
+#define FIRMWARE_VERSION 0.7
+
+////////////////////////////////////////////////////////////////
+//
+// HMI Bridge
+//
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// externals
+//
+
+// pull in internal constants
+#include "constants.h"
+
+// pull in internal configs
+#include "config_adv.h"
+
+// The user_config.h is initially added to the github repository but changes will be ignored via .gitignore. Please keep this file safe and possibly
+// on a per tenant base stored. You can override parameters in this file by using #undef SOME_PARAMETER and then re-define again if needed, otherwise disable
+// default features by using #undef FEATURE_OR_PARAMETER.
+// This presents the possibilty to play with the code whilst staying in the loop with latest updates.
+#include "user_config.h"
+
+// At last we check all configs and spit compiler errors
+#include "config_validator.h"
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/config/known_16bit_timers.h b/resources/workshop/projects/pid-controller/firmware/config/known_16bit_timers.h
new file mode 100644
index 000000000..bdae33021
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/config/known_16bit_timers.h
@@ -0,0 +1,153 @@
+#ifndef known_16bit_timers_header_
+#define known_16bit_timers_header_
+
+// Wiring-S
+//
+#if defined(__AVR_ATmega644P__) && defined(WIRING)
+ #define TIMER1_A_PIN 5
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 6
+
+// Teensy 2.0
+//
+#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY)
+ #define TIMER1_A_PIN 14
+ #define TIMER1_B_PIN 15
+ #define TIMER1_C_PIN 4
+ #define TIMER1_ICP_PIN 22
+ #define TIMER1_CLK_PIN 11
+ #define TIMER3_A_PIN 9
+ #define TIMER3_ICP_PIN 10
+
+// Teensy++ 2.0
+#elif defined(__AVR_AT90USB1286__) && defined(CORE_TEENSY)
+ #define TIMER1_A_PIN 25
+ #define TIMER1_B_PIN 26
+ #define TIMER1_C_PIN 27
+ #define TIMER1_ICP_PIN 4
+ #define TIMER1_CLK_PIN 6
+ #define TIMER3_A_PIN 16
+ #define TIMER3_B_PIN 15
+ #define TIMER3_C_PIN 14
+ #define TIMER3_ICP_PIN 17
+ #define TIMER3_CLK_PIN 13
+
+// Teensy 3.0
+//
+#elif defined(__MK20DX128__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+
+// Teensy 3.1 / Teensy 3.2
+//
+#elif defined(__MK20DX256__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+ #define TIMER3_A_PIN 32
+ #define TIMER3_B_PIN 25
+ #define TIMER3_ICP_PIN 32
+
+// Teensy 3.5 / Teensy 3.6
+//
+#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
+ #define TIMER1_A_PIN 3
+ #define TIMER1_B_PIN 4
+ #define TIMER1_ICP_PIN 4
+ #define TIMER3_A_PIN 29
+ #define TIMER3_B_PIN 30
+ #define TIMER3_ICP_PIN 29
+
+// Teensy-LC
+//
+#elif defined(__MKL26Z64__)
+ #define TIMER1_A_PIN 16
+ #define TIMER1_B_PIN 17
+ #define TIMER1_ICP_PIN 17
+ #define TIMER3_A_PIN 3
+ #define TIMER3_B_PIN 4
+ #define TIMER3_ICP_PIN 4
+
+// Arduino Mega
+//
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+ #define TIMER1_A_PIN 11
+ #define TIMER1_B_PIN 12
+ #define TIMER1_C_PIN 13
+ #define TIMER3_A_PIN 5
+ #define TIMER3_B_PIN 2
+ #define TIMER3_C_PIN 3
+ #define TIMER4_A_PIN 6
+ #define TIMER4_B_PIN 7
+ #define TIMER4_C_PIN 8
+ #define TIMER4_ICP_PIN 49
+ #define TIMER5_A_PIN 46
+ #define TIMER5_B_PIN 45
+ #define TIMER5_C_PIN 44
+ #define TIMER3_ICP_PIN 48
+ #define TIMER3_CLK_PIN 47
+
+// Arduino Leonardo, Yun, etc
+//
+#elif defined(__AVR_ATmega32U4__)
+ #define TIMER1_A_PIN 9
+ #define TIMER1_B_PIN 10
+ #define TIMER1_C_PIN 11
+ #define TIMER1_ICP_PIN 4
+ #define TIMER1_CLK_PIN 12
+ #define TIMER3_A_PIN 5
+ #define TIMER3_ICP_PIN 13
+
+// Uno, Duemilanove, LilyPad, etc
+//
+#elif defined (__AVR_ATmega168__) || defined (__AVR_ATmega328P__)
+ #define TIMER1_A_PIN 9
+ #define TIMER1_B_PIN 10
+ #define TIMER1_ICP_PIN 8
+ #define TIMER1_CLK_PIN 5
+
+// Sanguino
+//
+#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
+ #define TIMER1_A_PIN 13
+ #define TIMER1_B_PIN 12
+ #define TIMER1_ICP_PIN 14
+ #define TIMER1_CLK_PIN 1
+
+// Wildfire - Wicked Devices
+//
+#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION >= 3
+ #define TIMER1_A_PIN 5 // PD5
+ #define TIMER1_B_PIN 8 // PD4
+ #define TIMER1_ICP_PIN 6 // PD6
+ #define TIMER1_CLK_PIN 23 // PB1
+ #define TIMER3_A_PIN 12 // PB6
+ #define TIMER3_B_PIN 13 // PB7
+ #define TIMER3_ICP_PIN 9 // PB5
+ #define TIMER3_CLK_PIN 0 // PD0
+#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION < 3
+ #define TIMER1_A_PIN 5 // PD5
+ #define TIMER1_B_PIN 4 // PD4
+ #define TIMER1_ICP_PIN 6 // PD6
+ #define TIMER1_CLK_PIN 15 // PB1
+ #define TIMER3_A_PIN 12 // PB6
+ #define TIMER3_B_PIN 13 // PB7
+ #define TIMER3_ICP_PIN 11 // PB5
+ #define TIMER3_CLK_PIN 0 // PD0
+
+// Mighty-1284 - Maniacbug
+//
+#elif defined(__AVR_ATmega1284P__)
+ #define TIMER1_A_PIN 12 // PD5
+ #define TIMER1_B_PIN 13 // PD4
+ #define TIMER1_ICP_PIN 14 // PD6
+ #define TIMER1_CLK_PIN 1 // PB1
+ #define TIMER3_A_PIN 6 // PB6
+ #define TIMER3_B_PIN 7 // PB7
+ #define TIMER3_ICP_PIN 5 // PB5
+ #define TIMER3_CLK_PIN 8 // PD0
+
+#endif
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/config_adv.h b/resources/workshop/projects/pid-controller/firmware/config_adv.h
new file mode 100644
index 000000000..5a43fc5a2
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/config_adv.h
@@ -0,0 +1,21 @@
+#ifndef CONFIG_ADV_H
+#define CONFIG_ADV_H
+
+
+// Error codes
+//
+#define E_MSG_OK "Ok"
+
+// common operating failures
+#define E_OK 0 //all good
+#define E_STUCK 100 //Shredder stuck
+
+// power failures
+
+// sensor failures
+
+////////////////////////////
+//
+// sub system failures
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/config_validator.h b/resources/workshop/projects/pid-controller/firmware/config_validator.h
new file mode 100644
index 000000000..0595fa50b
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/config_validator.h
@@ -0,0 +1,7 @@
+#ifndef CONFIG_VALIDATOR
+#define CONFIG_VALIDATOR
+
+#include "common/macros.h"
+
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/constants.h b/resources/workshop/projects/pid-controller/firmware/constants.h
new file mode 100644
index 000000000..1d4b184eb
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/constants.h
@@ -0,0 +1,19 @@
+#ifndef CONSTANTS_H
+#define CONSTANTS_H
+
+#include "enums.h"
+
+/////////////////////////////////////////////////////////////////////////
+//
+// Addons
+//
+
+#define CURRENT_SENSOR_STR "CurrentSensor"
+#define ENCLOSURE_SENSOR_STR "EnclosureSensor"
+#define POWER_STR "Power"
+#define OPERATION_MODE_SWITCH_STR "OperationModeSwitch"
+#define APP_STR "App"
+#define STATUS_STR "Status LED"
+#define MPID_CTRL_STR "Multi - PID Controller"
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/enums.h b/resources/workshop/projects/pid-controller/firmware/enums.h
new file mode 100644
index 000000000..0e7da0a64
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/enums.h
@@ -0,0 +1,89 @@
+#ifndef ENUMS_H
+#define ENUMS_H
+
+enum PIN_TYPE
+{
+ ANALOG,
+ DIGITAL
+};
+
+enum BOARD
+{
+ UNO,
+ MEGA
+};
+
+enum PARTITION_STATE
+{
+ OFF = 0,
+ HEATING = 1
+ AUTO_TUNING = 2,
+ AUTO = 3,
+ DISABLED = 4,
+ ERROR = 10
+};
+
+enum CONTROL_MODE
+{
+ OP_PANEL = 1, // OLED & Keypad
+ EXTERN = 2 // RS485
+};
+
+enum RUN_MODE
+{
+ PID = 0, // Normal PID mode
+ MANUAL = 1, // Debugging / Operator
+ TEST = 2, // Run remote tests
+ ERROR = 3
+ LOCKED = 4
+};
+
+enum ADDON_FLAGS
+{
+ DEBUG = 1,
+ INFO = 2,
+ LOOP = 3,
+ DISABLED = 4,
+ SETUP = 5,
+ MAIN = 6,
+ STATE = 7
+};
+
+enum ADDONS
+{
+ ENCLOSURE_SENSOR = 6,
+ DIP_SWITCH = 10,
+ POWER = 11,
+ OPERATION_MODE_SWITCH = 20,
+ SERIAL_BRIDGE = 23,
+ APP = 25,
+ MODBUS_BRIDGE = 26,
+ CURRENT_SENSOR = 32,
+ STATUS = 33,
+ MPIDCTRL = 34,
+ LAST = 64
+};
+
+enum POWER_CIRCUIT
+{
+ POWER_1 = 0,
+ POWER_2 = 1,
+ POWER_3 = 1
+};
+
+enum OPERATION_MODE
+{
+ OP_NONE = 0,
+ OP_NORMAL = 1,
+ OP_DEBUG = 2,
+ OP_SERVICE = 3,
+ OP_TEST
+};
+enum ERROR
+{
+ ERROR_OK = 0,
+ ERROR_WARNING = 1,
+ ERROR_FATAL = 2
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/features.h b/resources/workshop/projects/pid-controller/firmware/features.h
new file mode 100644
index 000000000..3601992f9
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/features.h
@@ -0,0 +1,14 @@
+#ifndef FEATURES_H
+#define FEATURES_H
+
+#ifdef HAS_RESET
+ #include "reset.h"
+#endif
+
+#include "addons/CurrentSensor.h"
+
+#ifdef HAS_STATUS
+ #include "addons/Status.h"
+#endif
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/firmware.ino b/resources/workshop/projects/pid-controller/firmware/firmware.ino
new file mode 100644
index 000000000..10dde87bc
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/firmware.ino
@@ -0,0 +1,12 @@
+#include "app.h"
+
+App app = App();
+
+void setup(){
+ app.setup();
+ app.info();
+ Serial.println("------------------ Ready -------------------------------------- ");
+}
+void loop(){
+ app.loop();
+}
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/package.json b/resources/workshop/projects/pid-controller/firmware/package.json
new file mode 100644
index 000000000..0f8253fc6
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/package.json
@@ -0,0 +1,28 @@
+{
+ "name": "@plastichub/pid-firmware",
+ "version": "0.1",
+ "description": "",
+ "main": "index.js",
+ "cid": 0,
+ "scripts": {
+ "test": "echo \"Error: no test specified\" && exit 1"
+ },
+ "repository": {
+ "type": "git",
+ "url": "git+https://gitlab.com/plastichub/osr/firmware.git"
+ },
+ "keywords": [
+ "precious",
+ "plastic"
+ ],
+ "author": "PlasticHUB",
+ "license": "GPL-3.0-or-later",
+ "bugs": {
+ "url": "https://gitlab.com/plastichub/osr/firmware/issues"
+ },
+ "homepage": "https://gitlab.com/plastichub/osr/firmware#readme",
+ "dependencies": {
+ "@xblox/fs": "^0.13.19",
+ "simple-git": "^1.131.0"
+ }
+}
diff --git a/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.cpp b/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.cpp
new file mode 100644
index 000000000..6ba5f40c4
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.cpp
@@ -0,0 +1,93 @@
+#include "ppmath_statistics.h"
+
+Statistic::Statistic()
+{
+ clear();
+}
+
+// resets all counters
+void Statistic::clear()
+{
+ _cnt = 0;
+ _sum = 0;
+ _min = 0;
+ _max = 0;
+#ifdef STAT_USE_STDEV
+ _ssqdif = 0.0; // not _ssq but sum of square differences
+ // which is SUM(from i = 1 to N) of
+ // (f(i)-_ave_N)**2
+#endif
+}
+
+// adds a new value to the data-set
+void Statistic::add(const float value)
+{
+ if (_cnt == 0)
+ {
+ _min = value;
+ _max = value;
+ }
+ else
+ {
+ if (value < _min)
+ _min = value;
+ else if (value > _max)
+ _max = value;
+ }
+ _sum += value;
+ _cnt++;
+
+#ifdef STAT_USE_STDEV
+ if (_cnt > 1)
+ {
+ float _store = (_sum / _cnt - value);
+ _ssqdif = _ssqdif + _cnt * _store * _store / (_cnt - 1);
+ // ~10% faster but limits the amount of samples to 65K as _cnt*_cnt overflows
+ // float _store = _sum - _cnt * value;
+ // _ssqdif = _ssqdif + _store * _store / (_cnt*_cnt - _cnt);
+ }
+#endif
+}
+
+// returns the average of the data-set added sofar
+float Statistic::average() const
+{
+ if (_cnt == 0)
+ return NAN; // original code returned 0
+ return _sum / _cnt;
+}
+
+// Population standard deviation = s = sqrt [ S ( Xi - � )2 / N ]
+// http://www.suite101.com/content/how-is-standard-deviation-used-a99084
+#ifdef STAT_USE_STDEV
+
+float Statistic::variance() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return _ssqdif / _cnt;
+}
+
+float Statistic::mean() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return this->sum() / _cnt;
+}
+
+float Statistic::pop_stdev() const
+{
+ if (_cnt == 0)
+ return NAN; // otherwise DIV0 error
+ return sqrt(_ssqdif / _cnt);
+}
+
+float Statistic::unbiased_stdev() const
+{
+ if (_cnt < 2)
+ return NAN; // otherwise DIV0 error
+ return sqrt(_ssqdif / (_cnt - 1));
+}
+
+#endif
+// END OF FILE
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.h b/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.h
new file mode 100644
index 000000000..01d8887b9
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/ppmath_statistics.h
@@ -0,0 +1,116 @@
+#ifndef PPMATH_STATISTICS_H
+#define PPMATH_STATISTICS_H
+
+#include
+#include
+
+#define STAT_USE_STDEV
+
+#ifdef __cplusplus
+
+// C++11 solution that is standards compliant. Return type is deduced automatically
+template
+static inline constexpr auto MIN(const L lhs, const R rhs) -> decltype(lhs + rhs)
+{
+ return lhs < rhs ? lhs : rhs;
+}
+template
+static inline constexpr auto MAX(const L lhs, const R rhs) -> decltype(lhs + rhs)
+{
+ return lhs > rhs ? lhs : rhs;
+}
+template
+static inline constexpr const T ABS(const T v)
+{
+ return v >= 0 ? v : -v;
+}
+#else
+// Using GCC extensions, but Travis GCC version does not like it and gives
+// "error: statement-expressions are not allowed outside functions nor in template-argument lists"
+#define MIN(a, b) \
+ ({__typeof__(a) _a = (a); \
+ __typeof__(b) _b = (b); \
+ _a < _b ? _a : _b; })
+
+#define MAX(a, b) \
+ ({__typeof__(a) _a = (a); \
+ __typeof__(b) _b = (b); \
+ _a > _b ? _a : _b; })
+
+#define ABS(a) \
+ ({__typeof__(a) _a = (a); \
+ _a >= 0 ? _a : -_a; })
+
+#endif
+
+class Statistic
+{
+public:
+ Statistic(); // "switches on/off" stdev run time
+ void clear(); // "switches on/off" stdev run time
+ void add(const float);
+
+ // returns the number of values added
+ uint32_t count() const { return _cnt; }; // zero if empty
+ float sum() const { return _sum; }; // zero if empty
+ float minimum() const { return _min; }; // zero if empty
+ float maximum() const { return _max; }; // zero if empty
+ float average() const; // NAN if empty
+ float mean() const; // zero if empty
+
+#ifdef STAT_USE_STDEV
+ float variance() const; // NAN if empty
+ float pop_stdev() const; // population stdev // NAN if empty
+ float unbiased_stdev() const; // NAN if empty
+#endif
+
+protected:
+ uint32_t _cnt;
+ float _sum;
+ float _min;
+ float _max;
+#ifdef STAT_USE_STDEV
+ float _ssqdif; // sum of squares difference
+#endif
+};
+
+/**
+ * Returns the kth q-quantile.
+ * @link http://en.wikipedia.org/wiki/Quantile#Quantiles_of_a_population
+ * ie: median is 1st 2-quantile
+ * ie: upper quartile is 3rd 4-quantile
+ * @return {Number} q-quantile of values.
+ */
+/*
+const quantile = (arr: number[], i: number, n: number) => {
+ if (i === 0) return Math.min.apply(null, arr);
+ if (i === n) return Math.max.apply(null, arr);
+
+ let sorted = arr.slice(0);
+ sorted.sort((a, b) => a - b);
+ let index = sorted.length * i / n;
+
+ if (index % 1 === 0) {
+ return 0.5 * sorted[index - 1] + 0.5 * sorted[index];
+ }
+
+ return sorted[~~index];
+};
+
+export const median = (arr: number[]) => quantile(arr, 1, 2);
+
+export const sum = (arr: number[]) => arr.reduce((a, b) => a + b, 0);
+
+export const mean = (arr: number[]) => sum(arr) / arr.length;
+
+
+// sqare errors along mean
+const sdiff = (arr: number[], mean: number) => arr.map((v) =>
+ Math.pow(v - mean, 2)
+);
+
+export const standardDeviation = (arr: number[]) =>
+ Math.sqrt(mean(sdiff(arr, mean(arr))));
+*/
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/types.h b/resources/workshop/projects/pid-controller/firmware/types.h
new file mode 100644
index 000000000..c33a7a3a5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/types.h
@@ -0,0 +1,11 @@
+#ifndef TYPES_H
+#define TYPES_H
+
+#include
+
+typedef unsigned long millis_t;
+typedef unsigned short ushort;
+typedef unsigned char uchar;
+
+
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/firmware/user_config.h b/resources/workshop/projects/pid-controller/firmware/user_config.h
new file mode 100644
index 000000000..a0c1ec4c8
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/user_config.h
@@ -0,0 +1,4 @@
+#ifndef USER_CONFIG_H
+#define USER_CONFIG_H
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/firmware/util/crc16.h b/resources/workshop/projects/pid-controller/firmware/util/crc16.h
new file mode 100644
index 000000000..3ed528e99
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/firmware/util/crc16.h
@@ -0,0 +1,88 @@
+/**
+@file
+CRC Computations
+
+@defgroup util_crc16 "util/crc16.h": CRC Computations
+@code#include "util/crc16.h"@endcode
+
+This header file provides functions for calculating
+cyclic redundancy checks (CRC) using common polynomials.
+Modified by Doc Walker to be processor-independent (removed inline
+assembler to allow it to compile on SAM3X8E processors).
+
+@par References:
+Jack Crenshaw's "Implementing CRCs" article in the January 1992 issue of @e
+Embedded @e Systems @e Programming. This may be difficult to find, but it
+explains CRC's in very clear and concise terms. Well worth the effort to
+obtain a copy.
+
+*/
+/* Copyright (c) 2002, 2003, 2004 Marek Michalkiewicz
+ Copyright (c) 2005, 2007 Joerg Wunsch
+ Copyright (c) 2013 Dave Hylands
+ Copyright (c) 2013 Frederic Nadeau
+ Copyright (c) 2015 Doc Walker
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in
+ the documentation and/or other materials provided with the
+ distribution.
+
+ * Neither the name of the copyright holders nor the names of
+ contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE. */
+
+
+#ifndef _UTIL_CRC16_H_
+#define _UTIL_CRC16_H_
+
+
+/** @ingroup util_crc16
+ Processor-independent CRC-16 calculation.
+
+ Polynomial: x^16 + x^15 + x^2 + 1 (0xA001)
+
+enum button_t
+{
+ BUTTON_NONE,
+ BUTTON_RETURN,
+ BUTTON_UP,
+ BUTTON_DOWN,
+ BUTTON_OK
+};
+
+enum buttonState_t
+{
+ BUTTON_STATE_SCAN,
+ BUTTON_STATE_DEBOUNCE,
+ BUTTON_STATE_RELEASE
+};
+
+#define BUTTON_NONE_THRESHOLD 1000
+#define TOLERANCE 1.1
+#define DEBOUNCE_PERIOD 100
+
+class AnalogButton
+{
+ public:
+ AnalogButton(uint8_t analogPin, int buttonValueReturn,
+ int buttonValueUp, int buttonValueDown,
+ int buttonValueOk);
+
+ button_t get(void);
+
+ private:
+ button_t read(void);
+
+ // Analog pin used as button multiplexer
+ uint8_t buttonPin;
+ // Upper boound ADC value for each button
+ int buttonValueThresholdReturn;
+ int buttonValueThresholdUp;
+ int buttonValueThresholdDown;
+ int buttonValueThresholdOk;
+};
+
+#endif
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/EEPROMAnything.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/EEPROMAnything.h
new file mode 100644
index 000000000..c548cbf61
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/EEPROMAnything.h
@@ -0,0 +1,20 @@
+#include
+#include // for type definitions
+
+template int EEPROM_writeAnything(int ee, const T& value)
+{
+ const byte* p = (const byte*)(const void*)&value;
+ unsigned int i;
+ for (i = 0; i < sizeof(value); i++)
+ EEPROM.write(ee++, *p++);
+ return i;
+}
+
+template int EEPROM_readAnything(int ee, T& value)
+{
+ byte* p = (byte*)(void*)&value;
+ unsigned int i;
+ for (i = 0; i < sizeof(value); i++)
+ *p++ = EEPROM.read(ee++);
+ return i;
+}
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855.cpp b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855.cpp
new file mode 100644
index 000000000..ea3a1f5e9
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855.cpp
@@ -0,0 +1,230 @@
+/*******************************************************************************
+* MAX31855 Library
+* Version: 1.10
+* Date: 24-07-2012
+* Company: Rocket Scream Electronics
+* Website: www.rocketscream.com
+*
+* This is a MAX31855 library for Arduino. Please check our wiki
+* (www.rocketscream.com/wiki) for more information on using this piece of
+* library.
+*
+* This library is licensed under Creative Commons Attribution-ShareAlike 3.0
+* Unported License.
+*
+* Revision Description
+* ======== ===========
+* 1.10 Added negative temperature support for both junction & thermocouple.
+* 1.00 Initial public release.
+*
+*******************************************************************************/
+#include "MAX31855_local.h"
+
+MAX31855::MAX31855(unsigned char SO, unsigned char CS, unsigned char SCK)
+{
+ so = SO;
+ cs = CS;
+ sck = SCK;
+
+ // MAX31855 data output pin
+ pinMode(so, INPUT);
+ // MAX31855 chip select input pin
+ pinMode(cs, OUTPUT);
+ // MAX31855 clock input pin
+ pinMode(sck, OUTPUT);
+
+ // Default output pins state
+ digitalWrite(cs, HIGH);
+ digitalWrite(sck, LOW);
+}
+
+/*******************************************************************************
+* Name: readThermocouple
+* Description: Read the thermocouple temperature either in Degree Celsius or
+* Fahrenheit. Internally, the conversion takes place in the
+* background within 100 ms. Values are updated only when the CS
+* line is high.
+*
+* Argument Description
+* ========= ===========
+* 1. unit Unit of temperature required: CELSIUS or FAHRENHEIT
+*
+* Return Description
+* ========= ===========
+* temperature Temperature of the thermocouple either in Degree Celsius or
+* Fahrenheit. If fault is detected, FAULT_OPEN, FAULT_SHORT_GND or
+* FAULT_SHORT_VCC will be returned. These fault values are outside
+* of the temperature range the MAX31855 is capable of.
+*******************************************************************************/
+double MAX31855::readThermocouple(unit_t unit)
+{
+ unsigned long data;
+ double temperature;
+
+ // Initialize temperature
+ temperature = 0;
+
+ // Shift in 32-bit of data from MAX31855
+ data = readData();
+
+ // If fault is detected
+ if (data & 0x00010000)
+ {
+ // Check for fault type (3 LSB)
+ switch (data & 0x00000007)
+ {
+ // Open circuit
+ case 0x01:
+ temperature = FAULT_OPEN;
+ break;
+
+ // Thermocouple short to GND
+ case 0x02:
+ temperature = FAULT_SHORT_GND;
+ break;
+
+ // Thermocouple short to VCC
+ case 0x04:
+ temperature = FAULT_SHORT_VCC;
+ break;
+ }
+ }
+ // No fault detected
+ else
+ {
+ // Retrieve thermocouple temperature data and strip redundant data
+ data = data >> 18;
+ // Bit-14 is the sign
+ temperature = (data & 0x00001FFF);
+
+ // Check for negative temperature
+ if (data & 0x00002000)
+ {
+ // 2's complement operation
+ // Invert
+ data = ~data;
+ // Ensure operation involves lower 13-bit only
+ temperature = data & 0x00001FFF;
+ // Add 1 to obtain the positive number
+ temperature += 1;
+ // Make temperature negative
+ temperature *= -1;
+ }
+
+ // Convert to Degree Celsius
+ temperature *= 0.25;
+
+ // If temperature unit in Fahrenheit is desired
+ if (unit == FAHRENHEIT)
+ {
+ // Convert Degree Celsius to Fahrenheit
+ temperature = (temperature * 9.0 / 5.0) + 32;
+ }
+ }
+ return (temperature);
+}
+
+/*******************************************************************************
+* Name: readJunction
+* Description: Read the thermocouple temperature either in Degree Celsius or
+* Fahrenheit. Internally, the conversion takes place in the
+* background within 100 ms. Values are updated only when the CS
+* line is high.
+*
+* Argument Description
+* ========= ===========
+* 1. unit Unit of temperature required: CELSIUS or FAHRENHEIT
+*
+* Return Description
+* ========= ===========
+* temperature Temperature of the cold junction either in Degree Celsius or
+* Fahrenheit.
+*
+*******************************************************************************/
+double MAX31855::readJunction(unit_t unit)
+{
+ double temperature;
+ unsigned long data;
+
+ // Shift in 32-bit of data from MAX31855
+ data = readData();
+
+ // Strip fault data bits & reserved bit
+ data = data >> 4;
+ // Bit-12 is the sign
+ temperature = (data & 0x000007FF);
+
+ // Check for negative temperature
+ if (data & 0x00000800)
+ {
+ // 2's complement operation
+ // Invert
+ data = ~data;
+ // Ensure operation involves lower 11-bit only
+ temperature = data & 0x000007FF;
+ // Add 1 to obtain the positive number
+ temperature += 1;
+ // Make temperature negative
+ temperature *= -1;
+ }
+
+ // Convert to Degree Celsius
+ temperature *= 0.0625;
+
+ // If temperature unit in Fahrenheit is desired
+ if (unit == FAHRENHEIT)
+ {
+ // Convert Degree Celsius to Fahrenheit
+ temperature = (temperature * 9.0 / 5.0) + 32;
+ }
+
+ // Return the temperature
+ return (temperature);
+}
+
+/*******************************************************************************
+* Name: readData
+* Description: Shift in 32-bit of data from MAX31855 chip. Minimum clock pulse
+* width is 100 ns. No delay is required in this case.
+*
+* Argument Description
+* ========= ===========
+* 1. NIL
+*
+* Return Description
+* ========= ===========
+* data 32-bit of data acquired from the MAX31855 chip.
+*
+*******************************************************************************/
+unsigned long MAX31855::readData()
+{
+ int bitCount;
+ unsigned long data;
+
+ // Clear data
+ data = 0;
+
+ // Select the MAX31855 chip
+ digitalWrite(cs, LOW);
+
+ // Shift in 32-bit of data
+ for (bitCount = 31; bitCount >= 0; bitCount--)
+ {
+ digitalWrite(sck, HIGH);
+
+ // If data bit is high
+ if (digitalRead(so))
+ {
+ // Need to type cast data type to unsigned long, else compiler will
+ // truncate to 16-bit
+ data |= ((unsigned long)1 << bitCount);
+ }
+
+ digitalWrite(sck, LOW);
+ }
+
+ // Deselect MAX31855 chip
+ digitalWrite(cs, HIGH);
+
+ return (data);
+}
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855_local.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855_local.h
new file mode 100644
index 000000000..79c1b1285
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/MAX31855_local.h
@@ -0,0 +1,35 @@
+#ifndef MAX31855_H
+#define MAX31855_H
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#define FAULT_OPEN 10000
+#define FAULT_SHORT_GND 10001
+#define FAULT_SHORT_VCC 10002
+
+enum unit_t
+{
+ CELSIUS,
+ FAHRENHEIT
+};
+
+class MAX31855
+{
+public:
+ MAX31855(unsigned char SO, unsigned char CS, unsigned char SCK);
+
+ double readThermocouple(unit_t unit);
+ double readJunction(unit_t unit);
+
+private:
+ unsigned char so;
+ unsigned char cs;
+ unsigned char sck;
+
+ unsigned long readData();
+};
+#endif
\ No newline at end of file
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0.cpp b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0.cpp
new file mode 100644
index 000000000..51894b494
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0.cpp
@@ -0,0 +1,235 @@
+/**********************************************************************************************
+ * Arduino PID AutoTune Library - Version 0.0.0
+ * by Brett Beauregard brettbeauregard.com
+ *
+ * This Library is ported from the AutotunerPID Toolkit by William Spinelli
+ * (http://www.mathworks.com/matlabcentral/fileexchange/4652)
+ * Copyright (c) 2004
+ *
+ * This Library is licensed under the BSD License:
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the distribution
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ **********************************************************************************************/
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "PID_AutoTune_v0_local.h" //renamed to avoid conflict if Autotune library is installed on IDE
+
+PID_ATune::PID_ATune(double *Input, double *Output)
+{
+ input = Input;
+ output = Output;
+ controlType = 0; //default to PI
+ noiseBand = 0.5;
+ running = false;
+ oStep = 30;
+ SetLookbackSec(10);
+ lastTime = millis();
+}
+
+void PID_ATune::Cancel()
+{
+ running = false;
+}
+
+int PID_ATune::Runtime()
+{
+ justevaled = false;
+ if (peakCount > 9 && running)
+ {
+ running = false;
+ FinishUp();
+ return 1;
+ }
+ unsigned long now = millis();
+
+ if ((now - lastTime) < (unsigned long)sampleTime)
+ return false;
+ lastTime = now;
+ double refVal = *input;
+ justevaled = true;
+ if (!running)
+ { //initialize working variables the first time around
+ peakType = 0;
+ peakCount = 0;
+ justchanged = false;
+ absMax = refVal;
+ absMin = refVal;
+ setpoint = refVal;
+ running = true;
+ initCount = 0;
+ outputStart = *output;
+ *output = outputStart + oStep;
+ }
+ else
+ {
+ if (refVal > absMax)
+ absMax = refVal;
+ if (refVal < absMin)
+ absMin = refVal;
+ }
+
+ //oscillate the output base on the input's relation to the setpoint
+
+ if (refVal > setpoint + noiseBand)
+ *output = outputStart - oStep;
+ else if (refVal < setpoint - noiseBand)
+ *output = outputStart + oStep;
+
+ //bool isMax=true, isMin=true;
+ isMax = true;
+ isMin = true;
+ //id peaks
+ for (int i = nLookBack - 1; i >= 0; i--)
+ {
+ double val = lastInputs[i];
+ if (isMax)
+ isMax = refVal > val;
+ if (isMin)
+ isMin = refVal < val;
+ lastInputs[i + 1] = lastInputs[i];
+ }
+ lastInputs[0] = refVal;
+ if (nLookBack < 9)
+ { //we don't want to trust the maxes or mins until the inputs array has been filled
+ initCount++;
+ return 0;
+ }
+
+ if (isMax)
+ {
+ if (peakType == 0)
+ peakType = 1;
+ if (peakType == -1)
+ {
+ peakType = 1;
+ justchanged = true;
+ peak2 = peak1;
+ }
+ peak1 = now;
+ peaks[peakCount] = refVal;
+ }
+ else if (isMin)
+ {
+ if (peakType == 0)
+ peakType = -1;
+ if (peakType == 1)
+ {
+ peakType = -1;
+ peakCount++;
+ justchanged = true;
+ }
+
+ if (peakCount < 10)
+ peaks[peakCount] = refVal;
+ }
+
+ if (justchanged && peakCount > 2)
+ { //we've transitioned. check if we can autotune based on the last peaks
+ double avgSeparation = (abs(peaks[peakCount - 1] - peaks[peakCount - 2]) + abs(peaks[peakCount - 2] - peaks[peakCount - 3])) / 2;
+ if (avgSeparation < 0.05 * (absMax - absMin))
+ {
+ FinishUp();
+ running = false;
+ return 1;
+ }
+ }
+ justchanged = false;
+ return 0;
+}
+void PID_ATune::FinishUp()
+{
+ *output = outputStart;
+ //we can generate tuning parameters!
+ Ku = 4 * oStep / ((absMax - absMin) * 3.14159);
+ Pu = (double)(peak1 - peak2) / 1000;
+}
+
+double PID_ATune::GetKp()
+{
+ return controlType == 1 ? 0.6 * Ku : 0.4 * Ku;
+}
+
+double PID_ATune::GetKi()
+{
+ return controlType == 1 ? 1.2 * Ku / Pu : 0.48 * Ku / Pu; // Ki = Kc/Ti
+}
+
+double PID_ATune::GetKd()
+{
+ return controlType == 1 ? 0.075 * Ku * Pu : 0; //Kd = Kc * Td
+}
+
+void PID_ATune::SetOutputStep(double Step)
+{
+ oStep = Step;
+}
+
+double PID_ATune::GetOutputStep()
+{
+ return oStep;
+}
+
+void PID_ATune::SetControlType(int Type) //0=PI, 1=PID
+{
+ controlType = Type;
+}
+int PID_ATune::GetControlType()
+{
+ return controlType;
+}
+
+void PID_ATune::SetNoiseBand(double Band)
+{
+ noiseBand = Band;
+}
+
+double PID_ATune::GetNoiseBand()
+{
+ return noiseBand;
+}
+
+void PID_ATune::SetLookbackSec(int value)
+{
+ if (value < 1)
+ value = 1;
+
+ if (value < 25)
+ {
+ nLookBack = value * 4;
+ sampleTime = 250;
+ }
+ else
+ {
+ nLookBack = 100;
+ sampleTime = value * 10;
+ }
+}
+
+int PID_ATune::GetLookbackSec()
+{
+ return nLookBack * sampleTime / 1000;
+}
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0_local.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0_local.h
new file mode 100644
index 000000000..90fc1d1ca
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_AutoTune_v0_local.h
@@ -0,0 +1,53 @@
+#ifndef PID_AutoTune_v0
+#define PID_AutoTune_v0
+#define LIBRARY_VERSION 0.0.0
+
+class PID_ATune
+{
+
+public:
+ //commonly used functions **************************************************************************
+ PID_ATune(double *, double *); // * Constructor. links the Autotune to a given PID
+ int Runtime(); // * Similar to the PID Compue function, returns non 0 when done
+ void Cancel(); // * Stops the AutoTune
+
+ void SetOutputStep(double); // * how far above and below the starting value will the output step?
+ double GetOutputStep(); //
+
+ void SetControlType(int); // * Determies if the tuning parameters returned will be PI (D=0)
+ int GetControlType(); // or PID. (0=PI, 1=PID)
+
+ void SetLookbackSec(int); // * how far back are we looking to identify peaks
+ int GetLookbackSec(); //
+
+ void SetNoiseBand(double); // * the autotune will ignore signal chatter smaller than this value
+ double GetNoiseBand(); // this should be acurately set
+
+ double GetKp(); // * once autotune is complete, these functions contain the
+ double GetKi(); // computed tuning parameters.
+ double GetKd(); //
+
+private:
+ void FinishUp();
+ bool isMax, isMin;
+ double *input, *output;
+ double setpoint;
+ double noiseBand;
+ int controlType;
+ bool running;
+ unsigned long peak1, peak2, lastTime;
+ int sampleTime;
+ int nLookBack;
+ int peakType;
+ double lastInputs[100];
+ double peaks[10];
+ int peakCount;
+ bool justchanged;
+ bool justevaled;
+ int initCount;
+ double absMax, absMin;
+ double oStep;
+ double outputStart;
+ double Ku, Pu;
+};
+#endif
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1.cpp b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1.cpp
new file mode 100644
index 000000000..1d391cd58
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1.cpp
@@ -0,0 +1,192 @@
+/**********************************************************************************************
+ * Arduino PID Library - Version 1.0.1
+ * by Brett Beauregard brettbeauregard.com
+ *
+ * This Library is licensed under a GPLv3 License
+ **********************************************************************************************/
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "PID_v1_local.h" //renamed to avoid conflict if PID library is installed on IDE
+
+/*Constructor (...)*********************************************************
+* The parameters specified here are those for for which we can't set up
+* reliable defaults, so we need to have the user set them.
+***************************************************************************/
+PID::PID(double* Input, double* Output, double* Setpoint,
+ double Kp, double Ki, double Kd, int ControllerDirection)
+{
+PID::SetOutputLimits(0, 255); //default output limit corresponds to
+//the arduino pwm limits
+
+ SampleTime = 100; //default Controller Sample Time is 0.1 seconds
+
+ PID::SetControllerDirection(ControllerDirection);
+ PID::SetTunings(Kp, Ki, Kd);
+
+ lastTime = millis()-SampleTime;
+ inAuto = false;
+ myOutput = Output;
+ myInput = Input;
+ mySetpoint = Setpoint;
+
+}
+
+
+/* Compute() **********************************************************************
+* This, as they say, is where the magic happens. this function should be called
+* every time "void loop()" executes. the function will decide for itself whether a new
+* pid Output needs to be computed
+**********************************************************************************/
+void PID::Compute()
+{
+ if(!inAuto) return;
+ unsigned long now = millis();
+ unsigned long timeChange = (now - lastTime);
+ if(timeChange>=(unsigned long)SampleTime)
+ {
+ /*Compute all the working error variables*/
+ double input = *myInput;
+ double error = *mySetpoint - input;
+ ITerm+= (ki * error);
+ if(ITerm > outMax) ITerm= outMax;
+ else if(ITerm < outMin) ITerm= outMin;
+ double dInput = (input - lastInput);
+
+ /*Compute PID Output*/
+ double output = kp * error + ITerm- kd * dInput;
+
+ if(output > outMax) output = outMax;
+ else if(output < outMin) output = outMin;
+ *myOutput = output;
+
+ /*Remember some variables for next time*/
+ lastInput = input;
+ lastTime = now;
+ }
+}
+
+
+/* SetTunings(...)*************************************************************
+* This function allows the controller's dynamic performance to be adjusted.
+* it's called automatically from the constructor, but tunings can also
+* be adjusted on the fly during normal operation
+******************************************************************************/
+void PID::SetTunings(double Kp, double Ki, double Kd)
+{
+ if (Kp<0 || Ki<0 || Kd<0) return;
+
+ dispKp = Kp; dispKi = Ki; dispKd = Kd;
+
+ double SampleTimeInSec = ((double)SampleTime)/1000;
+ kp = Kp;
+ ki = Ki * SampleTimeInSec;
+ kd = Kd / SampleTimeInSec;
+
+ if(controllerDirection ==REVERSE)
+ {
+ kp = (0 - kp);
+ ki = (0 - ki);
+ kd = (0 - kd);
+ }
+}
+
+/* SetSampleTime(...) *********************************************************
+* sets the period, in Milliseconds, at which the calculation is performed
+******************************************************************************/
+void PID::SetSampleTime(int NewSampleTime)
+{
+ if (NewSampleTime > 0)
+ {
+ double ratio = (double)NewSampleTime
+ / (double)SampleTime;
+ ki *= ratio;
+ kd /= ratio;
+ SampleTime = (unsigned long)NewSampleTime;
+ }
+}
+
+/* SetOutputLimits(...)****************************************************
+* This function will be used far more often than SetInputLimits. while
+* the input to the controller will generally be in the 0-1023 range (which is
+* the default already,) the output will be a little different. maybe they'll
+* be doing a time window and will need 0-8000 or something. or maybe they'll
+* want to clamp it from 0-125. who knows. at any rate, that can all be done
+* here.
+**************************************************************************/
+void PID::SetOutputLimits(double Min, double Max)
+{
+ if(Min >= Max) return;
+ outMin = Min;
+ outMax = Max;
+
+ if(inAuto)
+ {
+ if(*myOutput > outMax) *myOutput = outMax;
+ else if(*myOutput < outMin) *myOutput = outMin;
+
+ if(ITerm > outMax) ITerm= outMax;
+ else if(ITerm < outMin) ITerm= outMin;
+ }
+}
+
+/* SetMode(...)****************************************************************
+* Allows the controller Mode to be set to manual (0) or Automatic (non-zero)
+* when the transition from manual to auto occurs, the controller is
+* automatically initialized
+******************************************************************************/
+void PID::SetMode(int Mode)
+{
+ bool newAuto = (Mode == AUTOMATIC);
+ if(newAuto == !inAuto)
+ { /*we just went from manual to auto*/
+ PID::Initialize();
+ }
+ inAuto = newAuto;
+}
+
+/* Initialize()****************************************************************
+* does all the things that need to happen to ensure a bumpless transfer
+* from manual to automatic mode.
+******************************************************************************/
+void PID::Initialize()
+{
+ ITerm = *myOutput;
+ lastInput = *myInput;
+ if(ITerm > outMax) ITerm = outMax;
+ else if(ITerm < outMin) ITerm = outMin;
+}
+
+/* SetControllerDirection(...)*************************************************
+* The PID will either be connected to a DIRECT acting process (+Output leads
+* to +Input) or a REVERSE acting process(+Output leads to -Input.) we need to
+* know which one, because otherwise we may increase the output when we should
+* be decreasing. This is called from the constructor.
+******************************************************************************/
+void PID::SetControllerDirection(int Direction)
+{
+ if(inAuto && Direction !=controllerDirection)
+ {
+ kp = (0 - kp);
+ ki = (0 - ki);
+ kd = (0 - kd);
+ }
+ controllerDirection = Direction;
+}
+
+/* Status Funcions*************************************************************
+* Just because you set the Kp=-1 doesn't mean it actually happened. these
+* functions query the internal state of the PID. they're here for display
+* purposes. this are the functions the PID Front-end uses for example
+******************************************************************************/
+double PID::GetKp(){ return dispKp; }
+double PID::GetKi(){ return dispKi;}
+double PID::GetKd(){ return dispKd;}
+int PID::GetMode(){ return inAuto ? AUTOMATIC : MANUAL;}
+int PID::GetDirection(){ return controllerDirection;}
+
+
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1_local.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1_local.h
new file mode 100644
index 000000000..ce64b6cf1
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/PID_v1_local.h
@@ -0,0 +1,81 @@
+#ifndef PID_v1_h
+#define PID_v1_h
+#define LIBRARY_VERSION 1.0.0
+
+class PID
+{
+
+
+ public:
+
+ //Constants used in some of the functions below
+ #define AUTOMATIC 1
+ #define MANUAL 0
+ #define DIRECT 0
+ #define REVERSE 1
+
+ //commonly used functions **************************************************************************
+ PID(double*, double*, double*, // * constructor. links the PID to the Input, Output, and
+ double, double, double, int); // Setpoint. Initial tuning parameters are also set here
+
+ void SetMode(int Mode); // * sets PID to either Manual (0) or Auto (non-0)
+
+ void Compute(); // * performs the PID calculation. it should be
+ // called every time loop() cycles. ON/OFF and
+ // calculation frequency can be set using SetMode
+ // SetSampleTime respectively
+
+ void SetOutputLimits(double, double); //clamps the output to a specific range. 0-255 by default, but
+ //it's likely the user will want to change this depending on
+ //the application
+
+
+
+ //available but not commonly used functions ********************************************************
+ void SetTunings(double, double, // * While most users will set the tunings once in the
+ double); // constructor, this function gives the user the option
+ // of changing tunings during runtime for Adaptive control
+ void SetControllerDirection(int); // * Sets the Direction, or "Action" of the controller. DIRECT
+ // means the output will increase when error is positive. REVERSE
+ // means the opposite. it's very unlikely that this will be needed
+ // once it is set in the constructor.
+ void SetSampleTime(int); // * sets the frequency, in Milliseconds, with which
+ // the PID calculation is performed. default is 100
+
+
+
+ //Display functions ****************************************************************
+ double GetKp(); // These functions query the pid for interal values.
+ double GetKi(); // they were created mainly for the pid front-end,
+ double GetKd(); // where it's important to know what is actually
+ int GetMode(); // inside the PID.
+ int GetDirection(); //
+
+ private:
+ void Initialize();
+
+ double dispKp; // * we'll hold on to the tuning parameters in user-entered
+ double dispKi; // format for display purposes
+ double dispKd; //
+
+ double kp; // * (P)roportional Tuning Parameter
+ double ki; // * (I)ntegral Tuning Parameter
+ double kd; // * (D)erivative Tuning Parameter
+
+ int controllerDirection;
+
+ double *myInput; // * Pointers to the Input, Output, and Setpoint variables
+ double *myOutput; // This creates a hard link between the variables and the
+ double *mySetpoint; // PID, freeing the user from having to constantly tell us
+ // what these values are. with pointers we'll just know.
+
+ unsigned long lastTime;
+ double ITerm, lastInput;
+
+ int SampleTime;
+ double outMin, outMax;
+ bool inAuto;
+};
+#endif
+
+
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/README.txt b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/README.txt
new file mode 100644
index 000000000..a5661a1c5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/README.txt
@@ -0,0 +1,33 @@
+/********************************************************
+ * osPID Firmware, Version 1.7
+ * by Brett Beauregard & Rocket Scream
+ * License: GPLv3 & BSD License (For autotune)
+ * 27 April 2016
+ ********************************************************/
+
+ NOTE: THIS FIRMWARE IS CONFIGURED FOR DIGITAL OUTPUT CARD
+ V1.5 & TEMPERATURE INPUT CARD V1.2. IF YOU ARE USING
+ A DIFFERENT I/O CONFIGURATION BE SURE TO UN-COMMENT THE
+ APPROPRIATE #DEFINE STATEMENTS IN IO.H.
+
+Updates for version 1.7
+-output is disabled if input is in error state for both thermistor and thermocouple
+
+Updates for version 1.6
+-added support for v1.5 of the Temperature Input card (MAX31855 Thermocouple chip)
+
+Updates for version 1.5
+-restructured code to allow for different IO cards
+-added reflow profile support
+-eliminated LCD flicker
+-error message when thermocouple is disconnected
+-extreme code size / RAM improvement (mainly menu and EEPRom)
+-consolodated the code into fewer files
+ * osPID_Firmware.ino - Just about everything
+ * io.h - IO card code. pre-compiler flags control which card code is used
+ * EEPROMAnything.h - halley's amazing EEPROMWriteAnything code.
+ * AnalogButton .cpp _local.h - ospid button-reading/debounce code
+ * PID_AutoTune_v0 .cpp _local.h - local copy of the autotune library (to avoid
+ conflicts with possibly pre-installed copies)
+ * PID_v1 .ccp _local.h - local copy of the PID library
+ * max6675 .cpp _local.h - local copy of the max6675 library, used by the input card.
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/io.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/io.h
new file mode 100644
index 000000000..481d1e265
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/io.h
@@ -0,0 +1,530 @@
+/*******************************************************************************
+* The osPID Kit comes with swappable IO cards which are supported by different
+* device drivers & libraries. For the osPID firmware to correctly communicate with
+* your configuration, you must uncomment the appropriate "define" statements below.
+* Please take note that only 1 input card and 1 output card can be used at a time.
+* List of available IO cards:
+*
+* Input Cards
+* ===========
+* 1. TEMP_INPUT_V110:
+* Temperature Basic V1.10 with 1 thermistor & 1 type-K thermocouple (MAX6675)
+* interface.
+* 2. TEMP_INPUT_V120:
+* Temperature Basic V1.20 with 1 thermistor & 1 type-K thermocouple
+* (MAX31855KASA) interface.
+* 3. PROTOTYPE_INPUT:
+* Generic prototype card with input specified by user. Please add necessary
+* input processing in the section below.
+*
+* Output Cards
+* ============
+* 1. DIGITAL_OUTPUT_V120:
+* Output card with 1 SSR & 2 relay output.
+* 2. DIGITAL_OUTPUT_V150:
+* Output card with 1 SSR & 2 relay output. Similar to V1.20 except LED mount
+* orientation.
+* 3. PROTOTYPE_OUTPUT:
+* Generic prototype card with output specified by user. Please add necessary
+* output processing in the section below.
+*
+* This file is licensed under Creative Commons Attribution-ShareAlike 3.0
+* Unported License.
+*
+*******************************************************************************/
+
+// ***** INPUT CARD *****
+//#define TEMP_INPUT_V110
+#define TEMP_INPUT_V120
+//#define PROTOTYPE_INPUT
+
+// ***** OUTPUT CARD *****
+//#define DIGITAL_OUTPUT_V120
+#define DIGITAL_OUTPUT_V150
+//#define PROTOTYPE_OUTPUT
+
+union { // This Data structure lets
+ byte asBytes[32]; // us take the byte array
+ float asFloat[8]; // sent from processing and
+} // easily convert it to a
+serialXfer; // float array
+byte b1,b2;
+
+#ifdef TEMP_INPUT_V110
+#include "max6675_local.h"
+const byte thermistorPin = A6;
+const byte thermocoupleCS = 10;
+const byte thermocoupleSO = 12;
+const byte thermocoupleCLK = 13;
+byte inputType = 0;
+double THERMISTORNOMINAL = 10;
+double BCOEFFICIENT = 1;
+double TEMPERATURENOMINAL = 293.15;
+double REFERENCE_RESISTANCE = 10;
+MAX6675 thermocouple(thermocoupleCLK, thermocoupleCS, thermocoupleSO);
+
+// EEPROM backup
+void EEPROMBackupInputParams(int offset)
+{
+ EEPROM.write(offset, inputType);
+ EEPROM_writeAnything(offset+2,THERMISTORNOMINAL);
+ EEPROM_writeAnything(offset+6,BCOEFFICIENT);
+ EEPROM_writeAnything(offset+10,TEMPERATURENOMINAL);
+ EEPROM_writeAnything(offset+14,REFERENCE_RESISTANCE);
+}
+
+// EEPROM restore
+void EEPROMRestoreInputParams(int offset)
+{
+ inputType = EEPROM.read(offset);
+ EEPROM_readAnything(offset+2,THERMISTORNOMINAL);
+ EEPROM_readAnything(offset+6,BCOEFFICIENT);
+ EEPROM_readAnything(offset+10,TEMPERATURENOMINAL);
+ EEPROM_readAnything(offset+14,REFERENCE_RESISTANCE);
+}
+
+void InitializeInputCard()
+{
+}
+
+void InputSerialReceiveStart()
+{
+}
+
+void InputSerialReceiveDuring(byte val, byte index)
+{
+ if(index==1) b1 = val;
+ else if(index<18) serialXfer.asBytes[index-2] = val;
+}
+
+void InputSerialReceiveAfter(int eepromOffset)
+{
+ inputType = b1;
+ THERMISTORNOMINAL = serialXfer.asFloat[0];
+ BCOEFFICIENT = serialXfer.asFloat[1];
+ TEMPERATURENOMINAL = serialXfer.asFloat[2];
+ REFERENCE_RESISTANCE = serialXfer.asFloat[3];
+ EEPROMBackupInputParams(eepromOffset);
+}
+
+void InputSerialSend()
+{
+ Serial.print((int)inputType);
+ Serial.print(" ");
+ Serial.print(THERMISTORNOMINAL);
+ Serial.print(" ");
+ Serial.print(BCOEFFICIENT);
+ Serial.print(" ");
+ Serial.print(TEMPERATURENOMINAL);
+ Serial.print(" ");
+ Serial.println(REFERENCE_RESISTANCE);
+}
+
+void InputSerialID()
+{
+ Serial.print(" IID1");
+}
+
+double readThermistorTemp(int voltage)
+{
+ float R = REFERENCE_RESISTANCE / (1024.0/(float)voltage - 1);
+ float steinhart;
+ steinhart = R / THERMISTORNOMINAL; // (R/Ro)
+ steinhart = log(steinhart); // ln(R/Ro)
+ steinhart /= BCOEFFICIENT; // 1/B * ln(R/Ro)
+ steinhart += 1.0 / (TEMPERATURENOMINAL + 273.15); // + (1/To)
+ steinhart = 1.0 / steinhart; // Invert
+ steinhart -= 273.15; // convert to C
+
+ return steinhart;
+}
+
+double ReadInputFromCard()
+{
+ if(inputType == 0) return thermocouple.readCelsius();
+ else if(inputType == 1)
+ {
+ int adcReading = analogRead(thermistorPin);
+ if ((adcReading == 0) || (adcReading == 1023))
+ {
+ return NAN;
+ }
+ else
+ {
+ return readThermistorTemp(adcReading);
+ }
+ }
+}
+#endif /*TEMP_INPUT_V110*/
+
+#ifdef TEMP_INPUT_V120
+#include "MAX31855_local.h"
+const byte thermistorPin = A6;
+const byte thermocoupleCS = 10;
+const byte thermocoupleSO = 12;
+const byte thermocoupleCLK = 13;
+byte inputType = 0;
+double THERMISTORNOMINAL = 10;
+double BCOEFFICIENT = 1;
+double TEMPERATURENOMINAL = 293.15;
+double REFERENCE_RESISTANCE = 10;
+MAX31855 thermocouple(thermocoupleSO, thermocoupleCS, thermocoupleCLK);
+
+// EEPROM backup
+void EEPROMBackupInputParams(int offset)
+{
+ EEPROM.write(offset, inputType);
+ EEPROM_writeAnything(offset+2,THERMISTORNOMINAL);
+ EEPROM_writeAnything(offset+6,BCOEFFICIENT);
+ EEPROM_writeAnything(offset+10,TEMPERATURENOMINAL);
+ EEPROM_writeAnything(offset+14,REFERENCE_RESISTANCE);
+}
+
+// EEPROM restore
+void EEPROMRestoreInputParams(int offset)
+{
+ inputType = EEPROM.read(offset);
+ EEPROM_readAnything(offset+2,THERMISTORNOMINAL);
+ EEPROM_readAnything(offset+6,BCOEFFICIENT);
+ EEPROM_readAnything(offset+10,TEMPERATURENOMINAL);
+ EEPROM_readAnything(offset+14,REFERENCE_RESISTANCE);
+}
+
+void InitializeInputCard()
+{
+}
+
+void InputSerialReceiveStart()
+{
+}
+
+void InputSerialReceiveDuring(byte val, byte index)
+{
+ if(index==1) b1 = val;
+ else if(index<18) serialXfer.asBytes[index-2] = val;
+}
+
+void InputSerialReceiveAfter(int eepromOffset)
+{
+ inputType = b1;
+ THERMISTORNOMINAL = serialXfer.asFloat[0];
+ BCOEFFICIENT = serialXfer.asFloat[1];
+ TEMPERATURENOMINAL = serialXfer.asFloat[2];
+ REFERENCE_RESISTANCE = serialXfer.asFloat[3];
+ EEPROMBackupInputParams(eepromOffset);
+}
+
+void InputSerialSend()
+{
+ Serial.print((int)inputType);
+ Serial.print(" ");
+ Serial.print(THERMISTORNOMINAL);
+ Serial.print(" ");
+ Serial.print(BCOEFFICIENT);
+ Serial.print(" ");
+ Serial.print(TEMPERATURENOMINAL);
+ Serial.print(" ");
+ Serial.println(REFERENCE_RESISTANCE);
+}
+
+void InputSerialID()
+{
+ Serial.print(" IID2");
+}
+
+double readThermistorTemp(int voltage)
+{
+ float R = REFERENCE_RESISTANCE / (1024.0/(float)voltage - 1);
+ float steinhart;
+ steinhart = R / THERMISTORNOMINAL; // (R/Ro)
+ steinhart = log(steinhart); // ln(R/Ro)
+ steinhart /= BCOEFFICIENT; // 1/B * ln(R/Ro)
+ steinhart += 1.0 / (TEMPERATURENOMINAL + 273.15); // + (1/To)
+ steinhart = 1.0 / steinhart; // Invert
+ steinhart -= 273.15; // convert to C
+
+ return steinhart;
+}
+
+double ReadInputFromCard()
+{
+ if(inputType == 0)
+ {
+ double val = thermocouple.readThermocouple(CELSIUS);
+ if (val==FAULT_OPEN|| val==FAULT_SHORT_GND|| val==FAULT_SHORT_VCC)val = NAN;
+ return val;
+ }
+ else if(inputType == 1)
+ {
+ int adcReading = analogRead(thermistorPin);
+ // If either thermistor or reference resistor is not connected
+ if ((adcReading == 0) || (adcReading == 1023))
+ {
+ return NAN;
+ }
+ else
+ {
+ return readThermistorTemp(adcReading);
+ }
+ }
+}
+#endif /*TEMP_INPUT_V120*/
+
+#ifdef PROTOTYPE_INPUT
+ /*Include any libraries and/or global variables here*/
+
+float flt1_i=0, flt2_i=0, flt3_i=0, flt4_i=0;
+byte bt1_i=0, bt2_i=0, bt3_i=0, bt4_i=0;
+
+void EEPROMBackupInputParams(int offset)
+{
+ EEPROM_writeAnything(offset, bt1_i);
+ EEPROM_writeAnything(offset+1, bt2_i);
+ EEPROM_writeAnything(offset+2, bt3_i);
+ EEPROM_writeAnything(offset+3, bt4_i);
+ EEPROM_writeAnything(offset+4,flt1_i);
+ EEPROM_writeAnything(offset+8,flt2_i);
+ EEPROM_writeAnything(offset+12,flt3_i);
+ EEPROM_writeAnything(offset+16,flt4_i);
+}
+
+void EEPROMRestoreInputParams(int offset)
+{
+ EEPROM_readAnything(offset, bt1_i);
+ EEPROM_readAnything(offset+1, bt2_i);
+ EEPROM_readAnything(offset+2, bt3_i);
+ EEPROM_readAnything(offset+3, bt4_i);
+ EEPROM_readAnything(offset+4,flt1_i);
+ EEPROM_readAnything(offset+8,flt2_i);
+ EEPROM_readAnything(offset+12,flt3_i);
+ EEPROM_readAnything(offset+16,flt4_i);
+}
+
+void InitializeInputCard()
+{
+}
+
+void InputSerialReceiveStart()
+{
+}
+
+void InputSerialReceiveDuring(byte val, byte index)
+{
+ if(index==1) bt1_i = val;
+ else if(index==2) bt2_i = val;
+ else if(index==3) bt3_i = val;
+ else if(index==4) bt4_i = val;
+ else if(index<22) serialXfer.asBytes[index-5] = val;
+}
+
+void InputSerialReceiveAfter(int eepromOffset)
+{
+ flt1_i = serialXfer.asFloat[0];
+ flt2_i = serialXfer.asFloat[1];
+ flt3_i = serialXfer.asFloat[2];
+ flt4_i = serialXfer.asFloat[3];
+
+ EEPROMBackupInputParams(eepromOffset);
+}
+
+void InputSerialSend()
+{
+ Serial.print(int(bt1_i));
+ Serial.print(" ");
+ Serial.print(int(bt2_i));
+ Serial.print(" ");
+ Serial.print(int(bt3_i));
+ Serial.print(" ");
+ Serial.print(int(bt4_i));
+ Serial.print(" ");
+ Serial.print(flt1_i);
+ Serial.print(" ");
+ Serial.print(flt2_i);
+ Serial.print(" ");
+ Serial.print(flt3_i);
+ Serial.print(" ");
+ Serial.println(flt4_i);
+}
+
+void InputSerialID()
+{
+ Serial.print(" IID0");
+}
+
+double ReadInputFromCard()
+{
+ /*your code here*/
+ return 0;
+}
+#endif /*PROTOTYPE_INPUT*/
+
+#if defined(DIGITAL_OUTPUT_V120) || defined(DIGITAL_OUTPUT_V150)
+byte outputType = 1;
+const byte RelayPin = 5;
+const byte SSRPin = 6;
+//unsigned long windowStartTime;
+double outWindowSec = 5.0;
+unsigned long WindowSize = 5000;
+
+void setOutputWindow(double val)
+{
+ unsigned long temp = (unsigned long)(val*1000);
+ if(temp<500)temp = 500;
+ outWindowSec = (double)temp/1000;
+ if(temp!=WindowSize)
+ {
+ WindowSize = temp;
+ }
+}
+
+void EEPROMBackupOutputParams(int offset)
+{
+ EEPROM.write(offset, outputType);
+ EEPROM_writeAnything(offset+1, WindowSize);
+}
+void EEPROMRestoreOutputParams(int offset)
+{
+ outputType = EEPROM.read(offset);
+ EEPROM_readAnything(offset+1, WindowSize);
+}
+
+void InitializeOutputCard()
+{
+ pinMode(RelayPin, OUTPUT);
+ pinMode(SSRPin, OUTPUT);
+}
+
+void OutputSerialReceiveStart()
+{
+}
+
+void OutputSerialReceiveDuring(byte val, byte index)
+{
+ if(index==1) b1 = val;
+ else if(index<6) serialXfer.asBytes[index-2] = val;
+}
+
+void OutputSerialReceiveAfter(int eepromOffset)
+{
+ if(outputType != b1)
+ {
+ if (b1==0)digitalWrite(SSRPin, LOW);
+ else if(b1==1) digitalWrite( RelayPin,LOW); //turn off the other pin
+ outputType=b1;
+ }
+ outWindowSec = serialXfer.asFloat[0];
+ setOutputWindow(outWindowSec);
+ EEPROMBackupOutputParams(eepromOffset);
+}
+
+void OutputSerialID()
+{
+ Serial.print(" OID1");
+}
+
+void WriteToOutputCard(double value)
+{
+ unsigned long wind = millis() % WindowSize; // (millis() - windowStartTime);
+ /*if(wind>WindowSize)
+ {
+ wind -= WindowSize;
+ windowStartTime += WindowSize;
+ }*/
+ unsigned long oVal = (unsigned long)(value*(double)WindowSize/ 100.0);
+ if(outputType == 0) digitalWrite(RelayPin ,(oVal>wind) ? HIGH : LOW);
+ else if(outputType == 1) digitalWrite(SSRPin ,(oVal>wind) ? HIGH : LOW);
+}
+
+// Serial send & receive
+void OutputSerialSend()
+{
+ Serial.print((int)outputType);
+ Serial.print(" ");
+ Serial.println(outWindowSec);
+}
+#endif /*DIGITAL_OUTPUT_V120 & DIGITAL_OUTPUT_V150*/
+
+#ifdef PROTOTYPE_OUTPUT
+float flt1_o=0, flt2_o=0, flt3_o=0, flt4_o=0;
+byte bt1_o=0, bt2_o=0, bt3_o=0, bt4_o=0;
+
+void EEPROMBackupOutputParams(int offset)
+{
+ EEPROM_writeAnything(offset, bt1_o);
+ EEPROM_writeAnything(offset+1, bt2_o);
+ EEPROM_writeAnything(offset+2, bt3_o);
+ EEPROM_writeAnything(offset+3, bt4_o);
+ EEPROM_writeAnything(offset+4,flt1_o);
+ EEPROM_writeAnything(offset+8,flt2_o);
+ EEPROM_writeAnything(offset+12,flt3_o);
+ EEPROM_writeAnything(offset+16,flt4_o);
+}
+
+void EEPROMRestoreOutputParams(int offset)
+{
+ EEPROM_readAnything(offset, bt1_o);
+ EEPROM_readAnything(offset+1, bt2_o);
+ EEPROM_readAnything(offset+2, bt3_o);
+ EEPROM_readAnything(offset+3, bt4_o);
+ EEPROM_readAnything(offset+4,flt1_o);
+ EEPROM_readAnything(offset+8,flt2_o);
+ EEPROM_readAnything(offset+12,flt3_o);
+ EEPROM_readAnything(offset+16,flt4_o);
+}
+
+void InitializeOutputCard()
+{
+}
+
+void OutputSerialReceiveStart()
+{
+}
+
+void OutputSerialReceiveDuring(byte val, byte index)
+{
+ if(index==1) bt1_o = val;
+ else if(index==2) bt2_o = val;
+ else if(index==3) bt3_o = val;
+ else if(index==4) bt4_o = val;
+ else if(index<22) serialXfer.asBytes[index-5] = val;
+}
+
+void OutputSerialReceiveAfter(int eepromOffset)
+{
+ flt1_o = serialXfer.asFloat[0];
+ flt2_o = serialXfer.asFloat[1];
+ flt3_o = serialXfer.asFloat[2];
+ flt4_o = serialXfer.asFloat[3];
+
+ EEPROMBackupOutputParams(eepromOffset);
+}
+
+void OutputSerialID()
+{
+ Serial.print(" OID0");
+}
+
+void WriteToOutputCard(double value)
+{
+}
+
+// Serial send & receive
+void OutputSerialSend()
+{
+ Serial.print(int(bt1_o));
+ Serial.print(" ");
+ Serial.print(int(bt2_o));
+ Serial.print(" ");
+ Serial.print(int(bt3_o));
+ Serial.print(" ");
+ Serial.print(int(bt4_o));
+ Serial.print(" ");
+ Serial.print(flt1_o);
+ Serial.print(" ");
+ Serial.print(flt2_o);
+ Serial.print(" ");
+ Serial.print(flt3_o);
+ Serial.print(" ");
+ Serial.println(flt4_o);
+}
+#endif /*PROTOTYPE_OUTPUT*/
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675.cpp b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675.cpp
new file mode 100644
index 000000000..248a8eb4f
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675.cpp
@@ -0,0 +1,73 @@
+// this library is public domain. enjoy!
+// www.ladyada.net/learn/sensors/thermocouple
+
+#include
+#include
+#include
+#include "max6675_local.h"
+
+MAX6675::MAX6675(int8_t SCLK, int8_t CS, int8_t MISO)
+{
+ sclk = SCLK;
+ cs = CS;
+ miso = MISO;
+
+ //define pin modes
+ pinMode(cs, OUTPUT);
+ pinMode(sclk, OUTPUT);
+ pinMode(miso, INPUT);
+
+ digitalWrite(cs, HIGH);
+}
+double MAX6675::readCelsius(void)
+{
+
+ uint16_t v;
+
+ digitalWrite(cs, LOW);
+ _delay_ms(1);
+
+ v = spiread();
+ v <<= 8;
+ v |= spiread();
+
+ digitalWrite(cs, HIGH);
+
+ if (v & 0x4)
+ {
+ // uh oh, no thermocouple attached!
+ return NAN;
+ //return -100;
+ }
+
+ v >>= 3;
+
+ return v * 0.25;
+}
+
+double MAX6675::readFarenheit(void)
+{
+ return readCelsius() * 9.0 / 5.0 + 32;
+}
+
+byte MAX6675::spiread(void)
+{
+ int i;
+ byte d = 0;
+
+ for (i = 7; i >= 0; i--)
+ {
+ digitalWrite(sclk, LOW);
+ _delay_ms(1);
+ if (digitalRead(miso))
+ {
+ //set the bit to 0 no matter what
+ d |= (1 << i);
+ }
+
+ digitalWrite(sclk, HIGH);
+ _delay_ms(1);
+ }
+
+ return d;
+}
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675_local.h b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675_local.h
new file mode 100644
index 000000000..da1a45c0c
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/max6675_local.h
@@ -0,0 +1,21 @@
+// this library is public domain. enjoy!
+// www.ladyada.net/learn/sensors/thermocouple
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+class MAX6675
+{
+public:
+ MAX6675(int8_t SCLK, int8_t CS, int8_t MISO);
+
+ double readCelsius(void);
+ double readFarenheit(void);
+
+private:
+ int8_t sclk, miso, cs;
+ uint8_t spiread(void);
+};
diff --git a/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/osPID_Firmware.ino b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/osPID_Firmware.ino
new file mode 100644
index 000000000..b90d6bb19
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/reference-impl/osPID-Firmware/osPID_Firmware.ino
@@ -0,0 +1,1327 @@
+//#define USE_SIMULATION
+
+#include
+#include
+#include "AnalogButton_local.h"
+#include "PID_v1_local.h"
+#include "EEPROMAnything.h"
+#include "PID_AutoTune_v0_local.h"
+#include "io.h"
+
+// ***** PIN ASSIGNMENTS *****
+
+const byte buzzerPin = 3;
+const byte systemLEDPin = A2;
+
+const byte EEPROM_ID = 2; //used to automatically trigger and eeprom reset after firmware update (if necessary)
+
+const byte TYPE_NAV=0;
+const byte TYPE_VAL=1;
+const byte TYPE_OPT=2;
+
+byte mMain[] = {
+ 0,1,2,3};
+byte mDash[] = {
+ 4,5,6,7};
+byte mConfig[] = {
+ 8,9,10,11};
+byte *mMenu[] = {
+ mMain, mDash, mConfig};
+
+byte curMenu=0, mIndex=0, mDrawIndex=0;
+LiquidCrystal lcd(A1, A0, 4, 7, 8, 9);
+AnalogButton button(A3, 0, 253, 454, 657);
+
+unsigned long now, lcdTime, buttonTime,ioTime, serialTime;
+boolean sendInfo=true, sendDash=true, sendTune=true, sendInputConfig=true, sendOutputConfig=true;
+
+bool editing=false;
+bool inputOk = true;
+bool tuning = false;
+
+double setpoint=250,input=250,output=50, pidInput=250;
+
+double kp = 2, ki = 0.5, kd = 2;
+byte ctrlDirection = 0;
+byte modeIndex = 0;
+byte highlightedIndex=0;
+
+PID myPID(&pidInput, &output, &setpoint,kp,ki,kd, DIRECT);
+
+double aTuneStep = 20, aTuneNoise = 1;
+unsigned int aTuneLookBack = 10;
+byte ATuneModeRemember = 0;
+PID_ATune aTune(&pidInput, &output);
+
+
+byte curProfStep=0;
+byte curType=0;
+float curVal=0;
+float helperVal=0;
+unsigned long helperTime=0;
+boolean helperflag=false;
+unsigned long curTime=0;
+
+
+/*Profile declarations*/
+const unsigned long profReceiveTimeout = 10000;
+unsigned long profReceiveStart=0;
+boolean receivingProfile=false;
+const int nProfSteps = 15;
+char profname[] = {
+ 'N','o',' ','P','r','o','f'};
+byte proftypes[nProfSteps];
+unsigned long proftimes[nProfSteps];
+float profvals[nProfSteps];
+boolean runningProfile = false;
+
+
+//for devlopment and demo purposes, it's useful to have a
+//simulation that can run on the osPID. the problem is
+//that is uses memory. rather than have it hogging resources
+//when not in use, it's activated using a compile flag.
+// this way, it doesn't get compiled during normal circumstances
+
+#ifdef USE_SIMULATION
+double kpmodel = 5, taup = 50, theta[30];
+const double outputStart = 50;
+const double inputStart=250;
+
+void DoModel()
+{
+ // Cycle the dead time
+ for(byte i=0;i<30;i++)
+ {
+ theta[i] = theta[i+1];
+ }
+ // Compute the input
+ input = (kpmodel / taup) *(theta[0]-outputStart) + (input-inputStart)*(1-1/taup)+inputStart + ((float)random(-10,10))/100;
+}
+#else
+
+#endif /*USE_SIMULATION*/
+
+
+
+void setup()
+{
+ Serial.begin(9600);
+ lcdTime=10;
+ buttonTime=1;
+ ioTime=5;
+ serialTime=6;
+ //windowStartTime=2;
+ lcd.begin(8, 2);
+
+ lcd.setCursor(0,0);
+ lcd.print(F(" osPID "));
+ lcd.setCursor(0,1);
+ lcd.print(F(" v1.70 "));
+ delay(1000);
+
+ initializeEEPROM();
+
+
+
+#ifdef USE_SIMULATION
+ input = inputStart;
+ for(int i=0;i<30;i++)theta[i] = outputStart;
+#else
+ InitializeInputCard();
+ InitializeOutputCard();
+#endif
+ myPID.SetSampleTime(1000);
+ myPID.SetOutputLimits(0, 100);
+ myPID.SetTunings(kp, ki, kd);
+ myPID.SetControllerDirection(ctrlDirection);
+ myPID.SetMode(modeIndex);
+}
+
+byte editDepth=0;
+void loop()
+{
+ now = millis();
+
+ if(now >= buttonTime)
+ {
+ switch(button.get())
+ {
+ case BUTTON_NONE:
+ break;
+
+ case BUTTON_RETURN:
+ back();
+ break;
+
+ case BUTTON_UP:
+ updown(true);
+ break;
+
+ case BUTTON_DOWN:
+ updown(false);
+ break;
+
+ case BUTTON_OK:
+ ok();
+ break;
+ }
+ buttonTime += 50;
+ }
+
+ bool doIO = now >= ioTime;
+ //read in the input
+ if(doIO)
+ {
+ ioTime+=250;
+#ifdef USE_SIMULATION
+ DoModel();
+ pidInput = input;
+#else
+ input = ReadInputFromCard();
+ inputOk = !isnan(input);
+ if(inputOk)pidInput = input;
+
+#endif /*USE_SIMULATION*/
+ }
+
+
+ if(tuning)
+ {
+ byte val = (aTune.Runtime());
+
+ if(val != 0)
+ {
+ tuning = false;
+ }
+
+ if(!tuning)
+ {
+ // We're done, set the tuning parameters
+ kp = aTune.GetKp();
+ ki = aTune.GetKi();
+ kd = aTune.GetKd();
+ myPID.SetTunings(kp, ki, kd);
+ AutoTuneHelper(false);
+ EEPROMBackupTunings();
+ }
+ }
+ else
+ {
+ if(runningProfile) ProfileRunTime();
+ //allow the pid to compute if necessary
+ if(inputOk) myPID.Compute();
+ }
+
+
+
+
+
+ if(doIO)
+ {
+ //send the output
+#ifdef USE_SIMULATION
+ theta[29] = output;
+#else
+ if(!inputOk) output = 0; // Ensure output is zero when input is invalid
+ // Send to output card
+ WriteToOutputCard(output);
+#endif /*USE_SIMULATION*/
+
+
+
+ }
+
+ if(now>lcdTime)
+ {
+ drawLCD();
+ lcdTime+=250;
+ }
+ if(millis() > serialTime)
+ {
+ //if(receivingProfile && (now-profReceiveStart)>profReceiveTimeout) receivingProfile = false;
+ SerialReceive();
+ SerialSend();
+ serialTime += 500;
+ }
+}
+
+
+void drawLCD()
+{
+ boolean highlightFirst= (mDrawIndex==mIndex);
+ drawItem(0,highlightFirst, mMenu[curMenu][mDrawIndex]);
+ drawItem(1,!highlightFirst, mMenu[curMenu][mDrawIndex+1]);
+ if(editing) lcd.setCursor(editDepth, highlightFirst?0:1);
+}
+
+void drawItem(byte row, boolean highlight, byte index)
+{
+ char buffer[7];
+ lcd.setCursor(0,row);
+ double val=0;
+ int dec=0;
+ int num=0;
+ char icon=' ';
+ boolean isNeg = false;
+ boolean didneg = false;
+ byte decSpot = 0;
+ boolean edit = editing && highlightedIndex==index;
+ boolean canEdit=!tuning;
+ switch(getMenuType(index))
+ {
+ case TYPE_NAV:
+ lcd.print(highlight? '>':' ');
+ switch(index)
+ {
+ case 0:
+ lcd.print(F("DashBrd"));
+ break;
+ case 1:
+ lcd.print(F("Config "));
+ break;
+ case 2:
+ lcd.print(tuning ? F("Cancel ") : F("ATune "));
+ break;
+ case 3:
+ if(runningProfile)lcd.print(F("Cancel "));
+ else lcd.print(profname);
+ break;
+ default:
+ return;
+ }
+
+ break;
+ case TYPE_VAL:
+
+ switch(index)
+ {
+ case 4:
+ val = setpoint;
+ dec=1;
+ icon='S';
+ break;
+ case 5:
+ val = input;
+ dec=1;
+ icon='I';
+ canEdit=false;
+ break;
+ case 6:
+ val = output;
+ dec=1;
+ icon='O';
+ canEdit = (modeIndex==0);
+ break;
+ case 8:
+ val = kp;
+ dec=2;
+ icon='P';
+ break;
+ case 9:
+ val = ki;
+ dec=2;
+ icon='I';
+ break ;
+ case 10:
+ val = kd;
+ dec=2;
+ icon='D';
+ break ;
+
+ default:
+ return;
+ }
+ lcd.print(edit? '[' : (highlight ? (canEdit ? '>':'|') :
+ ' '));
+
+ if(isnan(val))
+ { //display an error
+ lcd.print(icon);
+ lcd.print( now % 2000<1000 ? F(" Error"):F(" "));
+ return;
+ }
+
+ for(int i=0;i=1;i--)
+ {
+ if(i==decSpot)buffer[i] = '.';
+ else {
+ if(num==0)
+ {
+ if(i>=decSpot-1) buffer[i]='0';
+ else if (isNeg && !didneg)
+ {
+ buffer[i]='-';
+ didneg=true;
+ }
+ else buffer[i]=' ';
+ }
+ else {
+ buffer[i] = num%10+48;
+ num/=10;
+ }
+ }
+ }
+ lcd.print(buffer);
+ break;
+ case TYPE_OPT:
+
+ lcd.print(edit ? '[': (highlight? '>':' '));
+ switch(index)
+ {
+ case 7:
+ lcd.print(modeIndex==0 ? F("M Man "):F("M Auto "));
+ break;
+ case 11://12:
+
+ lcd.print(ctrlDirection==0 ? F("A Direc"):F("A Rever"));
+ break;
+ }
+
+ break;
+ default:
+ return;
+ }
+
+ //indication of altered state
+ if(highlight && (tuning || runningProfile))
+ {
+ //should we blip?
+ if(tuning)
+ {
+ if(now % 1500 <500)
+ {
+ lcd.setCursor(0,row);
+ lcd.print('T');
+ }
+ }
+ else //running profile
+ {
+ if(now % 2000 < 500)
+ {
+ lcd.setCursor(0,row);
+ lcd.print('P');
+ }
+ else if(now%2000 < 1000)
+ {
+ lcd.setCursor(0,row);
+ char c;
+ if(curProfStep<10) c = curProfStep + 48; //0-9
+ else c = curProfStep + 65; //A,B...
+ lcd.print(c);
+ }
+ }
+ }
+}
+
+byte getValDec(byte index)
+{
+ switch(index)
+ {
+ case 4:
+ case 5:
+ case 6:
+ //case 11:
+ return 1;
+ case 8:
+ case 9:
+ case 10:
+ default:
+ return 2;
+ }
+}
+byte getMenuType(byte index)
+{
+ switch(index)
+ {
+ case 0:
+ case 1:
+ case 2:
+ case 3:
+ return TYPE_NAV;
+ case 4:
+ case 5:
+ case 6:
+ case 8:
+ case 9:
+ case 10:
+ //case 11:
+ return TYPE_VAL;
+ case 7:
+ case 11: //12:
+ return TYPE_OPT;
+ default:
+ return 255;
+ }
+}
+
+boolean changeflag=false;
+
+void back()
+{
+ if(editing)
+ { //decrease the depth and stop editing if required
+
+ editDepth--;
+ if(getMenuType(highlightedIndex)==TYPE_VAL)
+ {
+ if(editDepth==7-getValDec(highlightedIndex))editDepth--; //skip the decimal
+ }
+ if(editDepth<3)
+ {
+ editDepth=0;
+ editing= false;
+ lcd.noCursor();
+ }
+ }
+ else
+ { //if not editing return to previous menu. currently this is always main
+
+
+ //depending on which menu we're coming back from, we may need to write to the eeprom
+ if(changeflag)
+ {
+ if(curMenu==1)
+ {
+ EEPROMBackupDash();
+ }
+ else if(curMenu==2) //tunings may have changed
+ {
+ EEPROMBackupTunings();
+ myPID.SetTunings(kp,ki,kd);
+ myPID.SetControllerDirection(ctrlDirection);
+ }
+ changeflag=false;
+ }
+ if(curMenu!=0)
+ {
+ highlightedIndex = curMenu-1; //make sure the arrow is on the menu they were in
+ mIndex=curMenu-1;
+ curMenu=0;
+ mDrawIndex=0;
+
+ }
+ }
+}
+
+
+
+double getValMin(byte index)
+{
+ switch(index)
+ {
+ case 4:
+ case 5:
+ case 6:
+// case 11:
+ return -999.9;
+ case 8:
+ case 9:
+ case 10:
+ default:
+ return 0;
+ }
+}
+
+
+double getValMax(byte index)
+{
+ switch(index)
+ {
+ case 4:
+ case 5:
+ case 6:
+ //case 11:
+ return 999.9;
+ case 8:
+ case 9:
+ case 10:
+ default:
+ return 99.99;
+ }
+
+}
+
+void updown(bool up)
+{
+
+ if(editing)
+ {
+ changeflag = true;
+ byte decdepth;
+ double adder;
+ switch(getMenuType(highlightedIndex))
+ {
+ case TYPE_VAL:
+ decdepth = 7 - getValDec(highlightedIndex);
+ adder=1;
+ if(editDepthdecdepth)for(int i=decdepth;imaximum)(*val)=maximum;
+ else if((*val)0)
+ {
+ mIndex--;
+ mDrawIndex=mIndex;
+ }
+ }
+ else
+ {
+ byte limit = 3;// (curMenu==2 ? 4 : 3);
+ if(mIndexhelperTime)
+ {
+ setpoint = curVal;
+ gotonext=true;
+ }
+ else
+ {
+ setpoint = (curVal-helperVal)*(1-(float)(helperTime-now)/(float)(curTime))+helperVal;
+ }
+ }
+ else if (curType==2) //wait
+ {
+ float err = input-setpoint;
+ if(helperflag) //we're just looking for a cross
+ {
+
+ if(err==0 || (err>0 && helperVal<0) || (err<0 && helperVal>0)) gotonext=true;
+ else helperVal = err;
+ }
+ else //value needs to be within the band for the perscribed time
+ {
+ if (abs(err)>curVal) helperTime=now; //reset the clock
+ else if( (now-helperTime)>=curTime) gotonext=true; //we held for long enough
+ }
+
+ }
+ else if(curType==3) //step
+ {
+
+ if((now-helperTime)>curTime)gotonext=true;
+ }
+ else if(curType==127) //buzz
+ {
+ if(now=nProfSteps)
+ {
+ curType=0;
+ helperTime =0;
+ }
+ else
+ {
+ curType = proftypes[curProfStep];
+ curVal = profvals[curProfStep];
+ curTime = proftimes[curProfStep];
+
+ }
+ if(curType==1) //ramp
+ {
+ helperTime = curTime + now; //at what time the ramp will end
+ helperVal = setpoint;
+ }
+ else if(curType==2) //wait
+ {
+ helperflag = (curVal==0);
+ if(helperflag) helperVal= input-setpoint;
+ else helperTime=now;
+ }
+ else if(curType==3) //step
+ {
+ setpoint = curVal;
+ helperTime = now;
+ }
+ else if(curType==127) //buzzer
+ {
+ helperTime = now + curTime;
+ }
+ else
+ {
+ curType=0;
+ }
+
+
+
+ if(curType==0) //end
+ { //we're done
+ runningProfile=false;
+ curProfStep=0;
+ Serial.println("P_DN");
+ digitalWrite(buzzerPin,LOW);
+ }
+ else
+ {
+ Serial.print("P_STP ");
+ Serial.print(int(curProfStep));
+ Serial.print(" ");
+ Serial.print(int(curType));
+ Serial.print(" ");
+ Serial.print((curVal));
+ Serial.print(" ");
+ Serial.println((curTime));
+ }
+
+}
+
+
+
+
+
+const int eepromTuningOffset = 1; //13 bytes
+const int eepromDashOffset = 14; //9 bytes
+const int eepromATuneOffset = 23; //12 bytes
+const int eepromProfileOffset = 35; //136 bytes
+const int eepromInputOffset = 172; //? bytes (depends on the card)
+const int eepromOutputOffset = 300; //? bytes (depends on the card)
+
+
+void initializeEEPROM()
+{
+ //read in eeprom values
+ byte firstTime = EEPROM.read(0);
+ if(firstTime!=EEPROM_ID)
+ {//the only time this won't be 1 is the first time the program is run after a reset or firmware update
+ //clear the EEPROM and initialize with default values
+ for(int i=1;i<1024;i++) EEPROM.write(i,0);
+ EEPROMBackupTunings();
+ EEPROMBackupDash();
+ EEPROMBackupATune();
+ EEPROMBackupInputParams(eepromInputOffset);
+ EEPROMBackupOutputParams(eepromOutputOffset);
+ EEPROMBackupProfile();
+ EEPROM.write(0,EEPROM_ID); //so that first time will never be true again (future firmware updates notwithstanding)
+ }
+ else
+ {
+ EEPROMRestoreTunings();
+ EEPROMRestoreDash();
+ EEPROMRestoreATune();
+ EEPROMRestoreInputParams(eepromInputOffset);
+ EEPROMRestoreOutputParams(eepromOutputOffset);
+ EEPROMRestoreProfile();
+ }
+}
+
+
+
+void EEPROMreset()
+{
+ EEPROM.write(0,0);
+}
+
+
+void EEPROMBackupTunings()
+{
+ EEPROM.write(eepromTuningOffset,ctrlDirection);
+ EEPROM_writeAnything(eepromTuningOffset+1,kp);
+ EEPROM_writeAnything(eepromTuningOffset+5,ki);
+ EEPROM_writeAnything(eepromTuningOffset+9,kd);
+}
+
+void EEPROMRestoreTunings()
+{
+ ctrlDirection = EEPROM.read(eepromTuningOffset);
+ EEPROM_readAnything(eepromTuningOffset+1,kp);
+ EEPROM_readAnything(eepromTuningOffset+5,ki);
+ EEPROM_readAnything(eepromTuningOffset+9,kd);
+}
+
+void EEPROMBackupDash()
+{
+ EEPROM.write(eepromDashOffset, (byte)myPID.GetMode());
+ EEPROM_writeAnything(eepromDashOffset+1,setpoint);
+ EEPROM_writeAnything(eepromDashOffset+5,output);
+}
+
+void EEPROMRestoreDash()
+{
+ modeIndex = EEPROM.read(eepromDashOffset);
+ EEPROM_readAnything(eepromDashOffset+1,setpoint);
+ EEPROM_readAnything(eepromDashOffset+5,output);
+}
+
+void EEPROMBackupATune()
+{
+ EEPROM_writeAnything(eepromATuneOffset,aTuneStep);
+ EEPROM_writeAnything(eepromATuneOffset+4,aTuneNoise);
+ EEPROM_writeAnything(eepromATuneOffset+8,aTuneLookBack);
+}
+
+void EEPROMRestoreATune()
+{
+ EEPROM_readAnything(eepromATuneOffset,aTuneStep);
+ EEPROM_readAnything(eepromATuneOffset+4,aTuneNoise);
+ EEPROM_readAnything(eepromATuneOffset+8,aTuneLookBack);
+}
+
+void EEPROMBackupProfile()
+{
+ EEPROM_writeAnything(eepromProfileOffset, profname);
+ EEPROM_writeAnything(eepromProfileOffset + 8, proftypes);
+ EEPROM_writeAnything(eepromProfileOffset + 24, profvals);
+ EEPROM_writeAnything(eepromProfileOffset + 85, proftimes); //there might be a slight issue here (/1000?)
+}
+
+void EEPROMRestoreProfile()
+{
+ EEPROM_readAnything(eepromProfileOffset, profname);
+ EEPROM_readAnything(eepromProfileOffset + 8, proftypes);
+ EEPROM_readAnything(eepromProfileOffset + 24, profvals);
+ EEPROM_readAnything(eepromProfileOffset + 85, proftimes); //there might be a slight issue here (/1000?)
+}
+
+/********************************************
+ * Serial Communication functions / helpers
+ ********************************************/
+
+boolean ackDash = false, ackTune = false;
+union { // This Data structure lets
+ byte asBytes[32]; // us take the byte array
+ float asFloat[8]; // sent from processing and
+} // easily convert it to a
+foo; // float array
+
+// getting float values from processing into the arduino
+// was no small task. the way this program does it is
+// as follows:
+// * a float takes up 4 bytes. in processing, convert
+// the array of floats we want to send, into an array
+// of bytes.
+// * send the bytes to the arduino
+// * use a data structure known as a union to convert
+// the array of bytes back into an array of floats
+void SerialReceive()
+{
+
+ // read the bytes sent from Processing
+ byte index=0;
+ byte identifier=0;
+ byte b1=255,b2=255;
+ boolean boolhelp=false;
+
+ while(Serial.available())
+ {
+ byte val = Serial.read();
+ if(index==0){
+ identifier = val;
+ Serial.println(int(val));
+ }
+ else
+ {
+ switch(identifier)
+ {
+ case 0: //information request
+ if(index==1) b1=val; //which info type
+ else if(index==2)boolhelp = (val==1); //on or off
+ break;
+ case 1: //dasboard
+ case 2: //tunings
+ case 3: //autotune
+ if(index==1) b1 = val;
+ else if(index<14)foo.asBytes[index-2] = val;
+ break;
+ case 4: //EEPROM reset
+ if(index==1) b1 = val;
+ break;
+ case 5: //input configuration
+ if (index==1)InputSerialReceiveStart();
+ InputSerialReceiveDuring(val, index);
+ break;
+ case 6: //output configuration
+ if (index==1)OutputSerialReceiveStart();
+ OutputSerialReceiveDuring(val, index);
+ break;
+ case 7: //receiving profile
+ if(index==1) b1=val;
+ else if(b1>=nProfSteps) profname[index-2] = char(val);
+ else if(index==2) proftypes[b1] = val;
+ else foo.asBytes[index-3] = val;
+
+ break;
+ case 8: //profile command
+ if(index==1) b2=val;
+ break;
+ default:
+ break;
+ }
+ }
+ index++;
+ }
+
+ //we've received the information, time to act
+ switch(identifier)
+ {
+ case 0: //information request
+ switch(b1)
+ {
+ case 0:
+ sendInfo = true;
+ sendInputConfig=true;
+ sendOutputConfig=true;
+ break;
+ case 1:
+ sendDash = boolhelp;
+ break;
+ case 2:
+ sendTune = boolhelp;
+ break;
+ case 3:
+ sendInputConfig = boolhelp;
+ break;
+ case 4:
+ sendOutputConfig = boolhelp;
+ break;
+ default:
+ break;
+ }
+ break;
+ case 1: //dashboard
+ if(index==14 && b1<2)
+ {
+ setpoint=double(foo.asFloat[0]);
+ //Input=double(foo.asFloat[1]); // * the user has the ability to send the
+ // value of "Input" in most cases (as
+ // in this one) this is not needed.
+ if(b1==0) // * only change the output if we are in
+ { // manual mode. otherwise we'll get an
+ output=double(foo.asFloat[2]); // output blip, then the controller will
+ } // overwrite.
+
+ if(b1==0) myPID.SetMode(MANUAL);// * set the controller mode
+ else myPID.SetMode(AUTOMATIC); //
+ EEPROMBackupDash();
+ ackDash=true;
+ }
+ break;
+ case 2: //Tune
+ if(index==14 && (b1<=1))
+ {
+ // * read in and set the controller tunings
+ kp = double(foo.asFloat[0]); //
+ ki = double(foo.asFloat[1]); //
+ kd = double(foo.asFloat[2]); //
+ ctrlDirection = b1;
+ myPID.SetTunings(kp, ki, kd); //
+ if(b1==0) myPID.SetControllerDirection(DIRECT);// * set the controller Direction
+ else myPID.SetControllerDirection(REVERSE); //
+ EEPROMBackupTunings();
+ ackTune = true;
+ }
+ break;
+ case 3: //ATune
+ if(index==14 && (b1<=1))
+ {
+
+ aTuneStep = foo.asFloat[0];
+ aTuneNoise = foo.asFloat[1];
+ aTuneLookBack = (unsigned int)foo.asFloat[2];
+ if((!tuning && b1==1)||(tuning && b1==0))
+ { //toggle autotune state
+ changeAutoTune();
+ }
+ EEPROMBackupATune();
+ ackTune = true;
+ }
+ break;
+ case 4: //EEPROM reset
+ if(index==2 && b1<2) EEPROM.write(0,0); //eeprom will re-write on next restart
+ break;
+ case 5: //input configuration
+ InputSerialReceiveAfter(eepromInputOffset);
+ sendInputConfig=true;
+ break;
+ case 6: //ouput configuration
+ OutputSerialReceiveAfter(eepromOutputOffset);
+ sendOutputConfig=true;
+ break;
+ case 7: //receiving profile
+
+ if((index==11 || (b1>=nProfSteps && index==9) ))
+ {
+ if(!receivingProfile && b1!=0)
+ { //there was a timeout issue. reset this transfer
+ receivingProfile=false;
+ Serial.println("ProfError");
+ EEPROMRestoreProfile();
+ }
+ else if(receivingProfile || b1==0)
+ {
+ if(runningProfile)
+ { //stop the current profile execution
+ StopProfile();
+ }
+
+ if(b1==0)
+ {
+ receivingProfile = true;
+ profReceiveStart = millis();
+ }
+
+ if(b1>=nProfSteps)
+ { //getting the name is the last step
+ receivingProfile=false; //last profile step
+ Serial.print("ProfDone ");
+ Serial.println(profname);
+ EEPROMBackupProfile();
+ Serial.println("Archived");
+ }
+ else
+ {
+ profvals[b1] = foo.asFloat[0];
+ proftimes[b1] = (unsigned long)(foo.asFloat[1] * 1000);
+ Serial.print("ProfAck ");
+ Serial.print(b1);
+ Serial.print(" ");
+ Serial.print(proftypes[b1]);
+ Serial.print(" ");
+ Serial.print(profvals[b1]);
+ Serial.print(" ");
+ Serial.println(proftimes[b1]);
+ }
+ }
+ }
+ break;
+ case 8:
+ if(index==2 && b2<2)
+ {
+ if(b2==1) StartProfile();
+ else StopProfile();
+
+ }
+ break;
+ default:
+ break;
+ }
+}
+
+
+// unlike our tiny microprocessor, the processing ap
+// has no problem converting strings into floats, so
+// we can just send strings. much easier than getting
+// floats from processing to here no?
+void SerialSend()
+{
+ if(sendInfo)
+ {//just send out the stock identifier
+ Serial.print("\nosPID v1.70");
+ InputSerialID();
+ OutputSerialID();
+ Serial.println("");
+ sendInfo = false; //only need to send this info once per request
+ }
+ if(sendDash)
+ {
+ Serial.print("DASH ");
+ Serial.print(setpoint);
+ Serial.print(" ");
+ if(isnan(input)) Serial.print("Error");
+ else Serial.print(input);
+ Serial.print(" ");
+ Serial.print(output);
+ Serial.print(" ");
+ Serial.print(myPID.GetMode());
+ Serial.print(" ");
+ Serial.println(ackDash?1:0);
+ if(ackDash)ackDash=false;
+ }
+ if(sendTune)
+ {
+ Serial.print("TUNE ");
+ Serial.print(myPID.GetKp());
+ Serial.print(" ");
+ Serial.print(myPID.GetKi());
+ Serial.print(" ");
+ Serial.print(myPID.GetKd());
+ Serial.print(" ");
+ Serial.print(myPID.GetDirection());
+ Serial.print(" ");
+ Serial.print(tuning?1:0);
+ Serial.print(" ");
+ Serial.print(aTuneStep);
+ Serial.print(" ");
+ Serial.print(aTuneNoise);
+ Serial.print(" ");
+ Serial.print(aTuneLookBack);
+ Serial.print(" ");
+ Serial.println(ackTune?1:0);
+ if(ackTune)ackTune=false;
+ }
+ if(sendInputConfig)
+ {
+ Serial.print("IPT ");
+ InputSerialSend();
+ sendInputConfig=false;
+ }
+ if(sendOutputConfig)
+ {
+ Serial.print("OPT ");
+ OutputSerialSend();
+ sendOutputConfig=false;
+ }
+ if(runningProfile)
+ {
+ Serial.print("PROF ");
+ Serial.print(int(curProfStep));
+ Serial.print(" ");
+ Serial.print(int(curType));
+ Serial.print(" ");
+switch(curType)
+{
+ case 1: //ramp
+ Serial.println((helperTime-now)); //time remaining
+
+ break;
+ case 2: //wait
+ Serial.print(abs(input-setpoint));
+ Serial.print(" ");
+ Serial.println(curVal==0? -1 : float(now-helperTime));
+ break;
+ case 3: //step
+ Serial.println(curTime-(now-helperTime));
+ break;
+ default:
+ break;
+
+}
+
+ }
+
+}
+
+
+
+
+
+
+
+
+
diff --git a/resources/workshop/projects/pid-controller/research/TriangleTest.md b/resources/workshop/projects/pid-controller/research/TriangleTest.md
new file mode 100644
index 000000000..6ffb78f34
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/research/TriangleTest.md
@@ -0,0 +1,69 @@
+# Basic tests
+
+We test the behaviour, times and temperature of 3 cartridge heaters on a sheetpress.
+
+[In short, Video - Youtube](https://www.youtube.com/watch?v=2opgJ1I2T_Y&feature=youtu.be)
+
+
+
+## Setup
+
+- [3 Cartridge heaters](https://nl.aliexpress.com/item/32867272365.html?spm=a2g0o.productlist.0.0.564f5a002eSsCx&algo_pvid=452428f3-a649-40ee-916b-66b5fecae41a&algo_expid=452428f3-a649-40ee-916b-66b5fecae41a-3&btsid=df7c8627-0269-4d8c-90bc-8c5d3f12df73&ws_ab_test=searchweb0_0,searchweb201602_5,searchweb201603_55) at 220V
+- Room temperature : 33 degc
+- Stronger air circulation in the workshop
+- PID : Inkbird - 100VH
+- Cartridge heater : 12mm OD / 8cm L
+- Extra probe to PID probe difference around 15 degc (at 220degc)
+- Addtional probe to measure frame and wool temperatures
+- Press Plate : [EN AW 5083 [AlMg4,5Mn0,7]](https://gleich.de/us/products/g-al-c250/), 10mm
+- Insulation wol: [RockWool - ProRox WM960](https://rti.rockwool.com/en-in/products/industrial/prorox-wm-960/?selectedCat=industrial%20-%20india)
+
+---
+
+### Results
+
+- PID Probe to extra probe difference : 10-25%
+- Autotuning duration for 50 degC : 18 mins
+- Temperature loss from heated to unheated cell (33cm) : ~30 - 50%
+
+### Speeds
+
+**Times to raise temperature, 220degc**
+
+- at 130C, it took 17 secs to increase by one degc | Outer temperture (wool) : room temp
+- at 140C, it took 28 secs to increase by one degc | Outer temperture : room temp
+- at 155C, it took 38 secs to increase by one degc | Outer temperture : room temp | Frame-temperature : 50degc
+- at 160C, it took 41 secs to increase by one degc | Outer temperture : room temp | Frame-temperature : 52degc
+- at 170C, it took 52 secs to increase by one degc | Outer temperture : room temp | Frame-temperature : 53degc
+- at 180C, it took 58 secs to increase by one degc | Outer temperture : room temp | Frame-temperature : 53degc
+- at 190C, it took 1:54 mins to increase by one degc | Outer temperture : room temp | Frame-temperature : 53degc
+- at 200C, it took 1:55 mins to increase by one degc | Outer temperture : 34 degc | Frame-temperature : 68degc
+- at 210C, it took 3:02 mins to increase by one degc | Outer temperture : 35 degc | Frame-temperature : 82degc
+- at 220C, it took 12:05 mins to increase by one degc | Outer temperture : 36 degc | Frame-temperature : 84degc
+
+- after 220C, it takes **12:05 - 18 mins** to increase by one degc | Outer temperture : 36 degc | Frame-temperature : 84degc
+
+**Total : Time to heat from 33 degC to 210degc: 2:15 h::mm**
+
+**Total : Time to heat from 33 degC to 220degc: 3:28 h::mm**
+
+---
+
+**Times to increase temperature (turn off heating)**
+
+- at 214degc (at the PID probe), it took 0:17 secs to cool down by 1 degc !
+- at 205degc (at the extra probe - on the heater block), it took 0:21 secs to cool down by 1 degc !
+
+---
+
+## Conclusions
+
+- research: we need better probes and some better logging
+- build: PID probe should penetrate the heat plate
+- build: Heat plate should be thicker
+- build: Cartridge heater blocks should be bigger
+- times: After, 200 degc (at 33 degc room temp), the system has a really hard time to increase temperature at all, especially strong wind/air circulation at the perimeter affects this times significantly
+- performance: it's unlikely to go beyond 220/230 degc, especially in colder environments
+- see [more](../network) remarks from the network
+- serial partition heating: with a window of 18 secs to cool down one degc (heater off), we might have still a chance with better heat containment as recommended in the build remarks
+
diff --git a/resources/workshop/projects/pid-controller/research/assets/setup-triangle-test.jpg b/resources/workshop/projects/pid-controller/research/assets/setup-triangle-test.jpg
new file mode 100644
index 000000000..613307656
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/research/assets/setup-triangle-test.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38e27c0f03cbd0c73dd37b8ed2b2216739752a622127d49284f937ec4373a9c
+size 11712
diff --git a/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO MINI pure – CONTROLLINO.html b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO MINI pure – CONTROLLINO.html
new file mode 100644
index 000000000..4ad6037e0
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO MINI pure – CONTROLLINO.html
@@ -0,0 +1,2148 @@
+
+
+CONTROLLINO MINI pure – CONTROLLINO
+
+
+
+Settings
We use cookies to optimize our website and our service. Read more
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf
new file mode 100644
index 000000000..68fa3aa8b
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-Instruction-Manual-V1.5-2018-12-14.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967cba98c096e1efd6e5ff8f101efc7781d00a172482fa6c50f3a7e2191b8713
+size 1648022
diff --git a/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-MEGA-Pinout-1.jpg b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-MEGA-Pinout-1.jpg
new file mode 100644
index 000000000..703f7ed81
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/vendor/controllino/CONTROLLINO-MEGA-Pinout-1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b9243fb8d06773ecd76daa919f559128d58765a6948f912d448692470c98a0
+size 4826575
diff --git a/resources/workshop/projects/pid-controller/vendor/controllino/FMUSE0FIC37CA7W/FMUSE0FIC37CA7W.ino b/resources/workshop/projects/pid-controller/vendor/controllino/FMUSE0FIC37CA7W/FMUSE0FIC37CA7W.ino
new file mode 100644
index 000000000..a5f217ac5
--- /dev/null
+++ b/resources/workshop/projects/pid-controller/vendor/controllino/FMUSE0FIC37CA7W/FMUSE0FIC37CA7W.ino
@@ -0,0 +1,142 @@
+/*This document should end up as a short introduction to one particular method of sidestepping Accelstepper's somewhat low step-rate limit using default stepper.run() protocol. It is not the only and certainly not the best method. But it works.*/
+//Extra note about the purpose: This lets you use the nice accelstepper acceleration algorithm for the initial acceleration and then a much cruder linear ramp thereafter.
+#include
+
+/* Accelstepper SetMotorIdentifier(TYPE, STEP, DIRECTION) We are using type 1 because it's a classic stepper Driver.
+Different types might ask for things other than step&direction [see Accelsteppr documentation]*/
+
+const int stepPin=23;
+const int directionPin=14;
+AccelStepper stepper(1,stepPin,directionPin);
+
+long actuatorDistance = 158400; //This varies depending on your purpose. I wanted to go 158,400 steps. That equated to 99 rotations of my 1.8 deg stepper motor with 1/8th microstepping.
+int actuatorSpeed=3900; //This corresponded to 487.5 steps/second, or 2.47 revs/second, which for me corresponding to about 40 seconds for my actuator.
+
+unsigned long actuatorTimeout =19000; //This might not be used in the tutorial, but it's good to have a timeout threshold if you think your actuator might stall out and you want some backup timeout.
+
+int actuatorAcceleration=8500; //This acceleration value was chosen by experimentation, and only corresponds to the initial actuatorSpeed trigger point - after that your linear acceleration takes over.
+
+const byte programOverhead=26; //measured in mS. During the fast-stepping function you may want to check a few sensors (in my case, for an end-stop). The thing is you want your initial linear step-delay to be pretty close to whatever step rate the accelstepper actuatorSpeed was. For this to work, you need to know roughly how much time your control loop takes excluding the step delay. If your sketch is similar to mine in what it's checking, you can start with my numbers.
+
+const byte minPulseWidth=3; //different drivers require different mininum step pulses to register a line change...The basic reprap drivers are 1-2mS, this is sort of an unnecessary variable I used for extra fluff, you can probably do without it.
+
+//FINAL STEP RATE VALUE
+byte stepDelayTarget=90-minPulseWidth-programOverhead; //Uhoh! This should never add up to <0. Check manually.
+//This number, here shown as 90, relates to your target final step max speed. 90 is in uS, so I went up to 1000,000/90 = 11,111.1.. steps/second. That's an improvement over the default max of 3900 steps/seconds and as rate limited in my application by the physical system. I don't know how high you can expect an arduino to go.
+
+
+const int systemEndstop=24;
+
+const int enablePin=53; //This is another extra variable I kept in the example code. You can ignore it, but it refers to a pin that is controlling the enable pin of my DRV8825 driver. Because it's 53 you can see I wrote this probably for an arduino mega.
+
+//Global variables as part of the program functions.
+unsigned long timeStart;
+//We want to be able to reset Timestart in different parts of the program. It's a global variable redeclared by a number of functions. Be aware. Another 'extra variable' I kept in the example code.
+
+void setup(){ //Void setup runs once during initial boot of microprocessor, but not after.
+
+ stepper.setPinsInverted(false,false,true); // setPinsInverted(bool Dir,bool Step,bool Enable) Bool enable is == true because my enable pin is OFF when HIGH and ON when LOW. This is opposite of the default, so we enable the invert function. I believe the default is set for an A4988 driver, and this use case is for the Pololu DRV8825 breakout.
+
+
+ //these should be familiar if you've used the accelstepper program before.
+ stepper.setMaxSpeed(actuatorSpeed);
+ stepper.setAcceleration(actuatorAcceleration);
+ stepper.setEnablePin(enablePin);
+ stepper.setMinPulseWidth(3); //Remember the minPulseWidth variable from before? This is the accelstepper version.
+
+// declare pinmodes
+ pinMode(systemEndstop,INPUT);
+ digitalWrite(systemEndstop,HIGH); //This sets internal 20k pull-up resistor. It is usually necessary for a hall sensor to have a pull-up resistor, and in this case I was using a hall-sensor endstop.
+}
+
+void fastSteppingFunction(){
+
+ //Ok! StepDelay needs to be set so that it creates a stepping speed approximately equal to the stepping speed that accelstepper leaves off at. Much different, and you will have caused an instantaneous acceleration that the stepper motor will fail to keep up with.
+
+ byte stepDelay=((1000000/actuatorSpeed)-minPulseWidth-programOverhead);
+ //In my original code, I actually hard coded the stepDelay start at 250 instead of (100000/actuatorSpeed). The math for my values would put 1,000,000/actuatorSpeed at 256 steps/second, and for some reason I chose 250. But this math step allows for you to change your actuatorSpeed without needing to change the value here.
+
+ byte counter = 0; //counter is used as a way to make a very quick conditional statement that overflows every 256 digits. There are other ways to implement the linear ramp. This is the way I chose. I thought it would be fast although it's no longer clear to me why I chose exactly this method.
+
+ while(digitalRead(systemEndstop)==HIGH){ //remember this is our ending condition. In my code we are not relying on our steps to be counted until our endstop. You can do this too, by setting your condition to be be when a bigger counter reaches a certain number. Then you need to implement a counter that increments during each step.
+
+ digitalWrite(stepPin,HIGH);
+ delayMicroseconds(minPulseWidth);
+ digitalWrite(stepPin,LOW);
+ delayMicroseconds(stepDelay);
+
+ if (actuatorTimeout<(millis()-timeStart)){
+ //Did you notice we said "timeStart=millis()" at the start of actuation? This is because I recommend your system has a timeout in case your motor stalls out and you never reach your endstop.
+
+ //make an error function and call it here.
+ //make a function to get back up to speed, assuming you want to do that after you resolve the error. Optional not included.
+ //recursively return to the fastSteppingFunction();
+ }
+
+ //Next increment the counter, this will run each time you repeat the loop. At the point I'm writing this instructable, I suggest using a different method to make a linear ramp. This method is not very adjustable to changing the ramp, more in next comments.
+
+ counter=counter+2; //always manipulate this counter so that you understand when your counter will reach the condition in the if statement below. In my case, it will reach the condition every 256/2 steps, i.e, every 128 steps, or, about every fifth of a revolution. If I chose a number like "3" instead of "2" I would have a problem because the counter would not reach 0 until a third overflow of the byte number, so I would be decreasing the slope of my linear ramp six times. Meanwhile I can also decrease the slope by half by changing the number to 1, or I can double the slope by saying 4. This lack of flexibility in changing the linear ramp slope is why I suggest considering other methods to make a linear ramp. Try to implement your method with minimum math. Ideally do not include multiplication in the loop, and especially not division. Division is not native on the arduino, and requires more software overhead.
+
+ if (stepDelay>stepDelayTarget && counter==0){
+ //So this condition is looking to see if you're reached your max speed target, and if you haven't yet and the counter has reached its trigger point [0], then it decreases the delay.
+ stepDelay--; //Stepdelay-- is a fast way of saying "stepdelay=stepdelay-1", i.e, your decreasing the step delay. By decreasing the step delay, you are increasing the frequency of steps/ the speed of your motor.
+ }
+ }
+}
+
+void moveActuatorForward(){
+
+ //Hey! You're about to start moving a motor. In a lot of cases that means you should make some safety check. The following commented if statement is a filler for that.
+ /*if ([insert errorCondition]){
+ //stepper.disableOutputs();
+ //error();
+ }*/
+
+ stepper.enableOutputs(); //This is redundant, in fact. It's already been called.
+ stepper.move(actuatorDistance); //You need to tell accelstepper how far you're going!
+
+ timeStart = millis(); //I used a global variable in other parts of the code, maybe you want to use a local variable.
+
+ //Hey we're finally starting!!
+ while(1){ //Title: "Basic Moving While Loop"
+
+ if (digitalRead(systemEndstop)==LOW){
+ //we finished before acceleration got past the library limit! This never happened for my application, but maybe does for yours.
+ break; //break removes you from the while loop called "Basic Moving While loop"
+ }
+
+ stepper.run(); //this makes your initial acceleration completely abstract.
+
+ if(stepper.speed() 0) {
+ var zRanges = {};
+ if (is3D()) {
+ var numberOfSections = getNumberOfSections();
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var zRange = section.getGlobalZRange();
+ var tool = section.getTool();
+ if (zRanges[tool.number]) {
+ zRanges[tool.number].expandToRange(zRange);
+ } else {
+ zRanges[tool.number] = zRange;
+ }
+ }
+ }
+
+ writeSeparator();
+ writeComment(localize("Tools"));
+ for (var i = 0; i < tools.getNumberOfTools(); ++i) {
+ var tool = tools.getTool(i);
+ var comment = (getProperty("toolAsName") ? "\"" + (tool.description.toUpperCase()) + "\"" : " #" + tool.number) + " " +
+ localize("D") + "=" + spatialFormat.format(tool.diameter) +
+ conditional(tool.cornerRadius > 0, " " + localize("CR") + "=" + spatialFormat.format(tool.cornerRadius)) +
+ conditional((tool.taperAngle > 0) && (tool.taperAngle < Math.PI), " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg"));
+ // conditional(tool.tipAngle > 0, " " + localize("TIP:") + "=" + taperFormat.format(tool.tipAngle) + localize("deg"));
+ if (zRanges[tool.number]) {
+ comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
+ comment += " - " + localize("ZMAX") + "=" + xyzFormat.format(zRanges[tool.number].getMaximum());
+ }
+ comment += " - " + getToolTypeName(tool.type);
+ writeComment(comment);
+ if (tool.comment) {
+ writeComment(" " + tool.comment);
+ }
+ if (tool.vendor) {
+ writeComment(" " + tool.vendor);
+ }
+ if (tool.productId) {
+ writeComment(" " + tool.productId);
+ }
+ }
+ writeSeparator();
+ writeComment("");
+ }
+ }
+
+ //Probing Surface Inspection
+ if (typeof inspectionWriteVariables == "function") {
+ inspectionWriteVariables();
+ }
+
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ setTCP(false);
+ }
+}
+
+function onComment(message) {
+ writeComment(message);
+}
+
+function invalidateXYZ() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+}
+
+function forceFeed() {
+ currentFeedId = undefined;
+ feedOutput.reset();
+}
+
+/**
+ Invalidates the current position and feedrate. Invoke this function to
+ force X, Y, Z, A, B, C, and F in the following block.
+*/
+function invalidate() {
+ xOutput.reset();
+ yOutput.reset();
+ zOutput.reset();
+ aOutput.reset();
+ bOutput.reset();
+ cOutput.reset();
+ forceFeed();
+}
+
+var currentTolerance = undefined;
+
+function setTolerance(tolerance) {
+ if (tolerance == currentTolerance) {
+ return;
+ }
+ currentTolerance = tolerance;
+
+ if (tolerance > 0) {
+ writeBlock("CYCL DEF 32.0 " + localize("TOLERANCE"));
+ writeBlock("CYCL DEF 32.1 T" + xyzFormat.format(tolerance * 1.3));
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock("CYCL DEF 32.2 HSC-MODE:0 TA0.5"); // required for 5-axis support
+ }
+ } else {
+ writeBlock("CYCL DEF 32.0 " + localize("TOLERANCE")); // cancel tolerance
+ writeBlock("CYCL DEF 32.1");
+ }
+}
+
+function getSEQ() {
+ var SEQ = "";
+ switch (getProperty("preferTilt")) {
+ case -1:
+ SEQ = " SEQ-";
+ break;
+ case 0:
+ break;
+ case 1:
+ SEQ = " SEQ+";
+ break;
+ default:
+ error(localize("Invalid tilt preference."));
+ }
+ return SEQ;
+}
+
+function getSpindleAxisLetter(axis) {
+ if (isSameDirection(axis, new Vector(1, 0, 0))) {
+ return "X";
+ } else if (isSameDirection(axis, new Vector(0, 1, 0))) {
+ return "Y";
+ } else if (isSameDirection(axis, new Vector(0, 0, 1))) {
+ return "Z";
+ } else {
+ error(localize("Unsuported spindle axis."));
+ return 0;
+ }
+}
+
+var currentWorkPlaneABC = undefined;
+var currentWorkPlaneABCTurned = false;
+
+function forceWorkPlane() {
+ currentWorkPlaneABC = undefined;
+}
+
+function defineWorkPlane(_section, _setWorkPlane) {
+ var abc = new Vector(0, 0, 0);
+ if (forceMultiAxisIndexing || (!is3D() && getProperty("usePlane") != "none") || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
+ if (_section.isMultiAxis()) {
+ forceWorkPlane();
+ cancelTransformation();
+ } else {
+ if (getProperty("usePlane") == "true") {
+ abc = _section.workPlane.getEuler2(EULER_XYZ_S);
+ var remaining = Matrix.getXYZRotation(abc).getTransposed().multiply(_section.workPlane);
+ setRotation(remaining);
+ } else if (getProperty("usePlane") == "false") {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane);
+ } else {
+ abc = _section.workPlane.getEuler2(EULER_XYZ_S);
+ cancelTransformation();
+ }
+ } else {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ abc = getWorkPlaneMachineABC(_section.workPlane, _setWorkPlane);
+ }
+ }
+ if (_setWorkPlane) {
+ setWorkPlane(abc, true, false); // turn
+ }
+ }
+ } else { // pure 3D
+ var remaining = _section.workPlane;
+ if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
+ error(localize("Tool orientation is not supported."));
+ return abc;
+ }
+ setRotation(remaining);
+ }
+ return abc;
+}
+
+function getTableRot() {
+ if (machineConfiguration.isMultiAxisConfiguration() && currentSection.isZOriented() &&
+ (machineConfiguration.getAxisU().isTable() || machineConfiguration.getAxisV().isTable())) {
+ return " TABLE ROT"; // force physical C-axis rotation
+ }
+ return "";
+}
+
+function setWorkPlane(abc, turn, isPrepositioned) {
+ if (!forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) {
+ return; // ignore
+ }
+
+ if (!((currentWorkPlaneABC == undefined) ||
+ abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) ||
+ abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) ||
+ abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z) ||
+ (!currentWorkPlaneABCTurned && turn))) {
+ return; // no change
+ }
+ currentWorkPlaneABC = abc;
+ currentWorkPlaneABCTurned = turn;
+
+ if (turn && !retracted) {
+ if (!isPrepositioned) {
+ writeRetract(Z);
+ }
+ }
+
+ if (turn) {
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ }
+
+ if (getProperty("usePlane") == "true") {
+ var TURN = turn ? " TURN FMAX" : " STAY"; // alternatively slow down with F9999
+ if (abc.isNonZero()) {
+ writeBlock(
+ "PLANE SPATIAL SPA" + abcFormat.format(abc.x) + " SPB" + abcFormat.format(abc.y) + " SPC" + abcFormat.format(abc.z) + TURN + getSEQ() + getTableRot()
+ );
+ /*
+ var W = currentSection.workPlane; // map to global frame
+ writeBlock(
+ "PLANE VECTOR" +
+ " BX" + txyzFormat.format(W.right.x) + " BY" + txyzFormat.format(W.right.y) + " BZ" + txyzFormat.format(W.right.z) +
+ " NX" + txyzFormat.format(W.forward.x) + " NY" + txyzFormat.format(W.forward.y) + " NZ" + txyzFormat.format(W.forward.z) + TURN + getSEQ()
+ );
+ */
+ } else {
+ writeBlock("PLANE RESET" + TURN);
+ }
+ } else if (getProperty("usePlane") == "false") {
+ writeBlock("CYCL DEF 19.0 " + localize("WORKING PLANE"));
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "CYCL DEF 19.1" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x)) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y)) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ } else {
+ writeBlock("CYCL DEF 19.1 A" + abcFormat.format(abc.x) + " B" + abcFormat.format(abc.y) + " C" + abcFormat.format(abc.z));
+ }
+ if (turn) {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "L" +
+ (machineConfiguration.isMachineCoordinate(0) ? " A+Q120" : "") +
+ (machineConfiguration.isMachineCoordinate(1) ? " B+Q121" : "") +
+ (machineConfiguration.isMachineCoordinate(2) ? " C+Q122" : "") +
+ " R0 FMAX"
+ );
+ }
+ }
+ } else {
+ writeBlock(
+ "L" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x)) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y)) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z)) +
+ " R0 FMAX"
+ );
+ }
+}
+
+var currentMachineABC;
+
+function getWorkPlaneMachineABC(workPlane, _setWorkPlane) {
+ var W = workPlane; // map to global frame
+
+ var abc = machineConfiguration.getABC(W);
+ if (closestABC) {
+ if (currentMachineABC) {
+ abc = machineConfiguration.remapToABC(abc, currentMachineABC);
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+ } else {
+ abc = machineConfiguration.getPreferredABC(abc);
+ }
+
+ try {
+ abc = machineConfiguration.remapABC(abc);
+ if (_setWorkPlane) {
+ currentMachineABC = abc;
+ }
+ } catch (e) {
+ error(
+ localize("Machine angles not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var direction = machineConfiguration.getDirection(abc);
+ if (!isSameDirection(direction, W.forward)) {
+ error(localize("Orientation not supported."));
+ }
+
+ if (!machineConfiguration.isABCSupported(abc)) {
+ error(
+ localize("Work plane is not supported") + ":"
+ + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x))
+ + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y))
+ + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z))
+ );
+ }
+
+ var tcp = false; // keep false for CYCL 19
+ if (tcp) {
+ setRotation(W); // TCP mode
+ } else {
+ var O = machineConfiguration.getOrientation(abc);
+ var R = machineConfiguration.getRemainingOrientation(abc, W);
+ setRotation(R);
+ }
+
+ return abc;
+}
+
+function FeedContext(id, description, feed) {
+ this.id = id;
+ this.description = description;
+ this.feed = feed;
+}
+
+/** Maps the specified feed value to Q feed or formatted feed. */
+function getFeed(f) {
+ if (activeMovements) {
+ var feedContext = activeMovements[movement];
+ if (feedContext != undefined) {
+ if (!feedFormat.areDifferent(feedContext.feed, f)) {
+ if (feedContext.id == currentFeedId) {
+ return ""; // nothing has changed
+ }
+ forceFeed();
+ currentFeedId = feedContext.id;
+ return " FQ" + (50 + feedContext.id);
+ }
+ }
+ currentFeedId = undefined; // force Q feed next time
+ }
+ return feedOutput.format(f); // use feed value
+}
+
+function initializeActiveFeeds() {
+ activeMovements = new Array();
+ var movements = currentSection.getMovements();
+
+ var id = 0;
+ var activeFeeds = new Array();
+ if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) {
+ var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_CUTTING] = feedContext;
+ activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext;
+ activeMovements[MOVEMENT_EXTENDED] = feedContext;
+ }
+ ++id;
+ if (movements & (1 << MOVEMENT_PREDRILL)) {
+ feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting"));
+ activeMovements[MOVEMENT_PREDRILL] = feedContext;
+ activeFeeds.push(feedContext);
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:finishFeedrate")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting")) {
+ if (movements & (1 << MOVEMENT_FINISH_CUTTING)) {
+ var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedEntry")) {
+ if (movements & (1 << MOVEMENT_LEAD_IN)) {
+ var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_IN] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LEAD_OUT)) {
+ var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LEAD_OUT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:noEngagementFeedrate")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ } else if (hasParameter("operation:tool_feedCutting") &&
+ hasParameter("operation:tool_feedEntry") &&
+ hasParameter("operation:tool_feedExit")) {
+ if (movements & (1 << MOVEMENT_LINK_DIRECT)) {
+ var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit")));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_LINK_DIRECT] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:reducedFeedrate")) {
+ if (movements & (1 << MOVEMENT_REDUCED)) {
+ var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_REDUCED] = feedContext;
+ }
+ ++id;
+ }
+
+ if (hasParameter("operation:tool_feedRamp")) {
+ if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) {
+ var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_RAMP] = feedContext;
+ activeMovements[MOVEMENT_RAMP_HELIX] = feedContext;
+ activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext;
+ activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext;
+ }
+ ++id;
+ }
+ if (hasParameter("operation:tool_feedPlunge")) {
+ if (movements & (1 << MOVEMENT_PLUNGE)) {
+ var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge"));
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_PLUNGE] = feedContext;
+ }
+ ++id;
+ }
+ if (true) { // high feed
+ if ((movements & (1 << MOVEMENT_HIGH_FEED)) || (highFeedMapping != HIGH_FEED_NO_MAPPING)) {
+ var feed;
+ if (hasParameter("operation:highFeedrateMode") && getParameter("operation:highFeedrateMode") != "disabled") {
+ feed = getParameter("operation:highFeedrate");
+ } else {
+ feed = this.highFeedrate;
+ }
+ var feedContext = new FeedContext(id, localize("High Feed"), feed);
+ activeFeeds.push(feedContext);
+ activeMovements[MOVEMENT_HIGH_FEED] = feedContext;
+ activeMovements[MOVEMENT_RAPID] = feedContext;
+ }
+ ++id;
+ }
+
+ for (var i = 0; i < activeFeeds.length; ++i) {
+ var feedContext = activeFeeds[i];
+ writeBlock("FN0: Q" + (50 + feedContext.id) + "=" + feedFormat.format(feedContext.feed) + " ; " + feedContext.description);
+ }
+}
+
+/** Returns true if the spatial vectors are significantly different. */
+function areSpatialVectorsDifferent(_vector1, _vector2) {
+ return (xyzFormat.getResultingValue(_vector1.x) != xyzFormat.getResultingValue(_vector2.x)) ||
+ (xyzFormat.getResultingValue(_vector1.y) != xyzFormat.getResultingValue(_vector2.y)) ||
+ (xyzFormat.getResultingValue(_vector1.z) != xyzFormat.getResultingValue(_vector2.z));
+}
+
+/** Returns true if the spatial boxes are a pure translation. */
+function areSpatialBoxesTranslated(_box1, _box2) {
+ return !areSpatialVectorsDifferent(Vector.diff(_box1[1], _box1[0]), Vector.diff(_box2[1], _box2[0])) &&
+ !areSpatialVectorsDifferent(Vector.diff(_box2[0], _box1[0]), Vector.diff(_box2[1], _box1[1]));
+}
+
+/** Returns true if the spatial boxes are same. */
+function areSpatialBoxesSame(_box1, _box2) {
+ return !areSpatialVectorsDifferent(_box1[0], _box2[0]) && !areSpatialVectorsDifferent(_box1[1], _box2[1]);
+}
+
+function subprogramDefine(_initialPosition, _abc, _retracted, _zIsOutput) {
+ // convert patterns into subprograms
+ var usePattern = false;
+ patternIsActive = false;
+ if (currentSection.isPatterned && currentSection.isPatterned() && (getProperty("useSubroutines") == "patterns")) {
+ currentPattern = currentSection.getPatternId();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_PATTERN) && (currentPattern == definedPatterns[i].patternId)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_PATTERN);
+ if (usePattern) {
+ currentSubprogram = nextLabel++;
+ }
+ definedPatterns.push({
+ patternType: SUB_PATTERN,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: _initialPosition
+ });
+ }
+
+ if (usePattern) {
+ if (!_retracted && !_zIsOutput) {
+ writeBlock("L" + zOutput.format(_initialPosition.z) + " FMAX");
+ }
+
+ // call subprogram
+ writeBlock("CALL LBL " + currentSubprogram);
+ patternIsActive = true;
+
+ if (firstPattern) {
+ subprogramStart(_initialPosition, _abc, incrementalSubprogram);
+ } else {
+ skipRemainingSection();
+ setCurrentPosition(getFramePosition(currentSection.getFinalPosition()));
+ }
+ }
+ }
+
+ // Output cycle operation as subprogram
+ if (!usePattern && (getProperty("useSubroutines") == "cycles") && currentSection.doesStrictCycle &&
+ (currentSection.getNumberOfCycles() == 1) && currentSection.getNumberOfCyclePoints() >= minimumCyclePoints) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ currentPattern = currentSection.getNumberOfCyclePoints();
+ firstPattern = true;
+ for (var i = 0; i < definedPatterns.length; ++i) {
+ if ((definedPatterns[i].patternType == SUB_CYCLE) && (currentPattern == definedPatterns[i].patternId) &&
+ !areSpatialVectorsDifferent(_initialPosition, definedPatterns[i].initialPosition) &&
+ !areSpatialVectorsDifferent(finalPosition, definedPatterns[i].finalPosition)) {
+ currentSubprogram = definedPatterns[i].subProgram;
+ usePattern = definedPatterns[i].validPattern;
+ firstPattern = false;
+ break;
+ }
+ }
+
+ if (firstPattern) {
+ // determine if this is a valid pattern for creating a subprogram
+ usePattern = subprogramIsValid(currentSection, currentPattern, SUB_CYCLE);
+ if (usePattern) {
+ currentSubprogram = nextLabel++;
+ }
+ definedPatterns.push({
+ patternType: SUB_CYCLE,
+ patternId: currentPattern,
+ subProgram: currentSubprogram,
+ validPattern: usePattern,
+ initialPosition: _initialPosition,
+ finalPosition: finalPosition
+ });
+ }
+ cycleSubprogramIsActive = usePattern;
+ }
+
+ // Output each operation as a subprogram
+ if (!usePattern && (getProperty("useSubroutines") == "allOperations")) {
+ currentSubprogram = nextLabel++;
+ writeBlock("CALL LBL " + currentSubprogram);
+ firstPattern = true;
+ subprogramStart(_initialPosition, _abc, false);
+ }
+}
+
+function subprogramStart(_initialPosition, _abc, _incremental) {
+ redirectToBuffer();
+ var comment = "";
+ if (hasParameter("operation-comment")) {
+ comment = getParameter("operation-comment");
+ }
+ writeln(
+ "LBL " + currentSubprogram +
+ conditional(comment, formatComment(comment.substr(0, maximumLineLength - 2 - 6 - 1)))
+ );
+ if (_incremental) {
+ setIncrementalMode(_initialPosition, _abc);
+ }
+}
+
+function subprogramEnd() {
+ if (firstPattern) {
+ writeln("LBL 0");
+ subprograms += getRedirectionBuffer();
+ }
+ invalidate();
+ firstPattern = false;
+ closeRedirection();
+}
+
+function subprogramIsValid(_section, _patternId, _patternType) {
+ var sectionId = _section.getId();
+ var numberOfSections = getNumberOfSections();
+ var validSubprogram = _patternType != SUB_CYCLE;
+
+ var masterPosition = new Array();
+ masterPosition[0] = getFramePosition(_section.getInitialPosition());
+ masterPosition[1] = getFramePosition(_section.getFinalPosition());
+ var tempBox = _section.getBoundingBox();
+ var masterBox = new Array();
+ masterBox[0] = getFramePosition(tempBox[0]);
+ masterBox[1] = getFramePosition(tempBox[1]);
+
+ var rotation = getRotation();
+ var translation = getTranslation();
+ incrementalSubprogram = undefined;
+
+ for (var i = 0; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ if (section.getId() != sectionId) {
+ defineWorkPlane(section, false);
+ // check for valid pattern
+ if (_patternType == SUB_PATTERN) {
+ if (section.getPatternId() == _patternId) {
+ var patternPosition = new Array();
+ patternPosition[0] = getFramePosition(section.getInitialPosition());
+ patternPosition[1] = getFramePosition(section.getFinalPosition());
+ tempBox = section.getBoundingBox();
+ var patternBox = new Array();
+ patternBox[0] = getFramePosition(tempBox[0]);
+ patternBox[1] = getFramePosition(tempBox[1]);
+
+ if (areSpatialBoxesSame(masterPosition, patternPosition) && areSpatialBoxesSame(masterBox, patternBox) && !section.isMultiAxis()) {
+ incrementalSubprogram = incrementalSubprogram ? incrementalSubprogram : false;
+ } else if (!areSpatialBoxesTranslated(masterPosition, patternPosition) || !areSpatialBoxesTranslated(masterBox, patternBox)) {
+ validSubprogram = false;
+ break;
+ } else {
+ incrementalSubprogram = true;
+ }
+ }
+
+ // check for valid cycle operation
+ } else if (_patternType == SUB_CYCLE) {
+ if ((section.getNumberOfCyclePoints() == _patternId) && (section.getNumberOfCycles() == 1)) {
+ var patternInitial = getFramePosition(section.getInitialPosition());
+ var patternFinal = getFramePosition(section.getFinalPosition());
+ if (!areSpatialVectorsDifferent(patternInitial, masterPosition[0]) && !areSpatialVectorsDifferent(patternFinal, masterPosition[1])) {
+ validSubprogram = true;
+ break;
+ }
+ }
+ }
+ }
+ }
+ setRotation(rotation);
+ setTranslation(translation);
+ return (validSubprogram);
+}
+
+function setAxisMode(_format, _output, _prefix, _value, _incr) {
+ var i = _output.isEnabled();
+ if (_output == zOutput) {
+ _output = _incr ? createIncrementalVariable({onchange: function() {retracted = false;}, prefix: _prefix}, _format) : createVariable({onchange: function() {retracted = false;}, prefix: _prefix}, _format);
+ } else {
+ _output = _incr ? createIncrementalVariable({prefix: _prefix}, _format) : createVariable({prefix: _prefix}, _format);
+ }
+ _output.format(_value);
+ _output.format(_value);
+ i = i ? _output.enable() : _output.disable();
+ return _output;
+}
+
+function setIncrementalMode(xyz, abc) {
+ xOutput = setAxisMode(xyzFormat, xOutput, " IX", xyz.x, true);
+ yOutput = setAxisMode(xyzFormat, yOutput, " IY", xyz.y, true);
+ zOutput = setAxisMode(xyzFormat, zOutput, " IZ", xyz.z, true);
+ aOutput = setAxisMode(abcFormat, aOutput, " IA", abc.x, true);
+ bOutput = setAxisMode(abcFormat, bOutput, " IB", abc.y, true);
+ cOutput = setAxisMode(abcFormat, cOutput, " IC", abc.z, true);
+ incrementalMode = true;
+}
+
+function setAbsoluteMode(xyz, abc) {
+ if (incrementalMode) {
+ xOutput = setAxisMode(xyzFormat, xOutput, " X", xyz.x, false);
+ yOutput = setAxisMode(xyzFormat, yOutput, " Y", xyz.y, false);
+ zOutput = setAxisMode(xyzFormat, zOutput, " Z", xyz.z, false);
+ aOutput = setAxisMode(abcFormat, aOutput, " A", abc.x, false);
+ bOutput = setAxisMode(abcFormat, bOutput, " B", abc.y, false);
+ cOutput = setAxisMode(abcFormat, cOutput, " C", abc.z, false);
+ incrementalMode = false;
+ }
+}
+
+function onSection() {
+ if (getProperty("toolAsName") && !tool.description) {
+ if (hasParameter("operation-comment")) {
+ error(subst(localize("Tool description is empty in operation \"%1\"."), getParameter("operation-comment").toUpperCase()));
+ } else {
+ error(localize("Tool description is empty."));
+ }
+ return;
+ }
+ var forceToolAndRetract = optionalSection && !currentSection.isOptional();
+ optionalSection = currentSection.isOptional();
+
+ var insertToolCall = forceToolAndRetract || isFirstSection() ||
+ (currentSection.getForceToolChange && currentSection.getForceToolChange()) ||
+ (tool.number != getPreviousSection().getTool().number) ||
+ (tool.clockwise != getPreviousSection().getTool().clockwise) ||
+ conditional(getProperty("toolAsName"), tool.description != getPreviousSection().getTool().description);
+ retracted = false; // specifies that the tool has been retracted to the safe plane
+ var zIsOutput = false; // true if the Z-position has been output, used for patterns
+
+ var newWorkOffset = isFirstSection() ||
+ (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
+ var newWorkPlane = isFirstSection() ||
+ !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()) ||
+ (currentSection.isOptimizedForMachine() && getPreviousSection().isOptimizedForMachine() &&
+ Vector.diff(getPreviousSection().getFinalToolAxisABC(), currentSection.getInitialToolAxisABC()).length > 1e-4) ||
+ (!machineConfiguration.isMultiAxisConfiguration() && currentSection.isMultiAxis()) ||
+ (!getPreviousSection().isMultiAxis() && currentSection.isMultiAxis() ||
+ getPreviousSection().isMultiAxis() && !currentSection.isMultiAxis()); // force newWorkPlane between indexing and simultaneous operations
+ var fullRetract = insertToolCall || newWorkPlane;
+
+ if (insertToolCall) {
+ setCoolant(COOLANT_OFF);
+ }
+
+ if (insertToolCall || newWorkOffset || newWorkPlane) {
+
+ if ((forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) && newWorkPlane) { // reset working plane
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+ if (getProperty("usePlane") == "true") {
+ writeBlock("PLANE RESET STAY");
+ } else if (getProperty("usePlane") == "false") {
+ writeBlock("CYCL DEF 19.0 " + localize("WORKING PLANE"));
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "CYCL DEF 19.1" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(0))
+ );
+ } else {
+ writeBlock("CYCL DEF 19.1 A" + abcFormat.format(0) + " B" + abcFormat.format(0) + " C" + abcFormat.format(0));
+ }
+ } else {
+ // specify code here in case getProperty("usePlane") = "none" if needed
+ }
+ forceWorkPlane();
+ }
+
+ // retract to safe plane
+ if (!getProperty("useM140") || !isFirstSection()) { // cannot use M140 here since no tool is called yet which specifies the tool axis for M140
+ writeRetract(Z);
+ }
+
+ if (fullRetract) {
+ // writeRetract(X);
+ // writeRetract(Y);
+ }
+ }
+
+ if (hasParameter("operation-comment")) {
+ var comment = getParameter("operation-comment");
+ if (comment && ((comment !== lastOperationComment) || !patternIsActive || insertToolCall)) {
+ writeStructureComment(comment);
+ lastOperationComment = comment;
+ }
+ }
+
+ if (getProperty("showNotes") && hasParameter("notes")) {
+ var notes = getParameter("notes");
+ if (notes) {
+ var lines = String(notes).split("\n");
+ var r1 = new RegExp("^[\\s]+", "g");
+ var r2 = new RegExp("[\\s]+$", "g");
+ for (line in lines) {
+ var comment = lines[line].replace(r1, "").replace(r2, "");
+ if (comment) {
+ writeComment(comment);
+ }
+ }
+ }
+ }
+
+ if (insertToolCall) {
+ forceWorkPlane();
+
+ onCommand(COMMAND_STOP_SPINDLE);
+
+ if (!isFirstSection() && getProperty("optionalStop")) {
+ onCommand(COMMAND_STOP_CHIP_TRANSPORT);
+ onCommand(COMMAND_OPTIONAL_STOP);
+ }
+
+ if (!isFirstSection()) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ }
+
+ if (false) {
+ var zRange = currentSection.getGlobalZRange();
+ var numberOfSections = getNumberOfSections();
+ for (var i = getCurrentSectionId() + 1; i < numberOfSections; ++i) {
+ var section = getSection(i);
+ var _tool = section.getTool();
+ if (_tool.number != tool.number) {
+ break;
+ }
+ zRange.expandToRange(section.getGlobalZRange());
+ }
+
+ writeStructureComment("T" + tool.number + "-D" + spatialFormat.format(tool.diameter) + "-CR:" + spatialFormat.format(tool.cornerRadius) + "-ZMIN:" + spatialFormat.format(zRange.getMinimum()) + "-ZMAX:" + spatialFormat.format(zRange.getMaximum()));
+ }
+
+ writeBlock(
+ "TOOL CALL " + (getProperty("toolAsName") ? "\"" + (tool.description.toUpperCase()) + "\"" : tool.number) +
+ SP + getSpindleAxisLetter(machineConfiguration.getSpindleAxis()) +
+ (isInspectionOperation(currentSection) || isProbeOperation() ? getProperty("outputSpindleSpeedForProbing") ?
+ " S" + rpmFormat.format(50) : "" : " S" + rpmFormat.format(spindleSpeed)
+ )
+ );
+ if (tool.comment) {
+ writeComment(tool.comment);
+ }
+
+ onCommand(COMMAND_TOOL_MEASURE);
+
+ if (getProperty("preloadTool")) {
+ var nextTool = (getProperty("toolAsName") ? getNextToolDescription(tool.description) : getNextTool(tool.number));
+ if (nextTool) {
+ writeBlock("TOOL DEF " + (getProperty("toolAsName") ? "\"" + (nextTool.description.toUpperCase()) + "\"" : nextTool.number));
+ } else {
+ // preload first tool
+ var section = getSection(0);
+ var firstToolNumber = section.getTool().number;
+ var firstToolDescription = section.getTool().description;
+ if (getProperty("toolAsName")) {
+ if (tool.description != firstToolDescription) {
+ writeBlock("TOOL DEF " + "\"" + (firstToolDescription.toUpperCase()) + "\"");
+ }
+ } else {
+ if (tool.number != firstToolNumber) {
+ writeBlock("TOOL DEF " + firstToolNumber);
+ }
+ }
+ }
+ }
+
+ if (fullRetract) {
+ writeRetract(Z);
+ // writeRetract(X);
+ // writeRetract(Y);
+ } else {
+ // simple retract
+ writeRetract(Z);
+ }
+
+ forceABC();
+
+ onCommand(COMMAND_START_CHIP_TRANSPORT);
+ if (!is3D()) {
+ writeBlock(mFormat.format(126)); // shortest path traverse
+ }
+ } else {
+ if (rpmFormat.areDifferent(spindleSpeed, getPreviousSection().getInitialSpindleSpeed ? getPreviousSection().getInitialSpindleSpeed() : getPreviousSection().getTool().spindleRPM)) {
+ onSpindleSpeed(spindleSpeed);
+ }
+ }
+
+ if (!isProbeOperation() && !isInspectionOperation(currentSection)) {
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ }
+
+ setWCS();
+ var abc = defineWorkPlane(currentSection, true);
+
+ if (!currentSection.isMultiAxis()) {
+ onCommand(COMMAND_LOCK_MULTI_AXIS);
+ }
+
+ invalidate();
+
+ if (currentSection.isMultiAxis()) {
+ if (!retracted) {
+ writeRetract(Z);
+ }
+ cancelTransformation();
+ var abc;
+ if (currentSection.isOptimizedForMachine()) {
+ abc = currentSection.getInitialToolAxisABC();
+ writeBlock(
+ "L" +
+ aOutput.format(abc.x) +
+ bOutput.format(abc.y) +
+ cOutput.format(abc.z) +
+ " R0 FMAX"
+ );
+ } else {
+ // plane vector set below
+ }
+
+ // global position
+ var initialPosition = getFramePosition(getGlobalPosition(currentSection.getInitialPosition()));
+
+ if (getProperty("usePlane") != "none") {
+ // global position
+ writeBlock("CYCL DEF 7.0 " + localize("DATUM SHIFT"));
+ writeBlock("CYCL DEF 7.1 X" + xyzFormat.format(initialPosition.x));
+ writeBlock("CYCL DEF 7.2 Y" + xyzFormat.format(initialPosition.y));
+ writeBlock("CYCL DEF 7.3 Z" + xyzFormat.format(initialPosition.z));
+ forceXYZ();
+ }
+
+ if (getProperty("usePlane") == "true") {
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "PLANE SPATIAL SPA" + abcFormat.format(abc.x % (Math.PI * 2)) + " SPB" + abcFormat.format(abc.y % (Math.PI * 2)) + " SPC" + abcFormat.format(abc.z % (Math.PI * 2)) + " STAY"
+ );
+ } else {
+ // x/y axes do not matter as long as we only move to X0 Y0 below
+ var forward = currentSection.getGlobalInitialToolAxis();
+ var unitZ = new Vector(0, 0, 1);
+ var W;
+ if (Math.abs(Vector.dot(forward, unitZ)) < 0.5) {
+ var imX = Vector.cross(forward, unitZ).getNormalized();
+ W = new Matrix(imX, Vector.cross(forward, imX), forward); // make sure this is orthogonal
+ } else {
+ var imX = Vector.cross(new Vector(0, 1, 0), forward).getNormalized();
+ W = new Matrix(imX, Vector.cross(forward, imX), forward); // make sure this is orthogonal
+ }
+
+ var TURN = true ? " TURN FMAX" : " STAY"; // alternatively slow down with F9999
+ writeBlock(
+ "PLANE VECTOR" +
+ " BX" + txyzFormat.format(W.right.x) + " BY" + txyzFormat.format(W.right.y) + " BZ" + txyzFormat.format(W.right.z) +
+ " NX" + txyzFormat.format(W.forward.x) + " NY" + txyzFormat.format(W.forward.y) + " NZ" + txyzFormat.format(W.forward.z) + TURN
+ );
+ }
+ } else if (getProperty("usePlane") == "false") {
+ writeBlock("CYCL DEF 19.0 " + localize("WORKING PLANE"));
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "CYCL DEF 19.1" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x % (Math.PI * 2))) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y % (Math.PI * 2))) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z % (Math.PI * 2)))
+ );
+ } else {
+ error(localize("CYCL DEF 19 is not allowed without a machine configuration (enable the 'usePlane' setting)."));
+ writeBlock("CYCL DEF 19.1 A" + abcFormat.format(abc.x) + " B" + abcFormat.format(abc.y) + " C" + abcFormat.format(abc.z));
+ }
+ } else {
+ if (!machineConfiguration.isMultiAxisConfiguration() || !currentSection.isOptimizedForMachine()) {
+ error(localize("Multi-axis toolpath is not allowed without a machine configuration."));
+ return;
+ }
+ // specify code here in case getProperty("usePlane") = "none" if needed
+ }
+
+ if ((machineConfiguration.isHeadConfiguration() || useTCPPositioning) && (getProperty("usePlane") == "true")) {
+ setWorkPlane(new Vector(0, 0, 0), false, false); // reset working plane
+ setTCP(true);
+ }
+ if (getProperty("usePlane") != "none") {
+ writeBlock("L" + xOutput.format(0) + yOutput.format(0) + " R0 FMAX");
+ writeBlock("L" + zOutput.format(0) + " R0 FMAX");
+
+ writeBlock("CYCL DEF 7.0 " + localize("DATUM SHIFT"));
+ writeBlock("CYCL DEF 7.1 X" + xyzFormat.format(0));
+ writeBlock("CYCL DEF 7.2 Y" + xyzFormat.format(0));
+ writeBlock("CYCL DEF 7.3 Z" + xyzFormat.format(0));
+ forceXYZ();
+ }
+ if (getProperty("usePlane") == "true") {
+ if (!useTCPPositioning && !machineConfiguration.isHeadConfiguration()) {
+ setWorkPlane(new Vector(0, 0, 0), false, false); // reset working plane
+ setTCP(true);
+ }
+ } else if (getProperty("usePlane") == "false") {
+ writeBlock("CYCL DEF 19.0 " + localize("WORKING PLANE"));
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(
+ "CYCL DEF 19.1" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(0))
+ );
+ } else {
+ writeBlock("CYCL DEF 19.1 A" + abcFormat.format(0) + " B" + abcFormat.format(0) + " C" + abcFormat.format(0));
+ }
+ setTCP(true);
+ } else {
+ setTCP(true);
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock("L" + xOutput.format(initialPosition.x) + yOutput.format(initialPosition.y) + " R0 FMAX");
+ z = zOutput.format(initialPosition.z);
+ if (z) {
+ writeBlock("L" + z + " R0 FMAX");
+ }
+ } else {
+ writeBlock("L" + xOutput.format(initialPosition.x) + yOutput.format(initialPosition.y) + zOutput.format(initialPosition.z) + " R0 FMAX");
+ }
+ }
+ forceXYZ();
+ } else { // indexing
+ var initialPosition = getFramePosition(currentSection.getInitialPosition());
+ var globalInitialPosition = getGlobalPosition(currentSection.getInitialPosition());
+
+ if (!retracted && !insertToolCall) {
+ if (getCurrentPosition().z < initialPosition.z) {
+ writeBlock("L" + zOutput.format(initialPosition.z) + " FMAX");
+ zIsOutput = true;
+ }
+ }
+ if ((machineConfiguration.isHeadConfiguration() || useTCPPositioning) && getProperty("usePlane") == "true") { // enable to use prepositioning with TCP, recommended for head/head or head/table kinematics
+ if (abc.isNonZero()) {
+ setWorkPlane(new Vector(0, 0, 0), false, false); // reset working plane
+ setTCP(true);
+ }
+ writeBlock("L" + xOutput.format(globalInitialPosition.x) + yOutput.format(globalInitialPosition.y) + " R0 FMAX");
+ writeBlock("L" + zOutput.format(globalInitialPosition.z) + " R0 FMAX");
+ if (abc.isNonZero()) {
+ setTCP(false);
+ setWorkPlane(abc, true, true); // turn, avoid retracting when already prepositioned
+ }
+ } else {
+ if (!machineConfiguration.isHeadConfiguration()) {
+ writeBlock("L" + xOutput.format(initialPosition.x) + yOutput.format(initialPosition.y) + " R0 FMAX");
+ z = zOutput.format(initialPosition.z);
+ if (z) {
+ writeBlock("L" + z + " R0 FMAX");
+ }
+ } else {
+ writeBlock("L" + xOutput.format(initialPosition.x) + yOutput.format(initialPosition.y) + zOutput.format(initialPosition.z) + " R0 FMAX");
+ }
+ }
+ zIsOutput = true;
+ }
+
+ // set coolant after we have positioned at Z
+ if (insertToolCall && !isFirstSection()) {
+ forceCoolant();
+ }
+ setCoolant(tool.coolant);
+
+ if (forceToolAndRetract) {
+ currentTolerance = undefined;
+ }
+ if (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill")) {
+ setTolerance(0);
+ } else if (hasParameter("operation:tolerance")) {
+ setTolerance(Math.max(Math.min(getParameter("operation:tolerance"), getProperty("smoothingTolerance")), 0));
+ } else {
+ setTolerance(0);
+ }
+
+ if (getProperty("useParametricFeed") &&
+ hasParameter("operation-strategy") &&
+ (getParameter("operation-strategy") != "drill") && // legacy
+ !(currentSection.hasAnyCycle && currentSection.hasAnyCycle())) {
+ if (!insertToolCall &&
+ activeMovements &&
+ (getCurrentSectionId() > 0) &&
+ ((getPreviousSection().getPatternId() == currentSection.getPatternId()) && (currentSection.getPatternId() != 0))) {
+ // use the current feeds
+ } else {
+ initializeActiveFeeds();
+ }
+ } else {
+ activeMovements = undefined;
+ }
+ // surface Inspection
+ if (isInspectionOperation(currentSection) && (typeof inspectionProcessSectionStart == "function")) {
+ inspectionProcessSectionStart();
+ }
+ // define subprogram
+ subprogramDefine(initialPosition, abc, retracted, zIsOutput);
+ retracted = false;
+}
+
+function setTCP(tcp) {
+ if (typeof currentSection == "undefined" ||
+ (getProperty("usePlane") == "none" && currentSection.isOptimizedForMachine() && currentSection.getOptimizedTCPMode() != 0)) {
+ return;
+ }
+ if (tcp) {
+ if (getProperty("useFunctionTCPM")) {
+ writeBlock("FUNCTION TCPM F TCP AXIS POS PATHCTRL AXIS");
+ } else {
+ writeBlock(mFormat.format(128));
+ }
+ } else {
+ if (getProperty("useFunctionTCPM")) {
+ writeBlock("FUNCTION RESET TCPM");
+ } else {
+ writeBlock(mFormat.format(129));
+ }
+ }
+}
+
+function setWCS() {
+ if (currentSection.workOffset > 0) {
+ if (currentSection.workOffset > 9999) {
+ error(localize("Work offset out of range."));
+ return;
+ }
+ // datum shift after tool call
+ if (useCycl247) {
+ if (workOffsetLabels[currentSection.workOffset]) {
+ writeBlock("CALL LBL " + workOffsetLabels[currentSection.workOffset] + " ;DATUM");
+ } else {
+ workOffsetLabels[currentSection.workOffset] = nextLabel;
+ writeBlock("LBL " + nextLabel);
+ ++nextLabel;
+ writeBlock(
+ "CYCL DEF 247 " + localize("DATUM SETTING") + " ~" + EOL +
+ " Q339=" + currentSection.workOffset + " ; " + localize("DATUM NUMBER")
+ );
+ writeBlock("LBL 0");
+ }
+ } else {
+ writeBlock("CYCL DEF 7.0 " + localize("DATUM SHIFT"));
+ writeBlock("CYCL DEF 7.1 #" + currentSection.workOffset);
+ }
+ } else {
+ warningOnce(localize("Work offset has not been specified."), WARNING_WORK_OFFSET);
+ }
+}
+
+function getNextToolDescription(description) {
+ var currentSectionId = getCurrentSectionId();
+ if (currentSectionId < 0) {
+ return null;
+ }
+ for (var i = currentSectionId + 1; i < getNumberOfSections(); ++i) {
+ var section = getSection(i);
+ var sectionTool = section.getTool();
+ if (description != sectionTool.description) {
+ return sectionTool; // found next tool
+ }
+ }
+ return null; // not found
+}
+
+function onDwell(seconds) {
+ validate(seconds >= 0);
+ writeBlock("CYCL DEF 9.0 " + localize("DWELL TIME"));
+ writeBlock("CYCL DEF 9.1 DWELL " + secFormat.format(seconds));
+}
+
+function isProbeOperation() {
+ // isProbingCycle && isProbingCycle(cycleType)
+ return hasParameter("operation-strategy") && ((getParameter("operation-strategy") == "probe" || getParameter("operation-strategy") == "probe_geometry"));
+}
+
+function isInspectionOperation(section) {
+ return section.hasParameter("operation-strategy") && (section.getParameter("operation-strategy") == "inspectSurface");
+}
+
+var probeOutputWorkOffset = 1;
+
+function onParameter(name, value) {
+ if (name == "operation-structure-comment") {
+ writeStructureComment(" " + value);
+ }
+ if (name == "probe-output-work-offset") {
+ probeOutputWorkOffset = value;
+ }
+}
+
+function onSpindleSpeed(spindleSpeed) {
+ writeBlock(
+ "TOOL CALL " + getSpindleAxisLetter(machineConfiguration.getSpindleAxis()) + " S" + rpmFormat.format(spindleSpeed)
+ );
+}
+
+function onDrilling(cycle) {
+ writeBlock("CYCL DEF 200 " + localize("DRILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.depth) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q210=" + secFormat.format(0) + " ;" + localize("DWELL AT TOP") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q211=" + secFormat.format(0) + " ;" + localize("DWELL AT BOTTOM")
+ );
+}
+
+function onCounterBoring(cycle) {
+ writeBlock("CYCL DEF 200 " + localize("DRILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.depth) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q210=" + secFormat.format(0) + " ;" + localize("DWELL AT TOP") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM")
+ );
+}
+
+function onChipBreaking(cycle) {
+ writeBlock("CYCL DEF 203 " + localize("UNIVERSAL DRILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.incrementalDepth) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q210=" + secFormat.format(0) + " ;" + localize("DWELL AT TOP") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q212=" + xyzFormat.format(cycle.incrementalDepthReduction) + " ;" + localize("DECREMENT") + " ~" + EOL
+ + " Q213=" + cycle.plungesPerRetract + " ;" + localize("BREAKS") + " ~" + EOL
+ + " Q205=" + xyzFormat.format(cycle.minimumIncrementalDepth) + " ;" + localize("MIN. PLUNGING DEPTH") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL TIME AT DEPTH") + " ~" + EOL
+ + " Q208=" + "MAX" + " ;" + localize("RETRACTION FEED RATE") + " ~" + EOL
+ + " Q256=" + xyzFormat.format((cycle.chipBreakDistance != undefined) ? cycle.chipBreakDistance : machineParameters.chipBreakingDistance) + " ;" + localize("DIST. FOR CHIP BRKNG")
+ );
+}
+
+function onDeepDrilling(cycle) {
+ if (useCycl205) {
+ writeBlock("CYCL DEF 205 " + localize("UNIVERSAL PECKING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.incrementalDepth) + " ;" + localize("PLUNGING DEPTH") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q212=" + xyzFormat.format(cycle.incrementalDepthReduction) + " ;" + localize("DECREMENT") + " ~" + EOL
+ + " Q205=" + xyzFormat.format(cycle.minimumIncrementalDepth) + " ;" + localize("MIN. PLUNGING DEPTH") + " ~" + EOL
+ + " Q258=" + xyzFormat.format(0.5) + " ;" + localize("UPPER ADV. STOP DIST.") + " ~" + EOL
+ + " Q259=" + xyzFormat.format(1) + " ;" + localize("LOWER ADV. STOP DIST.") + " ~" + EOL
+ + " Q257=" + xyzFormat.format(5) + " ;" + localize("DEPTH FOR CHIP BRKNG") + " ~" + EOL
+ + " Q256=" + xyzFormat.format((cycle.chipBreakDistance != undefined) ? cycle.chipBreakDistance : machineParameters.chipBreakingDistance) + " ;" + localize("DIST. FOR CHIP BRKNG") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL TIME AT DEPTH") + " ~" + EOL
+ + " Q379=" + "0" + " ;" + localize("STARTING POINT") + " ~" + EOL
+ + " Q253=" + feedFormat.format(cycle.retractFeedrate) + " ;" + localize("F PRE-POSITIONING")
+ );
+ } else {
+ writeBlock("CYCL DEF 200 " + localize("DRILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.incrementalDepth) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q210=" + secFormat.format(0) + " ;" + localize("DWELL AT TOP") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM")
+ );
+ }
+}
+
+function onGunDrilling(cycle) {
+ var coolantCode = getCoolantCode(tool.coolant);
+ writeBlock("CYCL DEF 241 " + localize("SINGLE-FLUTED DEEP-HOLE DRILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL TIME AT DEPTH") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q379=" + xyzFormat.format(cycle.startingDepth) + " ;" + localize("STARTING POINT") + " ~" + EOL
+ + " Q253=" + feedFormat.format(cycle.positioningFeedrate) + " ;" + localize("F PRE-POSITIONING") + " ~" + EOL
+ + " Q208=" + feedFormat.format(cycle.retractFeedrate) + " ;" + localize("RETRACT FEED RATE") + " ~" + EOL
+ + " Q426=" + (cycle.stopSpindle ? 5 : (tool.clockwise ? 3 : 4)) + " ;" + localize("DIR. OF SPINDLE ROT.") + " ~" + EOL
+ + " Q427=" + rpmFormat.format(cycle.positioningSpindleSpeed ? cycle.positioningSpindleSpeed : tool.spindleRPM) + " ;" + localize("ENTRY EXIT SPEED") + " ~" + EOL
+ + " Q428=" + rpmFormat.format(tool.spindleRPM) + " ;" + localize("DRILLING SPEED") + " ~" + EOL
+ + conditional(coolantCode, " Q429=" + (coolantCode ? coolantCode[0] : 0) + " ;" + localize("COOLANT ON") + " ~" + EOL)
+ + conditional(coolantCode, " Q430=" + (coolantCode ? coolantCode[1] : 0) + " ;" + localize("COOLANT OFF") + " ~" + EOL)
+ // Heidenhain manual doesn't specify Q435 fully - adjust to fit CNC
+ + " Q435=" + xyzFormat.format(cycle.dwellDepth ? (cycle.depth + cycle.dwellDepth) : 0) + " ;" + localize("DWELL DEPTH") // 0 to disable
+ );
+}
+
+function onTapping(cycle) {
+ writeBlock("CYCL DEF 207 " + localize("RIGID TAPPING NEW") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q239=" + pitchFormat.format((tool.type == TOOL_TAP_LEFT_HAND ? -1 : 1) * tool.threadPitch) + " ;" + localize("THREAD PITCH") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE")
+ );
+}
+
+function onTappingWithChipBreaking(cycle) {
+ writeBlock("CYCL DEF 209 " + localize("TAPPING W/ CHIP BRKG") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q239=" + pitchFormat.format((tool.type == TOOL_TAP_LEFT_HAND ? -1 : 1) * tool.threadPitch) + " ;" + localize("THREAD PITCH") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q257=" + xyzFormat.format(cycle.incrementalDepth) + " ;" + localize("DEPTH FOR CHIP BRKNG") + " ~" + EOL
+ + " Q256=" + xyzFormat.format((cycle.chipBreakDistance != undefined) ? cycle.chipBreakDistance : machineParameters.chipBreakingDistance) + " ;" + localize("DIST. FOR CHIP BRKNG") + " ~" + EOL
+ + " Q336=" + angleFormat.format(0) + " ;" + localize("ANGLE OF SPINDLE")
+ );
+}
+
+function onReaming(cycle) {
+ writeBlock("CYCL DEF 201 " + localize("REAMING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM") + " ~" + EOL
+ + " Q208=" + feedFormat.format(cycle.retractFeedrate) + " ;" + localize("RETRACTION FEED TIME") + " ~" + EOL // retract at reaming feed rate
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE")
+ );
+}
+
+function onStopBoring(cycle) {
+ writeBlock("CYCL DEF 202 " + localize("BORING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM") + " ~" + EOL
+ + " Q208=" + "MAX" + " ;" + localize("RETRACTION FEED RATE") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q214=" + 0 + " ;" + localize("DISENGAGING DIRECTION") + " ~" + EOL
+ + " Q336=" + angleFormat.format(0) + " ;" + localize("ANGLE OF SPINDLE")
+ );
+}
+
+/** Returns the best discrete disengagement direction for the specified direction. */
+function getDisengagementDirection(direction) {
+ switch (getQuadrant(direction + 45 * Math.PI / 180)) {
+ case 0:
+ return 3;
+ case 1:
+ return 4;
+ case 2:
+ return 1;
+ case 3:
+ return 2;
+ }
+ error(localize("Invalid disengagement direction."));
+ return 3;
+}
+
+function onFineBoring(cycle) {
+ // we do not support cycle.shift
+
+ writeBlock("CYCL DEF 202 " + localize("BORING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM") + " ~" + EOL
+ + " Q208=" + "MAX" + " ;" + localize("RETRACTION FEED TIME") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q214=" + getDisengagementDirection(cycle.shiftDirection) + " ;" + localize("DISENGAGING DIRECTION") + " ~" + EOL
+ + " Q336=" + angleFormat.format(cycle.compensatedShiftOrientation) + " ;" + localize("ANGLE OF SPINDLE")
+ );
+}
+
+function onBackBoring(cycle) {
+ writeBlock("CYCL DEF 204 " + localize("BACK BORING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q249=" + xyzFormat.format(cycle.backBoreDistance) + " ;" + localize("DEPTH REDUCTION") + " ~" + EOL
+ + " Q250=" + xyzFormat.format(cycle.depth) + " ;" + localize("MATERIAL THICKNESS") + " ~" + EOL
+ + " Q251=" + xyzFormat.format(cycle.shift) + " ;" + localize("OFF-CENTER DISTANCE") + " ~" + EOL
+ + " Q252=" + xyzFormat.format(0) + " ;" + localize("TOOL EDGE HEIGHT") + " ~" + EOL
+ + " Q253=" + "MAX" + " ;" + localize("F PRE-POSITIONING") + " ~" + EOL
+ + " Q254=" + feedFormat.format(cycle.feedrate) + " ;" + localize("F COUNTERBORING") + " ~" + EOL
+ + " Q255=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q214=" + getDisengagementDirection(cycle.shiftDirection) + " ;" + localize("DISENGAGING DIRECTION") + " ~" + EOL
+ + " Q336=" + angleFormat.format(cycle.compensatedShiftOrientation) + " ;" + localize("ANGLE OF SPINDLE")
+ );
+}
+
+function onBoring(cycle) {
+ writeBlock("CYCL DEF 202 " + localize("BORING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q211=" + secFormat.format(cycle.dwell) + " ;" + localize("DWELL AT BOTTOM") + " ~" + EOL
+ + " Q208=" + feedFormat.format(cycle.retractFeedrate) + " ;" + localize("RETRACTION FEED RATE") + " ~" + EOL // retract at feed
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q214=" + 0 + " ;" + localize("DISENGAGING DIRECTION") + " ~" + EOL
+ + " Q336=" + angleFormat.format(0) + " ;" + localize("ANGLE OF SPINDLE")
+ );
+}
+
+function onBoreMilling(cycle) {
+ writeBlock("CYCL DEF 208 " + localize("BORE MILLING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q334=" + pitchFormat.format(cycle.pitch) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q335=" + xyzFormat.format(cycle.diameter) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ + " Q342=" + xyzFormat.format(tool.diameter) + " ;" + localize("ROUGHING DIAMETER")
+ );
+}
+
+function onThreadMilling(cycle) {
+ cycle.numberOfThreads = 1;
+ writeBlock("CYCL DEF 262 " + localize("THREAD MILLING") + " ~" + EOL
+ + " Q335=" + xyzFormat.format(cycle.diameter) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ // + for right-hand and - for left-hand
+ + " Q239=" + pitchFormat.format(cycle.threading == "right" ? cycle.pitch : -cycle.pitch) + " ;" + localize("PITCH") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("THREAD DEPTH") + " ~" + EOL
+ // 0 for threads over entire depth
+ + " Q355=" + xyzFormat.format(cycle.numberOfThreads) + " ;" + localize("THREADS PER STEP") + " ~" + EOL
+ + " Q253=" + feedFormat.format(cycle.feedrate) + " ;" + localize("F PRE-POSITIONING") + " ~" + EOL
+ + " Q351=" + xyzFormat.format(cycle.direction == "climb" ? 1 : -1) + " ;" + localize("CLIMB OR UP-CUT") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q207=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR MILLING")
+ );
+}
+
+function onCircularPocketMilling(cycle) {
+ if (tool.taperAngle > 0) {
+ error(localize("Circular pocket milling is not supported for taper tools."));
+ return;
+ }
+
+ // do NOT use with undercutting - doesnt move to the center before retracting
+ writeBlock("CYCL DEF 252 " + localize("CIRCULAR POCKET") + " ~" + EOL
+ + " Q215=1 ;" + localize("MACHINE OPERATION") + " ~" + EOL
+ + " Q223=" + xyzFormat.format(cycle.diameter) + " ;" + localize("CIRCLE DIAMETER") + " ~" + EOL
+ + " Q368=" + xyzFormat.format(0) + " ;" + localize("FINISHING ALLOWANCE FOR SIDE") + " ~" + EOL
+ + " Q207=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR MILLING") + " ~" + EOL
+ + " Q351=" + xyzFormat.format(cycle.direction == "climb" ? 1 : -1) + " ;" + localize("CLIMB OR UP-CUT") + " ~" + EOL
+ + " Q201=" + xyzFormat.format(-cycle.depth) + " ;" + localize("DEPTH") + " ~" + EOL
+ + " Q202=" + xyzFormat.format(cycle.incrementalDepth) + " ;" + localize("INFEED DEPTH") + " ~" + EOL
+ + " Q369=" + xyzFormat.format(0) + " ;" + localize("FINISHING ALLOWANCE FOR FLOOR") + " ~" + EOL
+ + " Q206=" + feedFormat.format(cycle.plungeFeedrate) + " ;" + localize("FEED RATE FOR PLUNGING") + " ~" + EOL
+ + " Q338=0 ;" + localize("INFEED FOR FINISHING") + " ~" + EOL
+ + " Q200=" + xyzFormat.format(cycle.retract - cycle.stock) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q203=" + xyzFormat.format(cycle.stock) + " ;" + localize("SURFACE COORDINATE") + " ~" + EOL
+ + " Q204=" + xyzFormat.format(cycle.clearance - cycle.stock) + " ;" + localize("2ND SET-UP CLEARANCE") + " ~" + EOL
+ + " Q370=" + ratioFormat.format(cycle.stepover / (tool.diameter / 2)) + " ;" + localize("TOOL PATH OVERLAP") + " ~" + EOL
+ + " Q366=" + "0" + " ;" + localize("PLUNGING") + " ~" + EOL
+ + " Q385=" + feedFormat.format(cycle.feedrate) + " ;" + localize("FEED RATE FOR FINISHING")
+ );
+}
+
+function setCyclePosition(_position) {
+ zOutput.format(_position);
+}
+
+var expandCurrentCycle = false;
+
+function onCycle() {
+ if (cycleType == "inspect") {
+ return;
+ }
+ if (!isSameDirection(getRotation().forward, new Vector(0, 0, 1))) {
+ expandCurrentCycle = getProperty("expandCycles");
+ if (!expandCurrentCycle) {
+ cycleNotSupported();
+ }
+ return;
+ }
+ if (isProbeOperation()) {
+ return;
+ }
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ expandCurrentCycle = false;
+
+ if (cycle.clearance != undefined) {
+ if (getCurrentPosition().z < cycle.clearance) {
+ writeBlock("L" + zOutput.format(cycle.clearance) + radiusCompensationTable.lookup(radiusCompensation) + " FMAX");
+ setCurrentPositionZ(cycle.clearance);
+ }
+ }
+
+ switch (cycleType) {
+ case "drilling": // G81 style
+ onDrilling(cycle);
+ break;
+ case "counter-boring":
+ onCounterBoring(cycle);
+ break;
+ case "chip-breaking":
+ onChipBreaking(cycle);
+ break;
+ case "deep-drilling":
+ onDeepDrilling(cycle);
+ break;
+ case "gun-drilling":
+ onGunDrilling(cycle);
+ break;
+ case "tapping":
+ case "left-tapping":
+ case "right-tapping":
+ onTapping(cycle);
+ break;
+ case "tapping-with-chip-breaking":
+ case "left-tapping-with-chip-breaking":
+ case "right-tapping-with-chip-breaking":
+ onTappingWithChipBreaking(cycle);
+ break;
+ case "reaming":
+ onReaming(cycle);
+ break;
+ case "stop-boring":
+ onStopBoring(cycle);
+ break;
+ case "fine-boring":
+ onFineBoring(cycle);
+ break;
+ case "back-boring":
+ onBackBoring(cycle);
+ break;
+ case "boring":
+ onBoring(cycle);
+ break;
+ case "bore-milling":
+ if (cycle.numberOfSteps > 1) {
+ expandCurrentCycle = getProperty("expandCycles");
+ if (!expandCurrentCycle) {
+ cycleNotSupported();
+ }
+ } else {
+ onBoreMilling(cycle);
+ }
+ break;
+ case "thread-milling":
+ if (cycle.numberOfSteps > 1) {
+ expandCurrentCycle = getProperty("expandCycles");
+ if (!expandCurrentCycle) {
+ cycleNotSupported();
+ }
+ } else {
+ onThreadMilling(cycle);
+ }
+ break;
+ case "circular-pocket-milling":
+ onCircularPocketMilling(cycle);
+ break;
+ default:
+ expandCurrentCycle = getProperty("expandCycles");
+ if (!expandCurrentCycle) {
+ cycleNotSupported();
+ }
+ }
+}
+
+/** Convert approach to sign. */
+function approach(value) {
+ validate((value == "positive") || (value == "negative"), "Invalid approach.");
+ return (value == "positive") ? 1 : -1;
+}
+
+function getCompensationAxis() {
+ var axes = [machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW()];
+ for (var i = 0; i < axes.length; ++i) {
+ if (axes[i].isEnabled() && isSameDirection((axes[i].getAxis()).getAbsolute(), machineConfiguration.getSpindleAxis()) && axes[i].isTable()) {
+ return (axes[i].getCoordinate() + 4);
+ }
+ }
+ return -1;
+}
+
+function onCyclePoint(x, y, z) {
+ if (cycleType == "inspect") {
+ if (typeof inspectionCycleInspect == "function") {
+ inspectionCycleInspect(cycle, x, y, z);
+ return;
+ } else {
+ cycleNotSupported();
+ }
+ }
+
+ if (isProbeOperation()) {
+ var probeGeometry = hasParameter("operation-strategy") && (getParameter("operation-strategy") == "probe_geometry");
+ if (!isSameDirection(currentSection.workPlane.forward, new Vector(0, 0, 1)) && (!cycle.probeMode || (cycle.probeMode == 0))) {
+ if (!probeGeometry) {
+ error(localize("Updating WCS / work offset using probing is only supported by the CNC in the WCS frame."));
+ return;
+ }
+ }
+ var tolerancePosition = cycle.hasPositionalTolerance ? cycle.tolerancePosition : 0;
+ switch (cycleType) {
+ case "probing-x":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 427 " + localize("MEASURE COORDINATE") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2) + tolerancePosition) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q289=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2) - tolerancePosition) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format((cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0)) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR427.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 419 " + localize("DATUM IN ONE AXIS") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER")
+ );
+ }
+ break;
+ case "probing-y":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 427 " + localize("MEASURE COORDINATE") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2) + tolerancePosition) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q289=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2) - tolerancePosition) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR427.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 419 " + localize("DATUM IN ONE AXIS") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER")
+ );
+ }
+ break;
+ case "probing-z":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 427 " + localize("MEASURE COORDINATE") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(3) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(z - cycle.depth + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q289=" + xyzFormat.format(z - cycle.depth - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER")
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR427.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 417 " + localize("DATUM IN TS AXIS") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q294=" + xyzFormat.format(z - cycle.depth) + " ;" + localize("1ST POINT 3RD AXIS") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(z - cycle.depth) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER")
+ );
+ }
+ break;
+ case "probing-x-channel":
+ case "probing-x-channel-with-island":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 425 " + localize("MEASURE INSIDE WIDTH") + " ~" + EOL
+ + " Q328=" + xyzFormat.format(x) + " ;" + localize("STARTNG PNT 1ST AXIS") + " ~" + EOL
+ + " Q329=" + xyzFormat.format(y) + " ;" + localize("STARTNG PNT 2ND AXIS") + " ~" + EOL
+ + " Q310=" + xyzFormat.format(0) + " ;" + localize("OFFS. 2ND MEASUREMNT") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL LENGTH") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR425.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 408 " + localize("SLOT CENTER REF PT") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("SLOT WIDTH") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance ? cycle.probeClearance : 0) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(cycleType == "probing-x-channel" ? 0 : 1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q405=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ case "probing-y-channel":
+ case "probing-y-channel-with-island":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 425 " + localize("MEASURE INSIDE WIDTH") + " ~" + EOL
+ + " Q328=" + xyzFormat.format(x) + " ;" + localize("STARTNG PNT 1ST AXIS") + " ~" + EOL
+ + " Q329=" + xyzFormat.format(y) + " ;" + localize("STARTNG PNT 2ND AXIS") + " ~" + EOL
+ + " Q310=" + xyzFormat.format(0) + " ;" + localize("OFFS. 2ND MEASUREMNT") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL LENGTH") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR425.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 408 " + localize("SLOT CENTER REF PT") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("SLOT WIDTH") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance ? cycle.probeClearance : 0) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(cycleType == "probing-y-channel" ? 0 : 1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q405=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ case "probing-x-wall":
+ if (probeGeometry) {
+ var firstPoint = x + (cycle.width1 / 2) + cycle.probeClearance + (tool.diameter / 2);
+ var secondPoint = x - (cycle.width1 / 2) - cycle.probeClearance - (tool.diameter / 2);
+ writeBlock("TCH PROBE 426 " + localize("MEASURE RIDGE WIDTH") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(Math.max(firstPoint, secondPoint)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(Math.min(firstPoint, secondPoint)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL LENGTH") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q289=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR426.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 409 " + localize("RIDGE CENTER REF PT") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("RIDGE WIDTH") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q405=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ case "probing-y-wall":
+ if (probeGeometry) {
+ var firstPoint = y + (cycle.width1 / 2) + cycle.probeClearance + (tool.diameter / 2);
+ var secondPoint = y - (cycle.width1 / 2) - cycle.probeClearance - (tool.diameter / 2);
+ writeBlock("TCH PROBE 426 " + localize("MEASURE RIDGE WIDTH") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(Math.max(firstPoint, secondPoint)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(Math.min(firstPoint, secondPoint)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL LENGTH") + " ~" + EOL
+ + " Q288=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q289=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR426.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 409 " + localize("RIDGE CENTER REF PT") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q311=" + xyzFormat.format(cycle.width1) + " ;" + localize("RIDGE WIDTH") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q405=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ /*
+ case "probing-xy-inner-corner":
+ // Heidenhain needs 2 points per surface for inner and outer corner probing
+ var spacing = cycle.probeSpacing ? cycle.probeSpacing : tool.diameter * 0.2;
+ writeBlock("TCH PROBE 415 " + localize("DATUM INSIDE CORNER") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter/2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + approach(cycle.approach2) * (cycle.probeClearance + tool.diameter/2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q326=" + xyzFormat.format(spacing) + " ;" + localize("SPACING IN 1ST AXIS") + " ~" + EOL
+ + " Q327=" + xyzFormat.format(spacing) + " ;" + localize("SPACING IN 2ND AXIS") + " ~" + EOL
+ );
+ break;
+*/
+ case "probing-xy-circular-hole":
+ case "probing-xy-circular-hole-with-island":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 421 " + localize("MEASURE HOLE") + " ~" + EOL
+ + " Q273=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q274=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q262=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ + " Q325=" + xyzFormat.format(0) + " ;" + localize("STARTING ANGLE") + " ~" + EOL
+ + " Q247=" + xyzFormat.format(90) + " ;" + localize("STEPPING ANGLE") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q275=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q276=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + conditional(cycle.hasPositionalTolerance, " Q279=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 1ST CENTER") + " ~" + EOL)
+ + conditional(cycle.hasPositionalTolerance, " Q280=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 2ND CENTER") + " ~" + EOL)
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR421.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 412 " + localize("DATUM INSIDE CIRCLE") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q262=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ + " Q325=" + xyzFormat.format(0) + " ;" + localize("STARTING ANGLE") + " ~" + EOL
+ + " Q247=" + xyzFormat.format(90) + " ;" + localize("STEPPING ANGLE") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance ? cycle.probeClearance : 0) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q331=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q332=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q423=" + xyzFormat.format(4) + " ;" + localize("NO. OF MEAS. POINTS") + " ~" + EOL
+ + " Q365=" + xyzFormat.format(1) + " ;" + localize("TYPE OF TRAVERSE")
+ );
+ }
+ break;
+ case "probing-xy-rectangular-hole":
+ case "probing-xy-rectangular-hole-with-island":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 423 " + localize("MEAS. RECTAN. INSIDE") + " ~" + EOL
+ + " Q273=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q274=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q282=" + xyzFormat.format(cycle.width1) + " ;" + localize("1ST SIDE LENGTH") + " ~" + EOL
+ + " Q283=" + xyzFormat.format(cycle.width2) + " ;" + localize("2ND SIDE LENGTH") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q284=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAX. LIMIT 1ST SIDE") + " ~" + EOL
+ + " Q285=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MIN. LIMIT 1ST SIDE") + " ~" + EOL
+ + " Q286=" + xyzFormat.format(cycle.width2 + cycle.toleranceSize) + " ;" + localize("MAX. LIMIT 2ND SIDE") + " ~" + EOL
+ + " Q287=" + xyzFormat.format(cycle.width2 - cycle.toleranceSize) + " ;" + localize("MIN. LIMIT 2ND SIDE") + " ~" + EOL
+ + conditional(cycle.hasPositionalTolerance, " Q279=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 1ST CENTER") + " ~" + EOL)
+ + conditional(cycle.hasPositionalTolerance, " Q280=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 2ND CENTER") + " ~" + EOL)
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR423.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 410 " + localize("DATUM INSIDE RECTAN.") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q323=" + xyzFormat.format(cycle.width1) + " ;" + localize("FIRST SIDE LENGTH") + " ~" + EOL
+ + " Q324=" + xyzFormat.format(cycle.width2) + " ;" + localize("2ND SIDE LENGTH") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance ? cycle.probeClearance : 0) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(cycleType == "probing-xy-rectangular-hole" ? 0 : 1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q331=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q332=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ case "probing-xy-circular-boss":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 422 " + localize("MEAS. CIRCLE OUTSIDE") + " ~" + EOL
+ + " Q273=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q274=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q262=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ + " Q325=" + xyzFormat.format(0) + " ;" + localize("STARTING ANGLE") + " ~" + EOL
+ + " Q247=" + xyzFormat.format(90) + " ;" + localize("STEPPING ANGLE") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q277=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAXIMUM DIMENSION") + " ~" + EOL
+ + " Q278=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MINIMUM DIMENSION") + " ~" + EOL
+ + conditional(cycle.hasPositionalTolerance, " Q279=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 1ST CENTER") + " ~" + EOL)
+ + conditional(cycle.hasPositionalTolerance, " Q280=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 2ND CENTER") + " ~" + EOL)
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR422.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 413 " + localize("DATUM OUTSIDE CIRCLE") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q262=" + xyzFormat.format(cycle.width1) + " ;" + localize("NOMINAL DIAMETER") + " ~" + EOL
+ + " Q325=" + xyzFormat.format(0) + " ;" + localize("STARTING ANGLE") + " ~" + EOL
+ + " Q247=" + xyzFormat.format(90) + " ;" + localize("STEPPING ANGLE") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q331=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q332=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q423=" + xyzFormat.format(4) + " ;" + localize("NO. OF MEAS. POINTS") + " ~" + EOL
+ + " Q365=" + xyzFormat.format(1) + " ;" + localize("TYPE OF TRAVERSE")
+ );
+ }
+ break;
+ case "probing-xy-rectangular-boss":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 424 " + localize("MEAS. RECTAN. OUTS.") + " ~" + EOL
+ + " Q273=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q274=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q282=" + xyzFormat.format(cycle.width1) + " ;" + localize("1ST SIDE LENGTH") + " ~" + EOL
+ + " Q283=" + xyzFormat.format(cycle.width2) + " ;" + localize("2ND SIDE LENGTH") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q284=" + xyzFormat.format(cycle.width1 + cycle.toleranceSize) + " ;" + localize("MAX. LIMIT 1ST SIDE") + " ~" + EOL
+ + " Q285=" + xyzFormat.format(cycle.width1 - cycle.toleranceSize) + " ;" + localize("MIN. LIMIT 1ST SIDE") + " ~" + EOL
+ + " Q286=" + xyzFormat.format(cycle.width2 + cycle.toleranceSize) + " ;" + localize("MAX. LIMIT 2ND SIDE") + " ~" + EOL
+ + " Q287=" + xyzFormat.format(cycle.width2 - cycle.toleranceSize) + " ;" + localize("MIN. LIMIT 2ND SIDE") + " ~" + EOL
+ + conditional(cycle.hasPositionalTolerance, " Q279=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 1ST CENTER") + " ~" + EOL)
+ + conditional(cycle.hasPositionalTolerance, " Q280=" + xyzFormat.format(cycle.tolerancePosition) + " ;" + localize("TOLERANCE 2ND CENTER") + " ~" + EOL)
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG") + " ~" + EOL
+ + " Q309=" + xyzFormat.format(cycle.wrongSizeAction == "stop-message" || cycle.outOfPositionAction == "stop-message" ? 1 : 0) + " ;" + localize("PGM-STOP IF ERROR") + " ~" + EOL
+ + " Q330=" + xyzFormat.format(cycle.updateToolWear == 1 && cycle.toolWearUpdateThreshold != 0 ? cycle.toolWearNumber : 0) + " ;" + localize("TOOL NUMBER") + EOL
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR424.TXT" : undefined;
+ } else {
+ writeBlock("TCH PROBE 411 " + localize("DATUM OUTS. RECTAN.") + " ~" + EOL
+ + " Q321=" + xyzFormat.format(x) + " ;" + localize("CENTER IN 1ST AXIS") + " ~" + EOL
+ + " Q322=" + xyzFormat.format(y) + " ;" + localize("CENTER IN 2ND AXIS") + " ~" + EOL
+ + " Q323=" + xyzFormat.format(cycle.width1) + " ;" + localize("FIRST SIDE LENGTH") + " ~" + EOL
+ + " Q324=" + xyzFormat.format(cycle.width2) + " ;" + localize("2ND SIDE LENGTH") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q331=" + xyzFormat.format(x) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q332=" + xyzFormat.format(y) + " ;" + localize("DATUM") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q381=" + xyzFormat.format(0) + " ;" + localize("PROBE IN TS AXIS") + " ~" + EOL
+ + " Q382=" + xyzFormat.format(0) + " ;" + localize("1ST CO. FOR TS AXIS") + " ~" + EOL
+ + " Q383=" + xyzFormat.format(0) + " ;" + localize("2ND CO. FOR TS AXIS") + " ~" + EOL
+ + " Q384=" + xyzFormat.format(0) + " ;" + localize("3RD CO. FOR TS AXIS") + " ~" + EOL
+ + " Q333=" + xyzFormat.format(0) + " ;" + localize("DATUM")
+ );
+ }
+ break;
+ case "probing-x-plane-angle":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 420 " + localize("MEASURE ANGLE") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y - (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG")
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR420.TXT" : undefined;
+ } else {
+ if (getCompensationAxis() < 0) {
+ writeBlock("TCH PROBE 400 " + localize("BASIC ROTATION") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y - (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q307=" + xyzFormat.format(0) + " ;" + localize("PRESET ROTATION ANG.") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE")
+ );
+ } else {
+ writeBlock("TCH PROBE 403 " + localize("ROT IN ROTARY AXIS") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y - (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(1) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q312=" + xyzFormat.format(getCompensationAxis()) + " ;" + localize("COMPENSATION AXIS") + " ~" + EOL
+ + " Q337=" + xyzFormat.format(1) + " ;" + localize("SET TO ZERO") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q380=" + xyzFormat.format(0) + " ;" + localize("REFERENCE ANGLE")
+ );
+ }
+ }
+ break;
+ case "probing-y-plane-angle":
+ if (probeGeometry) {
+ writeBlock("TCH PROBE 420 " + localize("MEASURE ANGLE") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y - (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q281=" + xyzFormat.format(cycle.printResults == 1 ? 1 : 0) + " ;" + localize("MEASURING LOG")
+ );
+ logFileName = (cycle.printResults > 0) ? "TCHPR420.TXT" : undefined;
+ } else {
+ if (getCompensationAxis() < 0) {
+ writeBlock("TCH PROBE 400 " + localize("BASIC ROTATION") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x - (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q307=" + xyzFormat.format(0) + " ;" + localize("PRESET ROTATION ANG.") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE")
+ );
+ } else {
+ writeBlock("TCH PROBE 403 " + localize("ROT IN ROTARY AXIS") + " ~" + EOL
+ + " Q263=" + xyzFormat.format(x - (cycle.probeSpacing / 2)) + " ;" + localize("1ST POINT 1ST AXIS") + " ~" + EOL
+ + " Q264=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("1ST POINT 2ND AXIS") + " ~" + EOL
+ + " Q265=" + xyzFormat.format(x + (cycle.probeSpacing / 2)) + " ;" + localize("2ND POINT 1ST AXIS") + " ~" + EOL
+ + " Q266=" + xyzFormat.format(y + approach(cycle.approach1) * (cycle.probeClearance + tool.diameter / 2)) + " ;" + localize("2ND POINT 2ND AXIS") + " ~" + EOL
+ + " Q272=" + xyzFormat.format(2) + " ;" + localize("MEASURING AXIS") + " ~" + EOL
+ + " Q267=" + xyzFormat.format(approach(cycle.approach1)) + " ;" + localize("TRAVERSE DIRECTION") + " ~" + EOL
+ + " Q261=" + xyzFormat.format((z + tool.diameter / 2) - cycle.depth) + " ;" + localize("MEASURING HEIGHT") + " ~" + EOL
+ + " Q320=" + xyzFormat.format(cycle.probeClearance) + " ;" + localize("SET-UP CLEARANCE") + " ~" + EOL
+ + " Q260=" + xyzFormat.format(cycle.stock) + " ;" + localize("CLEARANCE HEIGHT") + " ~" + EOL
+ + " Q301=" + xyzFormat.format(1) + " ;" + localize("MOVE TO CLEARANCE") + " ~" + EOL
+ + " Q312=" + xyzFormat.format(getCompensationAxis()) + " ;" + localize("COMPENSATION AXIS") + " ~" + EOL
+ + " Q337=" + xyzFormat.format(1) + " ;" + localize("SET TO ZERO") + " ~" + EOL
+ + " Q305=" + xyzFormat.format(probeOutputWorkOffset) + " ;" + localize("NUMBER IN TABLE") + " ~" + EOL
+ + " Q303=" + xyzFormat.format(1) + " ;" + localize("MEAS. VALUE TRANSFER") + " ~" + EOL
+ + " Q380=" + xyzFormat.format(0) + " ;" + localize("REFERENCE ANGLE")
+ );
+ }
+ }
+ break;
+ default:
+ cycleNotSupported();
+ }
+ return;
+ }
+
+ if (!expandCurrentCycle) {
+ // execute current cycle after this positioning block
+ /*
+ if (cycleType == "circular-pocket-milling") {
+ if (isFirstCyclePoint()) {
+ onCircularPocketFinishMilling(x, y, cycle);
+ writeBlock("CYCL CALL");
+ } else {
+ writeBlock("FN 0: Q216 = " + xyzFormat.format(x));
+ writeBlock("FN 0: Q217 = " + xyzFormat.format(y));
+ writeBlock("CYCL CALL");
+ xOutput.reset();
+ yOutput.reset();
+ }
+ } else {
+ writeBlock("L" + xOutput.format(x) + yOutput.format(y) + " FMAX " + mFormat.format(99));
+ }
+*/
+
+ // place cycle operation in subprogram
+ if (cycleSubprogramIsActive) {
+ if (isFirstCyclePoint()) {
+ // call subprogram
+ writeBlock("CALL LBL " + currentSubprogram);
+ subprogramStart(new Vector(x, y, z), new Vector(0, 0, 0), false);
+ }
+ }
+
+ writeBlock("L" + xOutput.format(x) + yOutput.format(y) + " FMAX " + mFormat.format(99));
+ if (incrementalMode) { // set current position to clearance height
+ setCyclePosition(cycle.clearance);
+ }
+ } else {
+ expandCyclePoint(x, y, z);
+ cycleSubprogramIsActive = false;
+ }
+}
+
+function onCycleEnd() {
+ if (cycleSubprogramIsActive) {
+ subprogramEnd();
+ cycleSubprogramIsActive = false;
+ }
+
+ zOutput.reset();
+}
+
+var pendingRadiusCompensation = -1;
+
+function onRadiusCompensation() {
+ pendingRadiusCompensation = radiusCompensation;
+}
+
+function onRapid(x, y, z) {
+ var xyz = xOutput.format(x) + yOutput.format(y) + zOutput.format(z);
+ if (xyz) {
+ pendingRadiusCompensation = -1;
+ writeBlock("L" + xyz + radiusCompensationTable.lookup(radiusCompensation) + " FMAX");
+ }
+ forceFeed();
+}
+
+function onLinear(x, y, z, feed) {
+ var xyz = xOutput.format(x) + yOutput.format(y) + zOutput.format(z);
+ var f = getFeed(feed);
+ if (xyz) {
+ pendingRadiusCompensation = -1;
+ writeBlock("L" + xyz + radiusCompensationTable.lookup(radiusCompensation) + f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ pendingRadiusCompensation = -1;
+ writeBlock("L" + radiusCompensationTable.lookup(radiusCompensation) + f);
+ }
+ }
+}
+
+function onRapid5D(x, y, z, a, b, c) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ if (currentSection.isOptimizedForMachine()) {
+ var xyzabc = xOutput.format(x) + yOutput.format(y) + zOutput.format(z) + aOutput.format(a) + bOutput.format(b) + cOutput.format(c);
+ if (xyzabc) {
+ writeBlock("L" + xyzabc + radiusCompensationTable.lookup(radiusCompensation) + " FMAX");
+ }
+ } else {
+ forceXYZ(); // required
+ var pt = xOutput.format(x) + yOutput.format(y) + zOutput.format(z) + txOutput.format(a) + tyOutput.format(b) + tzOutput.format(c);
+ if (pt) {
+ pendingRadiusCompensation = -1;
+ writeBlock("LN" + pt + radiusCompensationTable.lookup(radiusCompensation) + " FMAX");
+ }
+ }
+ forceFeed(); // force feed on next line
+}
+
+function onLinear5D(x, y, z, a, b, c, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for 5-axis move."));
+ return;
+ }
+
+ if (currentSection.isOptimizedForMachine()) {
+ var xyzabc = xOutput.format(x) + yOutput.format(y) + zOutput.format(z) + aOutput.format(a) + bOutput.format(b) + cOutput.format(c);
+ var f = getFeed(feed);
+ if (xyzabc) {
+ writeBlock("L" + xyzabc + radiusCompensationTable.lookup(radiusCompensation) + f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ pendingRadiusCompensation = -1;
+ writeBlock("L" + radiusCompensationTable.lookup(radiusCompensation) + f);
+ }
+ }
+ } else {
+ forceXYZ(); // required
+ var pt = xOutput.format(x) + yOutput.format(y) + zOutput.format(z) + txOutput.format(a) + tyOutput.format(b) + tzOutput.format(c);
+ var f = getFeed(feed);
+ if (pt) {
+ pendingRadiusCompensation = -1;
+ writeBlock("LN" + pt + radiusCompensationTable.lookup(radiusCompensation) + f);
+ } else if (f) {
+ if (getNextRecord().isMotion()) { // try not to output feed without motion
+ forceFeed(); // force feed on next line
+ } else {
+ pendingRadiusCompensation = -1;
+ writeBlock("LN" + radiusCompensationTable.lookup(radiusCompensation) + f);
+ }
+ }
+ }
+}
+
+function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
+ if (pendingRadiusCompensation >= 0) {
+ error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
+ return;
+ }
+
+ var start = getCurrentPosition();
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ if (incrementalMode) {
+ writeBlock("CC IX" + xyzFormat.format(cx - start.x) + " IY" + xyzFormat.format(cy - start.y));
+ } else {
+ writeBlock("CC X" + xyzFormat.format(cx) + " Y" + xyzFormat.format(cy));
+ }
+ break;
+ case PLANE_ZX:
+ if (isHelical()) {
+ var t = tolerance;
+ if ((t == 0) && hasParameter("operation:tolerance")) {
+ t = getParameter("operation:tolerance");
+ }
+ linearize(t);
+ return;
+ }
+ if (incrementalMode) {
+ writeBlock("CC IX" + xyzFormat.format(cx - start.x) + " IZ" + xyzFormat.format(cz - start.z));
+ } else {
+ writeBlock("CC X" + xyzFormat.format(cx) + " Z" + xyzFormat.format(cz));
+ }
+ break;
+ case PLANE_YZ:
+ if (isHelical()) {
+ var t = tolerance;
+ if ((t == 0) && hasParameter("operation:tolerance")) {
+ t = getParameter("operation:tolerance");
+ }
+ linearize(t);
+ return;
+ }
+ if (incrementalMode) {
+ writeBlock("CC IY" + xyzFormat.format(cy - start.y) + " IZ" + xyzFormat.format(cz - start.z));
+ } else {
+ writeBlock("CC Y" + xyzFormat.format(cy) + " Z" + xyzFormat.format(cz));
+ }
+ break;
+ default:
+ var t = tolerance;
+ if ((t == 0) && hasParameter("operation:tolerance")) {
+ t = getParameter("operation:tolerance");
+ }
+ linearize(t);
+ return;
+ }
+
+ if (false && !isHelical() && (Math.abs(getCircularSweep()) <= 2 * Math.PI * 0.9)) { // use IPA to avoid radius compensation errors
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ writeBlock(
+ "C" + xOutput.format(x) + yOutput.format(y) +
+ (clockwise ? " DR-" : " DR+") +
+ radiusCompensationTable.lookup(radiusCompensation) +
+ getFeed(feed)
+ );
+ break;
+ case PLANE_ZX:
+ writeBlock(
+ "C" + xOutput.format(x) + zOutput.format(z) +
+ (clockwise ? " DR-" : " DR+") +
+ radiusCompensationTable.lookup(radiusCompensation) +
+ getFeed(feed)
+ );
+ break;
+ case PLANE_YZ:
+ writeBlock(
+ "C" + yOutput.format(y) + zOutput.format(z) +
+ (clockwise ? " DR-" : " DR+") +
+ radiusCompensationTable.lookup(radiusCompensation) +
+ getFeed(feed)
+ );
+ break;
+ default:
+ var t = tolerance;
+ if ((t == 0) && hasParameter("operation:tolerance")) {
+ t = getParameter("operation:tolerance");
+ }
+ linearize(t);
+ }
+ return;
+ }
+
+ if (isHelical()) {
+ if (getCircularPlane() == PLANE_XY) {
+ // IPA must have same sign as DR
+ var sweep = (clockwise ? -1 : 1) * Math.abs(getCircularSweep());
+ var block = "CP IPA" + paFormat.format(sweep) + zOutput.format(z);
+ block += clockwise ? " DR-" : " DR+";
+ block += /*radiusCompensationTable.lookup(radiusCompensation) +*/ getFeed(feed);
+ writeBlock(block);
+ xOutput.reset();
+ yOutput.reset();
+ } else {
+ var t = tolerance;
+ if ((t == 0) && hasParameter("operation:tolerance")) {
+ t = getParameter("operation:tolerance");
+ }
+ linearize(t);
+ }
+ } else {
+ // IPA must have same sign as DR
+ var sweep = (clockwise ? -1 : 1) * Math.abs(getCircularSweep());
+ var block = "CP IPA" + paFormat.format(sweep);
+ block += clockwise ? " DR-" : " DR+";
+ block += /*radiusCompensationTable.lookup(radiusCompensation) +*/ getFeed(feed);
+ writeBlock(block);
+
+ switch (getCircularPlane()) {
+ case PLANE_XY:
+ xOutput.reset();
+ yOutput.reset();
+ break;
+ case PLANE_ZX:
+ xOutput.reset();
+ zOutput.reset();
+ break;
+ case PLANE_YZ:
+ yOutput.reset();
+ zOutput.reset();
+ break;
+ default:
+ invalidateXYZ();
+ }
+ }
+ if (incrementalMode) {
+ xOutput.format(x);
+ yOutput.format(y);
+ zOutput.format(z);
+ }
+}
+
+function forceCoolant() {
+ forceCoolantCode = true;
+}
+
+/** Used for gun drilling. */
+function getCoolantCode(coolant) {
+ forceCoolant();
+ return getCoolantCodes(coolant, true);
+}
+
+var currentCoolantMode = COOLANT_OFF;
+var coolantOff = undefined;
+var forceCoolantCode = false;
+
+function setCoolant(coolant) {
+ // cancel coolant if necessary
+ if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolant != currentCoolantMode)) {
+ setCoolant(COOLANT_OFF);
+ }
+ var coolantCodes = getCoolantCodes(coolant, false);
+ if (Array.isArray(coolantCodes)) {
+ if (singleLineCoolant) {
+ writeBlock(coolantCodes.join(getWordSeparator()));
+ } else {
+ for (var c in coolantCodes) {
+ writeBlock(coolantCodes[c]);
+ }
+ }
+ return undefined;
+ }
+ return coolantCodes;
+}
+
+function getCoolantCodes(coolant, isGunDrilling) {
+ var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the output line
+ if (!coolants) {
+ error(localize("Coolants have not been defined."));
+ }
+ if (isProbeOperation()) { // avoid coolant output for probing
+ coolant = COOLANT_OFF;
+ }
+ if (coolant == currentCoolantMode && !forceCoolantCode) {
+ return undefined; // coolant is already active
+ }
+ forceCoolantCode = false;
+
+ var m;
+ var coolantCodes = {};
+ for (var c in coolants) { // find required coolant codes into the coolants array
+ if (coolants[c].id == coolant) {
+ coolantCodes.on = coolants[c].on;
+ if (coolants[c].off != undefined) {
+ coolantCodes.off = coolants[c].off;
+ break;
+ } else {
+ for (var i in coolants) {
+ if (coolants[i].id == COOLANT_OFF) {
+ coolantCodes.off = coolants[i].off;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (coolant == COOLANT_OFF) {
+ m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
+ } else {
+ coolantOff = coolantCodes.off;
+ m = coolantCodes.on;
+ }
+
+ if (!m) {
+ onUnsupportedCoolant(coolant);
+ m = 9;
+ } else {
+ if (Array.isArray(m)) {
+ for (var i in m) {
+ multipleCoolantBlocks.push(mFormat.format(m[i]));
+ }
+ } else {
+ multipleCoolantBlocks.push(mFormat.format(m));
+ }
+ currentCoolantMode = coolant;
+ if (isGunDrilling) {
+ return [m, coolantOff];
+ } else {
+ return multipleCoolantBlocks; // return the single formatted coolant value
+ }
+ }
+ return undefined;
+}
+
+var mapCommand = {
+ COMMAND_STOP:0,
+ COMMAND_OPTIONAL_STOP:1,
+ COMMAND_END:30,
+ COMMAND_SPINDLE_CLOCKWISE:3,
+ COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
+ // COMMAND_START_SPINDLE
+ COMMAND_STOP_SPINDLE:5
+ //COMMAND_ORIENTATE_SPINDLE:19,
+ //COMMAND_LOAD_TOOL:6, // do not use
+ //COMMAND_COOLANT_ON,
+ //COMMAND_COOLANT_OFF,
+ //COMMAND_ACTIVATE_SPEED_FEED_SYNCHRONIZATION
+ //COMMAND_DEACTIVATE_SPEED_FEED_SYNCHRONIZATION
+};
+
+function onCommand(command) {
+ switch (command) {
+ case COMMAND_COOLANT_OFF:
+ setCoolant(COOLANT_OFF);
+ return;
+ case COMMAND_COOLANT_ON:
+ setCoolant(COOLANT_FLOOD);
+ return;
+ case COMMAND_START_SPINDLE:
+ onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
+ return;
+ case COMMAND_LOCK_MULTI_AXIS:
+ return;
+ case COMMAND_UNLOCK_MULTI_AXIS:
+ return;
+ case COMMAND_START_CHIP_TRANSPORT:
+ return;
+ case COMMAND_STOP_CHIP_TRANSPORT:
+ return;
+ case COMMAND_BREAK_CONTROL:
+ return;
+ case COMMAND_TOOL_MEASURE:
+ return;
+ case COMMAND_PROBE_ON:
+ return;
+ case COMMAND_PROBE_OFF:
+ return;
+ }
+
+ var stringId = getCommandStringId(command);
+ var mcode = mapCommand[stringId];
+ if (mcode != undefined) {
+ writeBlock(mFormat.format(mcode));
+ } else {
+ onUnsupportedCommand(command);
+ }
+}
+
+function onSectionEnd() {
+ if (typeof inspectionProcessSectionEnd == "function") {
+ inspectionProcessSectionEnd();
+ }
+ if (true) {
+ if (isRedirecting()) {
+ if (firstPattern) {
+ var finalPosition = getFramePosition(currentSection.getFinalPosition());
+ var abc;
+ if (currentSection.isMultiAxis() && machineConfiguration.isMultiAxisConfiguration()) {
+ abc = currentSection.getFinalToolAxisABC();
+ } else {
+ abc = currentWorkPlaneABC;
+ }
+ if (abc == undefined) {
+ abc = new Vector(0, 0, 0);
+ }
+ setAbsoluteMode(finalPosition, abc);
+ subprogramEnd();
+ }
+ }
+ }
+ if (!isLastSection() && (getNextSection().getTool().coolant != tool.coolant)) {
+ setCoolant(COOLANT_OFF);
+ }
+ if (currentSection.isMultiAxis()) {
+ setTCP(false);
+ // the code below gets the machine angles from previous operation. closestABC must also be set to true
+ if (currentSection.isOptimizedForMachine()) {
+ currentMachineABC = currentSection.getFinalToolAxisABC();
+ }
+ }
+ if (isProbeOperation()) {
+ setWCS();
+
+ if (logFileName != undefined) {
+ var comment;
+ if (hasParameter("operation-comment")) {
+ comment = getParameter("operation-comment").replace(" ", "_") + ".TXT";
+ writeBlock("");
+ writeBlock("FUNCTION FILECOPY " + "\"" + logfilePath + logFileName + "\" TO");
+ writeBlock(" " + "\"" + logfilePath + comment + "\"");
+ writeBlock("FUNCTION FILEDELETE " + "\"" + logfilePath + logFileName + "\"");
+ writeBlock("");
+ logFileName = undefined;
+ }
+ }
+ }
+ invalidate();
+}
+
+/** Output block to do safe retract and/or move to home position. */
+function writeRetract() {
+ var words = []; // store all retracted axes in an array
+ var retractAxes = new Array(false, false, false);
+ var method = getProperty("safePositionMethod");
+ if (method == "clearanceHeight") {
+ if (!is3D()) {
+ error(localize("Retract option 'Clearance Height' is not supported for multi-axis machining."));
+ } else {
+ return;
+ }
+ }
+ validate(arguments.length != 0, "No axis specified for writeRetract().");
+
+ for (i in arguments) {
+ retractAxes[arguments[i]] = true;
+ }
+ if ((retractAxes[0] || retractAxes[1]) && !retracted) { // retract Z first before moving to X/Y home
+ error(localize("Retracting in X/Y is not possible without being retracted in Z."));
+ return;
+ }
+ // special conditions
+ /*
+ if (retractAxes[2]) { // Z doesn't use G53
+ method = "G28";
+ }
+ */
+
+ // define home positions
+ var _xHome;
+ var _yHome;
+ var _zHome;
+ if (false && method == "G28") { // always use machine home positions
+ _xHome = toPreciseUnit(0, MM);
+ _yHome = toPreciseUnit(0, MM);
+ _zHome = toPreciseUnit(0, MM);
+ } else {
+ _xHome = machineConfiguration.hasHomePositionX() ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM);
+ _yHome = machineConfiguration.hasHomePositionY() ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM);
+ _zHome = machineConfiguration.getRetractPlane() != 0 ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM);
+ }
+ for (var i = 0; i < arguments.length; ++i) {
+ switch (arguments[i]) {
+ case X:
+ words.push("X" + xyzFormat.format(_xHome));
+ xOutput.reset();
+ break;
+ case Y:
+ words.push("Y" + xyzFormat.format(_yHome));
+ yOutput.reset();
+ break;
+ case Z:
+ if (getProperty("useM140")) {
+ validate((arguments.length <= 1), "Retracts for the Z-axis have to be specified separately by using the useM140 property.");
+ writeBlock("L " + mFormat.format(140) + " MB MAX");
+ zOutput.reset();
+ retracted = true;
+ return;
+ } else {
+ words.push("Z" + xyzFormat.format(_zHome));
+ zOutput.reset();
+ retracted = true;
+ break;
+ }
+ default:
+ error(localize("Unsupported axis specified for writeRetract()."));
+ return;
+ }
+ }
+ if (words.length > 0) {
+ switch (method) {
+ case "M91":
+ case "M92":
+ writeBlock("L " + words.join(getWordSeparator()) + SP + "R0 FMAX " + mFormat.format(method == "M92" ? 92 : 91));
+ break;
+ default:
+ error(localize("Unsupported safe position method."));
+ return;
+ }
+ }
+}
+
+function onClose() {
+ optionalSection = false;
+
+ setTolerance(0);
+ setCoolant(COOLANT_OFF);
+
+ if (getNumberOfSections() > 0) {
+ onCommand(COMMAND_BREAK_CONTROL);
+ }
+
+ onCommand(COMMAND_STOP_SPINDLE);
+
+ /*
+ if (useCycl247) {
+ writeBlock(
+ "CYCL DEF 247 " + localize("DATUM SETTING") + " ~" + EOL +
+ " Q339=" + 0 + " ; " + localize("DATUM NUMBER")
+ );
+ } else {
+ //writeBlock("CYCL DEF 7.0 " + localize("DATUM SHIFT"));
+ //writeBlock("CYCL DEF 7.1 #" + 0);
+ }
+*/
+ onCommand(COMMAND_UNLOCK_MULTI_AXIS);
+
+ writeRetract(Z);
+
+ if (getProperty("homeXYAtEnd")) {
+ writeRetract(X, Y);
+ }
+
+ if (machineConfiguration.isMultiAxisConfiguration()) {
+ // simple retract
+ writeBlock(
+ "L" +
+ conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(0)) +
+ conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(0)) +
+ " FMAX " + mFormat.format(94)
+ );
+ }
+
+ setWorkPlane(new Vector(0, 0, 0), true, false); // reset working plane - just turn again
+
+ if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) {
+ writeBlock(mFormat.format(127)); // cancel shortest path traverse
+ }
+
+ onCommand(COMMAND_STOP_CHIP_TRANSPORT);
+ writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off
+
+ if (typeof inspectionProgramEnd == "function") {
+ inspectionProgramEnd();
+ }
+
+ if (subprograms.length > 0) {
+ write(subprograms);
+ }
+
+ writeBlock(
+ "END PGM" + (programName ? (SP + programName) : "") + ((unit == MM) ? " MM" : " INCH")
+ );
+}
+
+function setProperty(property, value) {
+ properties[property].current = value;
+}
diff --git a/resources/workshop/resources/references/vmc/heidenhainITNC530-ISO.pdf b/resources/workshop/resources/references/vmc/heidenhainITNC530-ISO.pdf
new file mode 100644
index 000000000..f6d77a12b
--- /dev/null
+++ b/resources/workshop/resources/references/vmc/heidenhainITNC530-ISO.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8649655b2d09effef13fef8fb67f6bbfe8e96c427a9195faa1a168c45df844c3
+size 18687475
diff --git a/resources/workshop/resources/references/vmc/heidenhainITNC530.pdf b/resources/workshop/resources/references/vmc/heidenhainITNC530.pdf
new file mode 100644
index 000000000..20909378a
--- /dev/null
+++ b/resources/workshop/resources/references/vmc/heidenhainITNC530.pdf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cb0cb59232b55a83aefcf11d86eeaafe1ee70b69eb6f8f5b7006c9b28f6f312
+size 11119554
+
+ 
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+
+ 
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- 
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