Egalware/EgtMachKernel
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

EgtMachKernel 2.7h1 :

Browse Source 
- in simulazione corretta segnalazione extracorsa per robot
- aggiunta gestione suggerimento angoli iniziali come home con comando "Home".
This commit is contained in:
Dario Sassi
2025-08-03 13:37:44 +02:00
parent 9d447b875b
commit 3f8d6867e2
5 changed files with 74 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
SimulatorMP.cpp
+11 -5
View File
@@ -1111,11 +1111,17 @@ SimulatorMP::ManageSingleMove( int& nStatus, double& dMove)
break ;
case CamData::AS_OUTSTROKE : {
DBLVECTOR OutAxes = pCamData->GetAxesVal() ;
for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
OutAxes.emplace_back( 0) ;
DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
int nStat ;
m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
if ( ! m_pMchMgr->GetCurrIsRobot()) {
for ( size_t i = OutAxes.size() ; i < 5 ; ++ i)
OutAxes.emplace_back( 0) ;
DBLVECTOR vAng( OutAxes.begin() + 3, OutAxes.end()) ;
int nStat ;
m_pMachine->VerifyOutstroke( OutAxes[0], OutAxes[1], OutAxes[2], vAng, true, nStat) ;
}
else {
int nStat ;
m_pMachine->VerifyOutstroke( 0, 0, 0, OutAxes, true, nStat) ;
}
nStatus = MCH_SIM_OUTSTROKE ;
return false ; }
case CamData::AS_DIR_ERR :