/************************************************
* axis_position function
* During milling time
***********************************************/
place axis_position(place positions)
{
place pos_prov;
pos_prov = check_position(positions); //check if we invalidate the limits
if(pos_prov.x_pos==0 && pos_prov.y_pos==0 && pos_prov.z_pos==0)
{
read_docs();//sd read
}
else if(pos_prov.x_pos!=0 || pos_prov.y_pos!=0 || pos_prov.z_pos!=0 ) //if does not
{
result=actual_to_previous(positions); //actualize the positions & return the difference
if(result.x_pos!=0) //if x axis has changed
{
prove.axes=driverx;
prove.step=mm_to_steps(result.x_pos);
if(result.x_pos>0) prove.direction=pos;
else prove.direction=neg;
move_motor(prove, 3000);
result.x_pos=0;
}
if(result.y_pos!=0)
{
prove.axes=drivery;
prove.step=mm_to_steps(result.y_pos);
if(result.y_pos>0) prove.direction=pos;
else prove.direction=neg;
move_motor(prove, 3000);
result.y_pos=0;
}
if(result.z_pos!=0)
{
prove.axes=driverz;
prove.step=mm_to_steps(result.z_pos);
if(result.z_pos>0) prove.direction=pos;
else prove.direction=neg;
move_motor(prove, 3000);
result.z_pos=0;
}
//aqui iniciar el timer GIE
}
return positions;
}
bool Clustering::initialize() {
if (!m_conf.parse())
EXIT_ERROR("Parse error in config.in!");
m_threshold = atof(m_conf.get("threshold").c_str());
if (m_threshold == -1)
EXIT_ERROR("threshold is not set in config.in!");
string data_pt = m_conf.get("data_pt");
if (data_pt.empty())
EXIT_ERROR("data_pt is not set in config.in!");
read_docs(data_pt.c_str());
if (m_docs.empty())
EXIT_ERROR2("no queries read from ", data_pt.c_str());
cout << "read queries, size = " << m_docs.size() <<endl;
init_dims();
if (m_dims.empty())
EXIT_ERROR("Bad init cluster data format, feature dimension is zero!");
cout << "DimArray initialized, size = " << m_dims.size() <<endl;
return true;
}