int TestCoordMotion()
{
// NMCSERVO Servo;
int iError;
int iModule;
double dX, dY, dZ;
iError=InitNMCModule3Axis (iModule);
if (iModule < 3)
return -1;
// g_stage.ResetPos();
// InitPathParam(P_30HZ, 75,
// 66845.7447, 66845.7447, 2*66845.7447,
// 0.001,
// 0.001);
InitPathParam(P_60HZ, 75,
6684.57447, 6684.57447, 6684.57447,
1.0,
1.0);
iError=CreatePath1();
ExecutePath3Axis();
iError=CreatePath1_2();
ExecutePath3Axis();
iError=CreatePath1();
ExecutePath3Axis();
iError=CreatePath1_2();
ExecutePath3Axis();
ResetModules(iModule);
return 0;
};
int TestGCodeClass()
{
int iError;
int res;
int iModule;
millCmdCtrl millcmdCtrl;
Stage & _stage = Singleton<Stage>::Instance();
Path & _path = Singleton<Path>::Instance();
_path.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.200); //acceleration = 1.0 inch/second/second
// InitServoPathParams(P_30HZ,1, 2, 3);
_path.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
_path.SetFeedrate(0.200); //feedrate = 1.0 inches/second
_path.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
iError=InitNMCModule3AxisStatic (iModule, _stage, _path);
if (iModule < 3)
return -1;
// millcmdCtrl.SetStage(&_stage);
// millcmdCtrl.SetPath(&_path);
millcmdCtrl.ProcessGCode("C:\\Program Files (x86)\\Mill1A\\input\\CircleAtOrigin.nc");
// millcmdCtrl.RunGCode();
int numberCmds=millcmdCtrl.Count();
int itype=0;
millcmdCtrl.InitRun();
double x1,y1,z1;
double x2,y2,z2;
double x3,y3,z3;
for(int i=0; i < numberCmds; i++)
{
millcmdCtrl.RunCommand(i);
itype=millcmdCtrl.GetCommand();
if (itype == 0)
{
millcmdCtrl.GetStart(x1,y1,z1);
millcmdCtrl.GetEnd(x2,y2,z2);
millcmdCtrl.GetCenter(x3,y3,z3);
}
millcmdCtrl.Iter();
}
ResetModules(iModule);
return 0;
}
int TestCoordMotionShortPath()
{
int iError;
int res;
int iModule;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
if (iModule < 3)
return -1;
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
6684.57447, //X scale - 20000.0 counts per inch
6684.57447, //Y scale - 20000.0 counts per inch
2*6684.57447, //Z scale - 1.0 counts per inch - not used
1.0); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(1.0); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
double x,y,z;
// g_stage.GetPos(x,y,z);
// InitPathParam(P_60HZ, 60,
// 6684.57447, 6684.57447, 2*6684.57447,
// 1.0,
// 1.0);
g_stage.GetPos(x,y,z);
g_stage.ResetPos();
//Clear the segment list and set the starting point for the path
// at X = 0, Y = 1, Z = 0
vPath.ClearSegListA(0,0,0);
//Add a segment to move to x=0, y=2, z=0
res = vPath.AddLineSegA(0.0, 1.0, 0.0);
if (res<0) return -1;
res = vPath.AddArcSegA( 1.0, 2.0, 0.0, //end point of arc: x=1, y=2, z=0
1.0, 1.0, 0.0, //center point of arc: x=1, y=1, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(1.0, 2.0, 0.0);
g_stage.GetPos(x,y,z);
res = vPath.AddLineSegA(2.0, 2.0, 0.0); //line segment endpoint: x=4, y=3, z=0
if (res<0) return -1;
res = vPath.AddArcSegA( 3.0, 1.0, 0.0, //end point of arc: x=5, y=2, z=0
2.0, 1.0, 0.0, //center point of arc: x=4, y=2, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(0.0, 0.0, 0.0);
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
ResetModules(iModule);
return 0;
};
int TestGCode()
{
int iError;
int res;
int iModule;
Stage & _stage = Singleton<Stage>::Instance();
Path & _path = Singleton<Path>::Instance();
iError=InitNMCModule3AxisStatic (iModule, _stage, _path);
if (iModule < 3)
return -1;
double x,y,z;
_stage.GetPos(x,y,z);
_stage.Rotate(180.0);
_stage.SetVel(3.0, 3.0, 3.0);
_stage.SetAccel(1.0, 1.0, 1.0);
_stage.EnableAmp();
_stage.ResetPos();
_stage.GetPos(x,y,z);
// g_stage.SetPathStatus();
_path.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
// InitServoPathParams(P_30HZ,1, 2, 3);
_path.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
_path.SetFeedrate(0.175); //feedrate = 1.0 inches/second
_path.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
_stage.InitPathMode(_path);
fstream filestr;
filestr.open ("C:\\Program Files (x86)\\Mill1A\\input\\CircleAtOrigin.nc", fstream::in | fstream::out | fstream::app);
// >> i/o operations here <<
std::string line;
int parenIndex=0;
int spaceIndex=0;
int cmdLine=0;
string cmd;
vector<string> cmdlist;
millCmd millCmdC;
ParseCNC ParseCNC;
// ParseCNC.SetStage(_stage);
// ParseCNC.SetPath(_path);
// ParseCNC.SetStage(static_cast<Stage *>(&vStage));
// ParseCNC.SetPath(static_cast<Path *>(&vPath));
while(filestr){
std::getline(filestr, line);
parenIndex=line.find("(",0);
if (parenIndex == string::npos)
{
ParseCNC.ParseLine(line, cmdlist);
vector<string>::iterator it = cmdlist.begin();
while (it != cmdlist.end())
{
ParseCNC.SetCommand1 (it, cmdlist);
}
cmdlist.clear();
}
}
filestr.close();
ParseCNC.GetCmd(millCmdC);
int numberOfCommands =millCmdC.GetNumberOfCommands();
for (int i=0; i <= numberOfCommands-1;i++)
{
millCmdC.execute(i);
}
ResetModules(iModule);
return 0;
}
void CGameAISystem::Reset(bool bUnload)
{
ResetModules(bUnload);
ResetSubSystems(bUnload);
}
CEpgData::~CEpgData()
{
ResetModules();
}
