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/********************************************************************
* Description: interp_inverse.cc
*
* Derived from a work by Thomas Kramer
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <ctype.h>
#include <sys/types.h>
#include <sys/stat.h>
#include "rs274ngc.hh"
#include "interp_return.hh"
#include "interp_internal.hh"
#include "interp_queue.hh"
#include "rs274ngc_interp.hh"
/****************************************************************************/
/*! inverse_time_rate_arc
Returned Value: int (INTERP_OK)
Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set.
Called by:
convert_arc2
convert_arc_comp1
convert_arc_comp2
This finds the feed rate needed by an inverse time move. The move
consists of an a single arc. Most of the work here is in finding the
length of the arc.
*/
int Interp::inverse_time_rate_arc(double x1, //!< x coord of start point of arc
double y1, //!< y coord of start point of arc
double z1, //!< z coord of start point of arc
double cx, //!< x coord of center of arc
double cy, //!< y coord of center of arc
int turn, //!< turn of arc
double x2, //!< x coord of end point of arc
double y2, //!< y coord of end point of arc
double z2, //!< z coord of end point of arc
block_pointer block, //!< pointer to a block of RS274 instructions
setup_pointer settings) //!< pointer to machine settings
{
double length;
double rate;
if (settings->feed_mode != INVERSE_TIME) return -1;
length = find_arc_length(x1, y1, z1, cx, cy, turn, x2, y2, z2);
rate = std::max(0.1, (length * block->f_number));
enqueue_SET_FEED_RATE(rate);
settings->feed_rate = rate;
return INTERP_OK;
}
/****************************************************************************/
/*! inverse_time_rate_straight
Returned Value: int (INTERP_OK)
Side effects: a call is made to SET_FEED_RATE and _setup.feed_rate is set.
Called by:
convert_straight
convert_straight_comp1
convert_straight_comp2
This finds the feed rate needed by an inverse time straight move. Most
of the work here is in finding the length of the line.
*/
int Interp::inverse_time_rate_straight(double end_x, //!< x coordinate of end point of straight line
double end_y, //!< y coordinate of end point of straight line
double end_z, //!< z coordinate of end point of straight line
double AA_end, //!< A coordinate of end point of straight line/*AA*/
double BB_end, //!< B coordinate of end point of straight line/*BB*/
double CC_end, //!< C coordinate of end point of straight line/*CC*/
double u_end, double v_end, double w_end,
block_pointer block, //!< pointer to a block of RS274 instructions
setup_pointer settings) //!< pointer to machine settings
{
double length;
double rate;
double cx, cy, cz;
if (settings->feed_mode != INVERSE_TIME) return -1;
if (settings->cutter_comp_side && settings->cutter_comp_radius > 0.0 &&
!settings->cutter_comp_firstmove) {
cx = settings->program_x;
cy = settings->program_y;
cz = settings->program_z;
} else {
cx = settings->current_x;
cy = settings->current_y;
cz = settings->current_z;
}
length = find_straight_length(end_x, end_y, end_z,
AA_end, BB_end, CC_end,
u_end, v_end, w_end,
cx, cy, cz,
settings->AA_current, settings->BB_current, settings->CC_current,
settings->u_current, settings->v_current, settings->w_current);
rate = std::max(0.1, (length * block->f_number));
enqueue_SET_FEED_RATE(rate);
settings->feed_rate = rate;
return INTERP_OK;
}