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shapebot5bottom.py
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shapebot5bottom.py
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"""
G-code generation for the bottom
"""
import boardcad.gui.jdk.BoardCAD
import boardcam.cutters.FlatCutter
import boardcam.BoardMachine
import cadcore.NurbsPoint
from javax.swing import *
import math
# Read machine configuration from shapebot.properties
machine=boardcam.BoardMachine()
width_steps=machine.bottomCuts
rail_steps=machine.bottomRailCuts
length_steps=50
filename=machine.bottomFileName
zmax=machine.zMaxHeight
feedrate=machine.speed
feedrate_stringer=machine.stringerSpeed
supportEnd=machine.endSupportPosition
supportEndX=supportEnd[0]
supportEndY=supportEnd[1]
supportEndZ=supportEnd[2]
cut_stringer = machine.cutStringer
stringer_offset = machine.stringerOffset
stringerOffsetZ=[5, 0]
stringerCutoff=machine.stringerCutoff
# Create a cutter
#cutter=boardcam.cutters.FlatCutter()
#cutter.setRadius(10.0)
cutter=boardcam.cutters.STLCutter()
cutter.init('flatcutter.stl')
#cutter.scale(1.0,1.0,1.0)
cutter.scale(machine.toolScaleX,machine.toolScaleY,machine.toolScaleZ);
# Get the bottom and deck surface from BoardCAD
boardhandler=boardcad.gui.jdk.BoardCAD.getInstance().getBoardHandler()
board=boardhandler.getActiveBoard();
deck=board.getDeck()
bottom=board.getBottom()
# find parameter value for outline
max_width = 0.0
t=deck.getMinT()
p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
while (max_width - math.fabs(p.z) <= 0):
t=t+0.01
p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
if (math.fabs(p.z) > max_width):
max_width = math.fabs(p.z)
t_outline=t
# Calculate step length
length_step=(bottom.getMaxS()-bottom.getMinS())/length_steps
width_step=((bottom.getMaxT()-bottom.getMinT())/2)/width_steps
if rail_steps>0:
rail_step=(t_outline-deck.getMinT())/rail_steps
#Find uniform distances for t and their angles
wval=[]
tval=[]
t=bottom.getMinT()
n=deck.getNormal((bottom.getMaxS()-bottom.getMinS())/2, t)
p=cutter.calcOffset(p,n)
max_width = math.fabs(p.z)+.1
i=math.fabs(p.z)
step=math.fabs(p.z)/width_steps
while i>0.001:
wval.append(p.z+i)
i=i-step
print wval
print '\nmax width = %0.3f\n' % max_width
for w in wval:
while (max_width - math.fabs(p.z) <= math.fabs(w)):
t=t+0.01
p=bottom.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
n=bottom.getNormal((deck.getMaxS()-deck.getMinS())/2, t)
p=cutter.calcOffset(p,n)
tval.append(t)
print tval
# calculate tool path stringer
stringer_cut=[]
s=bottom.getMinS()
t=(bottom.getMaxT()-bottom.getMinT())/2
while (s<bottom.getMaxS()):
p=bottom.getPoint(s,t)
n=bottom.getNormal(s,t)
p=cutter.calcOffset(p,n)
stringer_cut.append(p)
s=s+length_step
# calculate tool path bottom
bottom_cut=[]
s=bottom.getMinS();
t=(bottom.getMaxT()-bottom.getMinT())/2
while tval:
t=tval.pop()
while (s<bottom.getMaxS()):
p=bottom.getPoint(s,t)
n=bottom.getNormal(s,t)
p=cutter.calcOffset(p,n)
bottom_cut.append(p)
s=s+length_step
t=tval.pop()
while (s>bottom.getMinS()):
p=bottom.getPoint(s,t)
n=bottom.getNormal(s,t)
p=cutter.calcOffset(p,n)
bottom_cut.append(p)
s=s-length_step
# calculate tool path rail
deck_cut=[]
if(rail_steps>0):
s=deck.getMinS();
t=deck.getMinT()
while (t<t_outline):
while (s<deck.getMaxS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(p,n)
deck_cut.append(p)
s=s+length_step
t=t+rail_step
while (s>deck.getMinS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(p,n)
deck_cut.append(p)
s=s-length_step
t=t+rail_step
else:
s=deck.getMinS();
t=deck.getMinT()
while (s<deck.getMaxS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(p,n)
deck_cut.append(p)
s=s+length_step
while (s>deck.getMinS()):
p=deck.getPoint(s,t)
n=deck.getNormal(s,t)
p=cutter.calcOffset(p,n)
p.z=p.z-10
deck_cut.append(p)
s=s-length_step
# Avoid stringer collision
if(cut_stringer==0):
stringerOffsetZ=[]
for p in bottom_cut:
if(p.z<stringer_offset):
p.z=stringer_offset
for p in deck_cut:
if(p.z<stringer_offset):
p.z=stringer_offset
# Write g-code
toolpath=[]
f=open(filename, 'w')
zsafe='g0 z%d\n' %(zmax)
f.write('(cutting stringer)\n')
p=stringer_cut[0]
for offsetZ in stringerOffsetZ:
f.write(zsafe)
toolpath.append(cadcore.NurbsPoint(p.x,zmax-supportEndZ,0.0))
p=stringer_cut[0]
f.write('g0 x%.3f y%.3f\n' % (p.x+supportEndX, supportEndY))
toolpath.append(cadcore.NurbsPoint(p.x,zmax-supportEndZ,0.0))
f.write('g1 x%.3f z%.3f f%d\n' % (p.x+supportEndX, p.y+supportEndZ+offsetZ-stringerCutoff, feedrate_stringer))
toolpath.append(cadcore.NurbsPoint(p.x,p.y+offsetZ-stringerCutoff,0.0))
for p in stringer_cut:
f.write('g1 x%.3f z%.3f\n' % (p.x+supportEndX, p.y+supportEndZ+offsetZ))
toolpath.append(cadcore.NurbsPoint(p.x,p.y+offsetZ,0.0))
f.write('g1 x%.3f z%.3f\n' % (p.x+supportEndX, p.y+supportEndZ+offsetZ-stringerCutoff))
toolpath.append(cadcore.NurbsPoint(p.x,p.y+offsetZ-stringerCutoff,0.0))
f.write(zsafe)
toolpath.append(cadcore.NurbsPoint(p.x,zmax-supportEndZ,0.0))
f.write('(cutting bottom right)\n');
p=bottom_cut[0]
f.write('g0 x%.3f y%.3f\n' % (p.x+supportEndX, -p.z+supportEndY))
toolpath.append(cadcore.NurbsPoint(p.x, zmax-supportEndZ, p.z))
f.write('g1 x%.3f y%.3f z%.3f f%d\n' % (p.x+supportEndX, -p.z+supportEndY, p.y+supportEndZ, feedrate))
toolpath.append(cadcore.NurbsPoint(p.x, p.y, -p.z))
for p in bottom_cut:
f.write('g1 x%.3f y%.3f z%.3f\n' % (p.x+supportEndX, -p.z+supportEndY, p.y+supportEndZ))
toolpath.append(cadcore.NurbsPoint(p.x, p.y, -p.z))
f.write(zsafe)
toolpath.append(cadcore.NurbsPoint(p.x, zmax-supportEndZ, -p.z))
f.write('(cutting bottom left)\n');
p=bottom_cut[0]
f.write('g0 x%.3f y%.3f\n' % (p.x+supportEndX, p.z+supportEndY))
toolpath.append(cadcore.NurbsPoint(p.x, zmax-supportEndZ, -p.z))
f.write('g1 x%.3f y%.3f z%.3f f%d\n' % (p.x+supportEndX, p.z+supportEndY, p.y+supportEndZ, feedrate))
toolpath.append(cadcore.NurbsPoint(p.x, p.y, p.z))
for p in bottom_cut:
f.write('g1 x%.3f y%.3f z%.3f\n' % (p.x+supportEndX, p.z+supportEndY, p.y+supportEndZ))
toolpath.append(cadcore.NurbsPoint(p.x, p.y, p.z))
f.write(zsafe)
toolpath.append(cadcore.NurbsPoint(p.x, zmax-supportEndZ, p.z))
f.write("M2");
f.close()
# Visualize toolpath in BoardCAD
i=0
for p in toolpath:
machine.bottom_cut[i]=p;
i=i+1
machine.nr_of_cuts_bottom=i
JOptionPane.showMessageDialog(None, "Finished g-code generation")