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EgtMachKernel 2.5j3 :

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- migliorata simulazione con assi principali che non fanno movimento mentre lo fanno gli ausiliari (per controllo collisioni)
- la funzione EmtMoveAxes base per SimulMoveAxes ora gestisce fino a 10 assi in contemporanea.
This commit is contained in:
Dario Sassi
2023-10-22 15:58:36 +02:00
parent 93a5bd72c7
commit 63e95ab2fe
3 changed files with 13 additions and 3 deletions
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EgtMachKernel.rc
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MachineLua.cpp
+2 -2
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@@ -1395,7 +1395,7 @@ Machine::LuaEmtAddToolForVmill( lua_State* L)
int
Machine::LuaEmtMoveAxes( lua_State* L)
{
// 4, ..., 16 parametri : nMoveType, sAx1, dPos1, dStep1 [, sAx2, dPos2, dStep2] [, sAx3, dPos3, dStep3] [, sAx4, dPos4, dStep4] [, sAx5, dPos5, dStep5]
// 4, ..., 31 parametri : nMoveType, sAx1, dPos1, dStep1 [, sAx2, dPos2, dStep2] ... [, sAx10, dPos10, dStep10]
int nMoveType ;
LuaCheckParam( L, 1, nMoveType)
string sAx1 ;
@@ -1406,7 +1406,7 @@ Machine::LuaEmtMoveAxes( lua_State* L)
LuaCheckParam( L, 4, dStep1) ;
SAMVECTOR vAxNaEpSt ;
vAxNaEpSt.emplace_back( sAx1, dEnd1, dStep1) ;
for ( int i = 0 ; i < 4 ; ++ i) {
for ( int i = 0 ; i < 9 ; ++ i) {
int nInd = 5 + 3 * i ;
string sAxN ;
double dEndN ;
Simulator.cpp
+11 -1
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@@ -1000,8 +1000,18 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
double dSqCoeff = (( i < 3) ? 1 : 100) ;
dSqDist += dSqCoeff * ( AxesEnd[i] - m_AxesVal[i]) * ( AxesEnd[i] - m_AxesVal[i]) ;
}
// Calcolo distanza di movimento eventuali assi ausiliari
double dSqDistAux = 0 ;
for ( int i = 0 ; i < int( m_AuxAxesName.size()) ; ++ i) {
if ( m_AuxAxesLink[i] != 0)
continue ;
// coefficiente moltiplicativo per differenziare assi lineari e rotanti
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : 100) ;
dSqDistAux += dSqCoeff * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) ;
}
// Considero il massimo delle due distanze
double dPrevCoeff = m_dCoeff ;
double dDist = sqrt( dSqDist) ;
double dDist = sqrt( max( dSqDist, dSqDistAux)) ;
if ( dDist > EPS_SMALL) {
double dStep = min( ( nMoveType == 0 ? 2 : 1) * m_dStep, MAX_STEP) ;
int nStep = max( int( dDist / dStep), 1) ;