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@@ -0,0 +1,802 @@
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+<!--
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+layout: false
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+-->
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+<!DOCTYPE html>
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en">
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+
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+<head>
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+<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
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+<!--
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+Useful websites:
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+Comparison of Canvas and SVG
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+http://people.mozilla.com/~vladimir/xtech2006/
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+
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+Canvas Tutorial
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+https://developer.mozilla.org/en/Canvas_tutorial/
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+
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+Animating with Javascript + Canvas
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+http://dev.opera.com/articles/view/blob-sallad-canvas-tag-and-javascrip/
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+-->
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+<title>CNC Simulator</title>
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+
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+<script type="text/javascript">
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+// Global variables
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+var temp = "";
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+var start_second = 0;
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+var intervalID = 0;
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+var running = true;
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+var seconds = 0; // 6 degrees
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+var time_inc = 1; // in seconds
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+var sec_hand_length = 70;
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+var min_hand_length = 65;
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+var hour_hand_length = 35;
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+var clock_radius = 75;
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+
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+
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+// Function to run as soon as page loads
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+function init()
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+{
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+ var d = new Date();
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+ var curr_hour = d.getHours();
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+ var curr_min = d.getMinutes();
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+ start_second = d.getSeconds();
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+ seconds = start_second + 60*curr_min + 60*60*((curr_hour) % 12);
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+ intervalID = window.setInterval(animate,1000);
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+
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+ // Initialize the canvas.
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+
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+}
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+
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+
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+
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+// Animate one frame of the animation
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+function animate()
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+{
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+ var canvas = document.getElementById("cnc_canvas");
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+ var ctx = canvas.getContext("2d");
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+ var sec_angle = 0;
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+ var min_angle = 0;
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+ var hour_angle = 0;
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+ //alert("Breakpoint animate");
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+ // Always put the terminating code near the top in case there is an error later on and the function exits before it can stop the interval timer.
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+ seconds = seconds + time_inc;
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+ //if (seconds % 60 > (3+start_second) % 60) {
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+ // stop();
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+ //}
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+
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+ with (ctx) {
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+ // What? No "clear canvas" command?
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+ clearRect(0,0,400,600);
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+
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+ // Draw clock face
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+ strokeStyle = "black";
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+ lineWidth = 1;
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+ beginPath();
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+ arc(100, 100, clock_radius, 0.001, 2*Math.PI, false);
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+ //alert("Breakpoint arc");
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+ stroke();
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+ //alert("Breakpoint stroke");
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+
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+ // Draw second hand.
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+ lineWidth = 1;
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+ strokeStyle = "green";
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+ beginPath();
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+ moveTo(100,100);
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+ sec_angle = 180-360/60*seconds;
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+ //alert("Breakpoint sec_angle = " + String(sec_angle));
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+ temp = "x = " + String(100+sec_hand_length*Sin(sec_angle)) + " y = " + String(100+sec_hand_length*Cos(sec_angle));
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+ //alert("Breakpoint " + temp);
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+ lineTo(100+sec_hand_length*Sin(sec_angle), 100+sec_hand_length*Cos(sec_angle));
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+ //alert("Breakpoint lineTo");
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+ stroke();
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+
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+ // Draw minute hand.
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+ beginPath();
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+ strokeStyle = "red";
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+ lineWidth = 2;
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+ moveTo(100,100);
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+ min_angle = 180-360/60*seconds/60;
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+ lineTo(100+min_hand_length*Sin(min_angle), 100+min_hand_length*Cos(min_angle));
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+ stroke();
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+
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+ // Draw hour hand.
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+ lineWidth = 3;
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+ strokeStyle = "blue";
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+ beginPath();
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+ moveTo(100,100);
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+ hour_angle = 180-360/12*seconds/60/60;
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+ lineTo(100+hour_hand_length*Sin(hour_angle), 100+hour_hand_length*Cos(hour_angle));
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+ stroke();
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+ }
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+}
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+
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+function stop() {
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+ window.clearInterval(intervalID);
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+ running = false;
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+}
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+function start() {
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+ time_inc = 1;
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+ // Only start if we're not already running an animation.
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+ if (!running) {
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+ running = true;
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+ intervalID = window.setInterval(animate,1000);
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+ }
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+}
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+function start_high_speed() {
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+ // If we're not already running an animation.
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+ if (running) {
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+ // Kill previous interval
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+ stop();
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+ }
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+ time_inc = 15;
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+ running = true;
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+ intervalID = window.setInterval(animate,10);
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+}
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+
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+function d2r(degrees) {
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+ return degrees*Math.PI/180;
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+}
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+function Sin(degrees) {
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+ return Math.sin(d2r(degrees));
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+}
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+function Cos(degrees) {
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+ return Math.cos(d2r(degrees));
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+}
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+</script>
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+
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+
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+<style type="text/css">
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+td {
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+ padding-top: 10px;
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+}
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+</style>
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+</head>
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+
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+<body onload="init()">
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+<h2 style="margin-bottom: 0">CNC Simulator</h2>
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+<table>
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+ <tr>
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+ <td style="vertical-align: top">
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+ <div style="border-width: 5px; border-style: ridge;">
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+ <p style="font-weight: bold; margin: 10px">
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+ <span id="x_disp">X:</span>
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+ <br>
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+ <span id="y_disp">Y:</span>
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+ <br>
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+ <span id="z_disp">Z:</span>
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+ <br>
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+ <span id="time_disp">Time:</span>
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+ </p>
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+ </div>
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+ <form action="">
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+ <table>
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+ <tr>
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+ <td>
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+ <label for="ppi_input">Pixels per inch:</label>
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+ <br>
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+ <input id="ppi_input" type="text" value="127" style="width: 5em">
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+ </td>
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+ <td>
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+ <label for="time_step_input">Time step:</label>
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+ <br>
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+ <input id="time_step_input" type="text" value="1" style="width: 5em">
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+ </td>
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+ </tr>
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+ <tr>
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+ <td>
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+ <label for="speed_input">Speed factor:</label>
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+ <br>
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+ <input id="speed_input" type="text" value="5" style="width: 5em; margin-right: 5em;">
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+ </td>
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+ <td>
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+ <label for="blitz_input">Blitz mode:</label>
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+ <input type="checkbox" id="blitz_input" checked="checked">
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+ </td>
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+ </tr>
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+ <tr>
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+ <td>
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+ <label for="offset_x">Offset X:</label>
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+ <br>
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+ <input id="offset_x" type="text" value="50" style="width: 5em; margin-right: 5em;">
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+ </td>
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+ <td>
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+ <label for="offset_y">Offset Y:</label>
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+ <br>
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+ <input id="offset_y" type="text" value="50" style="width: 5em; margin-right: 5em;">
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+ </td>
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+ </tr>
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+ <tr>
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+ <td colspan="2">
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+ <label for="code_input">Enter CNC code here:<br></label>
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+ <textarea rows="20" cols="50" id="code_input">START MM 01 // Use millimeters, program ID 01
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+ TD= 3.175 // Tool diameter: 1/8 in = 3.175 mm
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+FR XY =03.7 // Divided the suggested feedrate by two, because tool was flexing.
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+FR Z =01.2 // Feedrate based on 1 cutting edge, instead of 4, then slightly reduced.
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+SETUP >zcxyu // Allow user to position tool above 1st hole.
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+REPEAT 02 // Second traverse gets the edges better
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+GOfX 0.000 // Go to 1st hole
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+GOfY 0.000 //
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+GO Z- 6.000 // Drill 1st hole
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+Z>C // Raise tool
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+CALL SUB 10 // Cut left side...
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+ZERO AT // (Set origin to right hole)
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+ X 47.000 // * Change depending on connector *
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+ Y 0.000 //
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+CALL SUB 11 // ...Cut right side...
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+ZERO AT // (Reset origin to left hole)
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+ X- 47.000 // * Change depending on connector *
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+ Y 0.000 //
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+GO X 6.920 // ...And return to Point 1.
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+ Y 3.410 //
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+Z>C // Raise tool
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+GOfX 47.000 // Go to 2nd hole * Change depending on connector *
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+ Y 0.000 //
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+GO Z -6.000 // Drill 2nd hole
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+Z>C // Raise tool
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+REPEAT END //
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+END NEW PART //
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+
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+SUB 10 // Left Side (located on line 050)
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+GO X 6.920 // Point 1
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+ Y 3.410 //
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+GO Z- 9.000 // Insert tool
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+ARC // Point 2
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+ XC= 6.920 //
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+ YC= 1.500 //
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+ a= 101.470 //
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+GO X 5.740 // Point 3
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+ Y- 2.280 //
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+ARC // Point 4
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+ XC= 7.120 //
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+ YC=- 2.000 //
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+ a= 79.530 //
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+SUB RETURN //
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+
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+SUB 11 // Right Side (located on line 100)
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+GO X- 7.120 // Point 5
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+ Y- 3.410 //
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+ARC // Point 6
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+ XC=- 7.120 //
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+ YC=- 2.000 //
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+ a= 79.530 //
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+GO X- 5.050 // Point 7
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+ Y 1.120 //
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+ARC // Point 8
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+ XC=- 6.920 //
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+ YC= 1.500 //
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+ a= 101.470 //
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+SUB RETURN //
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+ </textarea>
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+ <br>
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+ <input name="submit" type="button" value="Click To Run Simulator" onclick="startSimulation();">
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+ <input id="pause_input" type="button" value="Pause" onclick="pause();">
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+ </td>
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+ </tr>
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+ </table>
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+ </form>
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+ </td>
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+ <td style="vertical-align:top">
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+ <canvas id="cnc_canvas" width="780" height="650" style="border:1px solid black"></canvas>
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+ </td>
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+ </tr>
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+</table>
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+<hr>
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+<div class="output_wrapper">
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+ <b>Output:</b>
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+ <pre id="output"></pre>
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+</div>
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+<script type="text/javascript">
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+// The so-called Prototype Dollar function, a shortcut for document.getElementById()
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+function $() {
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+ var elements = new Array();
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+ for (var i = 0; i < arguments.length; i++) {
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+ var element = arguments[i];
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+ if (typeof element == "string")
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+ element = document.getElementById(element);
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+ if (arguments.length == 1)
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+ return element;
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+ elements.push(element);
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+ }
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+ return elements;
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+}
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+ctx = null;
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+canvas = null;
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+function clear_vars() {// Global variables
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+ unit = "MM"; // or "IN"
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+ time_step = 1; // update every half second.
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+ ppi = 96; // Pixels per inch
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+ cf = 1; // Pixel to unit ratio
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+ td = 1; // Tool diameter
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+ max_frx = 1; // Maximum feed rate X
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+ max_fry = 1; // Maximum feed rate Y
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+ max_frz = 1; // Maximum feed rate Z
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+ x_inc = 1; // Distance to move per tick
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+ y_inc = 1; // Distance to move per tick
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+ z_inc = 1; // Distance to move per tick
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+ a_inc = 1; // Distance to move per tick
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+ mar_x = 10; // Horizontal margin of origin
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+ mar_y = 10; // Vertical margin of origin
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+ tool_c = 2; // Clearance height.
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+ tool_x = 0; // Tool position X
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+ tool_y = 0; // Tool position Y
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+ tool_z = 0; // Tool position Z
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+ tool_a = 0; // Tool angle (used for arcs)
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+ arc_r = 0; // Radius of currently drawn arc.
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+ arc_dir = false; // Counter-clockwise
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+ old_x = 0; // Previous tool position X
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+ old_y = 0; // Previous tool position Y
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+ old_z = 0; // Previous tool position Z
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+ old_a = 0; // Previous tool angle (used for arcs)
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+ goal_x = 0; // Destination coordinate
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+ goal_y = 0; // Destination coordinate
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+ goal_z = 0; // Destination coordinate
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+ xc = 0; // Used for drawing arcs
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+ yc = 0; // Used for drawing arcs
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+ ac = 0; // Used for drawing arcs
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+ time = 0; // Time needed to execute cut.
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+ time_x = 0;
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+ time_y = 0;
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+ time_z = 0;
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+ time_a = 0; // Used for arcs
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+ time_elapsed = 0;
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+ n = 0; // Line index
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+ lines = []; // Array of each line of code
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+ line = ""; // Current line
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+ moving = false; // Set to true when the tool is moving from one point to another.
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+ arcing = false; // Set to true when the tool is arcing.
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+ interval_id = 0; // Variable needed to stop the timer during real-time mode
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+ blitz_done = false; // Variable used to stop the timer in blitz mode.
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+ paused = false; // Pause/unpaused state
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+ speed = 1;
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+ stack = []; // Line numbers to return to
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+ canvas_stack = 0; // How many times restore() the canvas
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+ canvas = $("cnc_canvas");
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+ ctx = canvas.getContext("2d");
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+}
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+function startSimulation() {
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+ // Clean up variables from the last run.
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+ clear_vars();
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+ // Clear debug output
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+ $("output").innerHTML = "";
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+ // Because the previous run might not have finished
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+ for (var i = 0; i < 50; i++) {
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+ ctx.restore();
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+ }
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+ // Stop the clock
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+ stop();
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+ // Since there is no "clear canvas" command.
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+ ctx.fillStyle = "white"
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+ ctx.fillRect(0, 0, canvas.width, canvas.height);
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+ ctx.strokeStyle = "black";
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+ /*
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+ The canvas has it's origin in the top-left corner, but the CNC
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+ Machine has it's origin in the bottom-left corner. Therefore,
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+ we translate the origin and apply a transformation matrix to
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+ flip the Y direction.
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+ */
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+ ctx.save();
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+ canvas_stack = canvas_stack + 1;
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+ ctx.transform(1, 0, 0, -1, 0, 0);
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+ mar_x = parseFloat($("offset_x").value);
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+ mar_y = parseFloat($("offset_y").value);
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+ ctx.translate(mar_x, mar_y-canvas.height);
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+ ctx.save();
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+ canvas_stack = canvas_stack + 1;
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+
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+ lines = $("code_input").value.split("\n"); //str.split("\n");
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+ ppi = parseFloat($("ppi_input").value);
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+ // Start the animation sequence
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+ n = -1;
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+ debugn("There are " + lines.length + " lines");
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+ // Stop all animations
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+ window.clearInterval(interval_id);
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+ paused = true;
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+ pause();
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+}
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+function pause() {
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+ if (paused) {
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+ paused = false;
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+ // Set the speed
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+ speed = parseFloat($("speed_input").value);
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+ time_step = parseFloat($("time_step_input").value);
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+ // Start the CNC simulation.
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+ if ($("blitz_input").checked) {
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+ while (blitz_done == false) {
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+ tick();
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+ }
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+ } else {
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+ interval_id = window.setInterval(tick,1000*time_step/speed);
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+ }
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+ $("pause_input").value = "Pause";
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+ } else {
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|
|
+ paused = true;
|
|
|
+ window.clearInterval(interval_id);
|
|
|
+ $("pause_input").value = "Resume";
|
|
|
+ }
|
|
|
+}
|
|
|
+function nextLine() {
|
|
|
+ n = n + 1;
|
|
|
+ if (n >= lines.length) {
|
|
|
+ return false;
|
|
|
+ } else {
|
|
|
+ line = lines[n];
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+}
|
|
|
+function startsWith(s1, s2) {
|
|
|
+ if (s1.substr(0,s2.length) == s2) {
|
|
|
+ return true;
|
|
|
+ } else {
|
|
|
+ return false;
|
|
|
+ }
|
|
|
+}
|
|
|
+function deg2rad(d) {
|
|
|
+ return (Math.PI/180)*d;
|
|
|
+}
|
|
|
+function rad2deg(r) {
|
|
|
+ return (180/Math.PI)*r;
|
|
|
+}
|
|
|
+function tick() {
|
|
|
+ if (moving) {
|
|
|
+ // Store previous position
|
|
|
+ old_x = tool_x;
|
|
|
+ old_y = tool_y;
|
|
|
+ old_z = tool_z;
|
|
|
+ old_a = tool_a;
|
|
|
+ // Figure out new position
|
|
|
+ if (time < time_step) {
|
|
|
+ if (arcing) {
|
|
|
+ tool_a = goal_a;
|
|
|
+ tool_x = xc + Math.cos(tool_a)*arc_r;
|
|
|
+ tool_y = yc + Math.sin(tool_a)*arc_r;
|
|
|
+ } else {
|
|
|
+ tool_x = goal_x;
|
|
|
+ tool_y = goal_y;
|
|
|
+ tool_z = goal_z;
|
|
|
+ }
|
|
|
+ time_elapsed = time_elapsed + time;
|
|
|
+ } else {
|
|
|
+ if (arcing) {
|
|
|
+ tool_a = tool_a + a_inc;
|
|
|
+ tool_x = xc + Math.cos(tool_a)*arc_r;
|
|
|
+ tool_y = yc + Math.sin(tool_a)*arc_r;
|
|
|
+ } else {
|
|
|
+ tool_x = tool_x + x_inc;
|
|
|
+ tool_y = tool_y + y_inc;
|
|
|
+ tool_z = tool_z + z_inc;
|
|
|
+ }
|
|
|
+ time_elapsed = time_elapsed + time_step;
|
|
|
+ }
|
|
|
+ // Update display
|
|
|
+ $("x_disp").innerHTML = "X: " + tool_x;
|
|
|
+ $("y_disp").innerHTML = "Y: " + tool_y;
|
|
|
+ $("z_disp").innerHTML = "Z: " + tool_z;
|
|
|
+ $("time_disp").innerHTML = "Time: " + time_elapsed;
|
|
|
+
|
|
|
+ // Draw line if tool is below surface.
|
|
|
+ if (tool_z < 0) {
|
|
|
+ with (ctx) {
|
|
|
+ // Draw hole
|
|
|
+ beginPath();
|
|
|
+ fillStyle = "black";
|
|
|
+ arc(tool_x, tool_y, td/2.0, 0, Math.PI*2.0, true);
|
|
|
+ fill();
|
|
|
+ // Draw line
|
|
|
+ lineCap = "round";
|
|
|
+ lineWidth = td;
|
|
|
+ beginPath();
|
|
|
+ strokeStyle = "black";
|
|
|
+ if (arcing) {
|
|
|
+ arc(xc, yc, arc_r, old_a, tool_a, arc_dir);
|
|
|
+ } else {
|
|
|
+ moveTo(old_x, old_y);
|
|
|
+ lineTo((tool_x), (tool_y));
|
|
|
+ }
|
|
|
+ stroke();
|
|
|
+ }
|
|
|
+ } else {
|
|
|
+ // Draw hollow dot (so we can see the path of the tool)
|
|
|
+ with (ctx) {
|
|
|
+ lineWidth = 1/cf;
|
|
|
+ strokeStyle = "blue";
|
|
|
+ strokeRect((tool_x)-1/cf, (tool_y) -1/cf, 3/cf, 3/cf);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ // Decrease time
|
|
|
+ time = time - time_step;
|
|
|
+ // Finish line
|
|
|
+ if (time < 0) {
|
|
|
+ time = 0;
|
|
|
+ moving = false;
|
|
|
+ arcing = false;
|
|
|
+ }
|
|
|
+ debug(".");
|
|
|
+ } else {
|
|
|
+ // Always safest to put this first, in case of unhandled syntax
|
|
|
+ // errors later on in the code.
|
|
|
+ if (nextLine()) {
|
|
|
+ ndebug("Line " + n + ": ");
|
|
|
+ } else {
|
|
|
+ ndebug("Ended because there are no more lines.");
|
|
|
+ n = -1;
|
|
|
+ ndebug("canvas_stack = " + canvas_stack);
|
|
|
+ for (var i = 0; i < canvas_stack; i++) {
|
|
|
+ ndebug("ctx.restore()");
|
|
|
+ ctx.restore();
|
|
|
+ }
|
|
|
+ blitz_done = true;
|
|
|
+ window.clearInterval(interval_id);
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ //debug(line);
|
|
|
+ if (startsWith(line, "START")) {
|
|
|
+ // Set unit
|
|
|
+ unit = line.substr(6,2);
|
|
|
+ debugd("Unit: " + unit);
|
|
|
+ if (unit == "MM") {
|
|
|
+ debugd("Millimeters");
|
|
|
+ cf = ppi / 25.4;
|
|
|
+ } else if (unit == "IN") {
|
|
|
+ debugd("Inches");
|
|
|
+ cf = ppi;
|
|
|
+ } else {
|
|
|
+ ndebug("Invalid unit");
|
|
|
+ n = lines.length;
|
|
|
+ return;
|
|
|
+ }
|
|
|
+ debug("Scale: " + cf);
|
|
|
+ ctx.scale(cf, cf);
|
|
|
+ } else if (startsWith(line, " TD=")) {
|
|
|
+ // Set tool diameter
|
|
|
+ debugd("Tool Diameter: " + line.substring(4,12));
|
|
|
+ td = parseFloat(line.substring(4,12));
|
|
|
+ ctx.lineWidth = td;
|
|
|
+ debug("ctx.lineWidth = " + ctx.lineWidth);
|
|
|
+ } else if (startsWith(line, "FR")) {
|
|
|
+ // TODO: set feed rate
|
|
|
+ debugd("Setting feed rate for " + line.substr(3,3) + " to " + line.substring(8,12));
|
|
|
+ if (line.indexOf("X") != -1) {
|
|
|
+ max_frx = parseFloat(line.substring(8,12));
|
|
|
+ debug(" set FR X = " + max_frx);
|
|
|
+ }
|
|
|
+ if (line.indexOf("Y") != -1) {
|
|
|
+ max_fry = parseFloat(line.substring(8,12));
|
|
|
+ debug(" set FR Y = " + max_fry);
|
|
|
+ }
|
|
|
+ if (line.indexOf("Z") != -1) {
|
|
|
+ max_frz = parseFloat(line.substring(8,12));
|
|
|
+ debug(" set FR Z = " + max_frz);
|
|
|
+ }
|
|
|
+ } else if (startsWith(line, "SETUP")) {
|
|
|
+ // This step doesn't translate well, and would get annoying
|
|
|
+ debug("Setup: " + line.substring(7,12));
|
|
|
+ debug(" Note: in real life, this command would let you position the tool at a new 'zero' position.");
|
|
|
+ } else if (startsWith(line, "Z>C")) {
|
|
|
+ tool_z = tool_c;
|
|
|
+ debug("Z>C: Z = " + String(tool_c));
|
|
|
+ } else if (startsWith(line, "GO")) {
|
|
|
+ goal_x = tool_x; time_x = 0;
|
|
|
+ goal_y = tool_y; time_y = 0;
|
|
|
+ goal_z = tool_z; time_z = 0;
|
|
|
+ debugd("Go");
|
|
|
+ do {
|
|
|
+ if (line.substr(3,1) == "f") {
|
|
|
+ // TODO: how fast is "fast" anyway?
|
|
|
+ }
|
|
|
+ if (line.substr(3,1) == "X") {
|
|
|
+ goal_x = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_x = -goal_x;
|
|
|
+ }
|
|
|
+ time_x = Math.abs((goal_x - tool_x) / max_frx);
|
|
|
+ debugd("X coor: " + goal_x);
|
|
|
+ } else if (line.substr(3,1) == "Y") {
|
|
|
+ goal_y = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_y = -goal_y;
|
|
|
+ }
|
|
|
+ time_y = Math.abs((goal_y - tool_y) / max_fry);
|
|
|
+ debugd("Y coor: " + goal_y);
|
|
|
+ } else if (line.substr(3,1) == "Z") {
|
|
|
+ goal_z = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_z = -goal_z;
|
|
|
+ }
|
|
|
+ time_z = Math.abs((goal_z - tool_z) / max_frz);
|
|
|
+ debugd("Z coor: " + goal_z);
|
|
|
+ }
|
|
|
+ n = n+1;
|
|
|
+ if (n >= lines.length) {
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ line = lines[n];
|
|
|
+ } while (line.substr(0,2) == " ")
|
|
|
+ n = n - 1;
|
|
|
+ // Compute how many seconds it will take to execute this cut
|
|
|
+ time = Math.max(Math.max(time_x, time_y), time_z);
|
|
|
+ debugd("Time Required: "+time);
|
|
|
+ x_inc = (goal_x - tool_x) / time * time_step;
|
|
|
+ y_inc = (goal_y - tool_y) / time * time_step;
|
|
|
+ z_inc = (goal_z - tool_z) / time * time_step;
|
|
|
+ debug("X inc: " + x_inc + " Y inc: " + y_inc +" Z inc: " + z_inc);
|
|
|
+ moving = true;
|
|
|
+ } else if (startsWith(line, "ZERO AT")) {
|
|
|
+ // Translate the canvas origin
|
|
|
+ debugd("ZERO AT");
|
|
|
+ goal_x = 0; time_x = 0;
|
|
|
+ goal_y = 0; time_y = 0;
|
|
|
+ goal_z = 0; time_z = 0;
|
|
|
+ if (!nextLine()) { return; }
|
|
|
+ while (line.substr(0,2) == " ") {
|
|
|
+ if (line.substr(3,1) == "X") {
|
|
|
+ goal_x = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_x = -goal_x;
|
|
|
+ }
|
|
|
+ debug(" X coor: " + goal_x);
|
|
|
+ } else if (line.substr(3,1) == "Y") {
|
|
|
+ goal_y = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_y = -goal_y;
|
|
|
+ }
|
|
|
+ debug(" Y coor: " + goal_y);
|
|
|
+ } else if (line.substr(3,1) == "Z") {
|
|
|
+ goal_z = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ goal_z = -goal_z;
|
|
|
+ }
|
|
|
+ debug(" Z coor: " + goal_z);
|
|
|
+ }
|
|
|
+ if (!nextLine()) { break; }
|
|
|
+ }
|
|
|
+ n = n - 1;
|
|
|
+ // Translate the canvas origin
|
|
|
+ ctx.save();
|
|
|
+ ctx.translate(goal_x, goal_y);
|
|
|
+ canvas_stack = canvas_stack + 1;
|
|
|
+ // Untranslate tool
|
|
|
+ tool_x = tool_x - goal_x;
|
|
|
+ tool_y = tool_y - goal_y;
|
|
|
+ } else if (startsWith(line, "ARC")) {
|
|
|
+ debugd("ARC");
|
|
|
+ if (!nextLine()) { return; }
|
|
|
+ if (line.substr(0,4) == " XC=") {
|
|
|
+ xc = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ xc = -xc;
|
|
|
+ }
|
|
|
+ debug(" XC: " + xc);
|
|
|
+ } else {
|
|
|
+ debug("I really expected a line starting with ' XC='");
|
|
|
+ }
|
|
|
+ if (!nextLine()) { return; }
|
|
|
+ if (line.substr(0,4) == " YC=") {
|
|
|
+ yc = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ yc = -yc;
|
|
|
+ }
|
|
|
+ debug(" YC: " + yc);
|
|
|
+ } else {
|
|
|
+ debug("I really expected a line starting with ' YC='");
|
|
|
+ }
|
|
|
+ if (!nextLine()) { return; }
|
|
|
+ if (line.substr(0,4) == " a=") {
|
|
|
+ // I call the variable 'ac' for resemblance
|
|
|
+ ac = parseFloat(line.substring(5,12));
|
|
|
+ if (line.substr(4,1) == "-") {
|
|
|
+ ac = -ac;
|
|
|
+ arc_dir = true;
|
|
|
+ } else {
|
|
|
+ arc_dir = false;
|
|
|
+ }
|
|
|
+ debugd(" AC: " + ac);
|
|
|
+ ac = deg2rad(ac);
|
|
|
+ debugd("in radians: " + ac);
|
|
|
+ } else {
|
|
|
+ debug("I really expected a line starting with ' a='");
|
|
|
+ }
|
|
|
+ arc_r = Math.sqrt( Math.pow(xc-tool_x, 2) +
|
|
|
+ Math.pow(yc-tool_y, 2) );
|
|
|
+ debugd("R = " + arc_r);
|
|
|
+ var dist = Math.abs(arc_r*ac);
|
|
|
+ var xyfr = (max_frx + max_fry)/2;
|
|
|
+ time = dist/xyfr;
|
|
|
+ debugd("Time Required: " + time);
|
|
|
+ a_inc = ac/time*time_step;
|
|
|
+ debugd("a_inc = " + a_inc);
|
|
|
+ // Math.atan2 seems to be measuring Clockwise from the Y
|
|
|
+ // axis. Ridiculous.
|
|
|
+ tool_a = Math.atan2(tool_y-yc, tool_x-xc);
|
|
|
+ debugd("tool_a = " + rad2deg(tool_a) + " degrees");
|
|
|
+ goal_a = Math.atan2(tool_y-yc, tool_x-xc) + ac;
|
|
|
+ debug("goal_a = " + rad2deg(goal_a) + " degrees");
|
|
|
+ moving = true;
|
|
|
+ arcing = true;
|
|
|
+ //arcing = true;
|
|
|
+ } else if (startsWith(line, "CALL SUB")) {
|
|
|
+ // Push line # onto stack
|
|
|
+ debugd("Calling Sub");
|
|
|
+ stack.push(n);
|
|
|
+ ctx.save();
|
|
|
+ canvas_stack = canvas_stack + 1;
|
|
|
+ // Get the SUB id
|
|
|
+ var sub_id = line.substring(9,12).replace(" ","");
|
|
|
+ var sub_id = "SUB " + sub_id;
|
|
|
+ debugd("Scanning for '" + sub_id +"'");
|
|
|
+ // Move the cursor location to the start of the subroutine.
|
|
|
+ n = -1;
|
|
|
+ while (n < lines.length) {
|
|
|
+ n = n + 1;
|
|
|
+ line = lines[n];
|
|
|
+ if (line.substr(0,sub_id.length) == sub_id) {
|
|
|
+ debugd("Found '" + sub_id + "' on line " + String(n));
|
|
|
+ debug("Stack: " + String(stack));
|
|
|
+ break;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ } else if (startsWith(line, "SUB RETURN")) {
|
|
|
+ // Return to our line # in the stack.
|
|
|
+ n = stack.pop();
|
|
|
+ ctx.restore();
|
|
|
+ canvas_stack = canvas_stack - 1;
|
|
|
+ debugd("SUB RETURN return to line " + String(n));
|
|
|
+ debug("Stack: " + String(stack));
|
|
|
+ } else if (startsWith(line, "REPEAT END")) {
|
|
|
+ if (stack.length > 0) {
|
|
|
+ n = stack.pop();
|
|
|
+ debug("REPEAT END return to line " + String(n));
|
|
|
+ } else {
|
|
|
+ debug("Passing REPEAT END");
|
|
|
+ }
|
|
|
+ } else if (startsWith(line, "REPEAT")) {
|
|
|
+ var rep_num = parseInt(line.substring(10,12))
|
|
|
+ debugd("REPEAT " + String(rep_num) + " times");
|
|
|
+ for (var i = 1; i < rep_num; i++) {
|
|
|
+ stack.push(n);
|
|
|
+ }
|
|
|
+ debug("Stack: " + String(stack));
|
|
|
+ } else if (startsWith(line, "END")) {
|
|
|
+ n = lines.length;
|
|
|
+ debug("Encountered an END");
|
|
|
+ } else {
|
|
|
+ debug("Skipping line: " + line);
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+/*
|
|
|
+These are placed at the end, so if prior code has syntax errors,
|
|
|
+the page will clearly be broken.
|
|
|
+*/
|
|
|
+function debug(str) {
|
|
|
+ var obj;
|
|
|
+ obj = $("output");
|
|
|
+ obj.innerHTML = obj.innerHTML + str;
|
|
|
+}
|
|
|
+function ndebug(str) {
|
|
|
+ var obj;
|
|
|
+ obj = $("output");
|
|
|
+ obj.innerHTML = obj.innerHTML + "\n" + str;
|
|
|
+}
|
|
|
+function debugn(str) {
|
|
|
+ var obj;
|
|
|
+ obj = $("output");
|
|
|
+ obj.innerHTML = obj.innerHTML + str + "\n";
|
|
|
+}
|
|
|
+function ndebugn(str) {
|
|
|
+ var obj;
|
|
|
+ obj = $("output");
|
|
|
+ obj.innerHTML = obj.innerHTML + "\n" + str + "\n";
|
|
|
+}
|
|
|
+function debugd(str) {
|
|
|
+ var obj;
|
|
|
+ obj = $("output");
|
|
|
+ obj.innerHTML = obj.innerHTML + str + "... ";
|
|
|
+}
|
|
|
+</script>
|
|
|
+<footer>
|
|
|
+<hr>
|
|
|
+<p style="text-align: center; font-style:italic"><a href="http://validator.w3.org/#validate-by-upload">Freaking valid HTML5 baby!!!</a></p>
|
|
|
+</footer>
|
|
|
+</body>
|
|
|
+</html>
|
Will Hilton