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linuxcncAllWasm/nc_files/ngcgui_lib/qpocket.ngc
Wang Dequan 2c814634c3 Import LinuxCNC source tree
2026-08-20 06:17:39 +08:00

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(info: Quadrilateral pocketing using cutter radius compensation)
; Use with care, test in simulator first.
; Notes:
; Defaults herein are inch based
; Uses tool diameter from tool table for cutter radius compensation
; Supports conventional or climb milling
; Ramps to depth for each z increment
; Mirror about x axis for negative scale
; too small diameter tools and/or small stepovers may exceed outlinepasslimit
; too large diameter tools may case gouging errors
; Works for most rectangles and parallelograms but may require some care
; for specifying:
; point ordering (see entry move notes below)
; tool diameter (in tool table)
; stepover
; Entry moves:
; Input point ordering Requested Direction Entry line
; -------------------- ------------------------ ------------------
; 1234 == CW 2 == CW == Conventional point1 --> point2
; 1234 == CW 3 == CCW == Climb point1 --> point4
; 1234 == CCW 2 == CW == Conventional point1 --> point4
; 1234 == CCW 3 == CCW == Climb point1 --> point2
; To accommodate the widest range of tool diameters, order the point sequence
; (1234) so that the entry move is not directed towards an acute angle.
; Scaling, rotations, and offsets are supported.
; Scaling is applied first.
; Rotation is then applied (with respect to origin). It is often simplest
; to specify the feature so that it is centered at the origin.
; Offsets are applied last.
;----------------------------------------------------------------------
; Copyright: 2012,2014
; Author: Dewey Garrett <dgarrett@panix.com>
;
; This program is free software; you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
; the Free Software Foundation; either version 2 of the License, or
; (at your option) any later version.
;
; This program is distributed in the hope that it will be useful,
; but WITHOUT ANY WARRANTY; without even the implied warranty of
; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
; GNU General Public License for more details.
;
; You should have received a copy of the GNU General Public License
; along with this program; if not, write to the Free Software
; Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
;----------------------------------------------------------------------
o<qpocket> sub
#<toolno> = #1 (=1)
#<rpm> = #2 (=1000)
#<dir> = #3 (=2 2conv|3climb) ; conventional=cw, climb=ccw
#<feedrate> = #4 (=10)
#<cutdepth> = #5 (=0.1)
#<zincr> = #6 (=0.02)
#<zsafe> = #7 (=0.2)
#<zstart> = #8 (=0)
#<x1> = #9
#<y1> = #10
#<x2> = #11
#<y2> = #12
#<x3> = #13
#<y3> = #14
#<x4> = #15
#<y4> = #16
#<scale> = #17 (=1) ; use neg value for mirroring
#<rotate> = #18 (=0) ; angle in degrees
#<xoff> = #19 (=0)
#<yoff> = #20 (=0)
#<stepover> = #21 (=0.5) ; tooldiameter fraction
#<g64tol> = #22 (=0.002)
#<spin_notify> = #23 (=1) ; 1 == prompt user
#<use_g43> = #24 (=1)
#<h_for_g43> = #25 (=0)
#<verbose> = #26 (=0)
#<depthpasslimit> = 100 ; outer loop
#<outlinepasslimit> = 100 ; inner loop
#<tdelta> = 0.01 ; small increment to tool diameter
#<cutdepth> = [0 - #<cutdepth>]
#<zincr> = [0 - #<zincr>]
g40 ; make sure cutter radius compensation off at start
g64 p #<g64tol> ; path tolerance
o<if10> if [#<scale> EQ 0]
(print, qpocket: zero scale #<scale> - EXITING)
(debug, qpocket: zero scale #<scale> - EXITING)
(AXIS,notify, qpocket: zero scale - EXITING)
m2
o<if10> endif
o<if11> if [#<scale> LT 0]
(print, qpocket: MIRROR about x axis for negative scale #<scale>)
(debug, qpocket: MIRROR about x axis for negative scale #<scale>)
(AXIS,notify, qpocket: MIRROR about x axis for negative scale)
o<if11> endif
#<x1> = [#<scale> * #<x1>]
#<x2> = [#<scale> * #<x2>]
#<x3> = [#<scale> * #<x3>]
#<x4> = [#<scale> * #<x4>]
#<scale> = [ABS[#<scale>]]
#<y1> = [#<scale> * #<y1>]
#<y2> = [#<scale> * #<y2>]
#<y3> = [#<scale> * #<y3>]
#<y4> = [#<scale> * #<y4>]
#<scale> = 1
o<if20> if [[#<stepover> GT 1] OR [#<stepover> LE 0]]
(print, qpocket: invalid stepover=#<stepover> - EXITING)
(debug, qpocket: invalid stepover=#<stepover> - EXITING)
(AXIS,notify, qpocket: invalid stepover - EXITING)
m2
o<if20> endif
o<if30> if [[#<dir> NE 2] AND [#<dir> NE 3]]
(print, qpocket:bad dir=#<dir> - EXITING)
(debug, qpocket:bad dir=#<dir> - EXITING)
(AXIS,notify, qpocket:bad dir - EXITING)
m2
o<if30> endif
;compute direction eg 2==cw,3==ccw for points as ordered:
o<dir> call [4][#<x1>][#<y1>][#<x2>][#<y2>][#<x3>][#<y3>][#<x4>][#<y4>]
#<pointsdir> = #<_dir:> ; direction of input points 2==cw
#<xctr> = #<_dir:cx> ; centroid
#<yctr> = #<_dir:cy> ; centroid
o<ifdir1> if [#<pointsdir> LE 0]
; failed to get direction -- pathological case
(print, failed to compute direction - EXITING)
(debug, failed to compute direction - EXITING)
(AXIS,notify, failed to compute direction - EXITING)
m2
o<ifdir1> endif
; Get data for x,y points
#<npoints> = 4
o<pointsdata> call [#<npoints>] [#<x1>][#<x2>][#<x3>][#<x4>]
#<xc> = #<_pointsdata:ctr>
#<xmin> = [#<_pointsdata:min> - #<xctr>]
#<xmax> = [#<_pointsdata:max> - #<xctr>]
o<pointsdata> call [#<npoints>] [#<y1>][#<y2>][#<y3>][#<y4>]
#<yc> = #<_pointsdata:ctr>
#<ymin> = [#<_pointsdata:min> - #<yctr>]
#<ymax> = [#<_pointsdata:max> - #<yctr>]
; Respecify input points about the x,y centroid
o<ifv0> if [#<verbose> GT 0]
(debug, centroid: #<xctr> #<yctr>)
o<ifv0> endif
#<x1> = [#<x1> - #<xctr>]
#<x2> = [#<x2> - #<xctr>]
#<x3> = [#<x3> - #<xctr>]
#<x4> = [#<x4> - #<xctr>]
#<y1> = [#<y1> - #<yctr>]
#<y2> = [#<y2> - #<yctr>]
#<y3> = [#<y3> - #<yctr>]
#<y4> = [#<y4> - #<yctr>]
; make order of points agree with input direction request
o<if40> if [#<pointsdir> NE #<dir>]
o<ifv1> if [#<verbose> GT 0]
(debug, reversing input point sequence: 1-4-3-2)
o<ifv1> endif
; swap points ordering: 1234 --> 1432
#<xt> = #<x2>
#<yt> = #<y2>
#<x2> = #<x4>
#<y2> = #<y4>
#<x4> = #<xt>
#<y4> = #<yt>
o<if40> endif
; determine min size for first outline pass
o<if50> if [[#<xmax>-#<xmin>] GT [#<ymax>-#<ymin>]]
#<minor> = [ABS[#<ymax>-#<ymin>]/2]
o<if50> else
#<minor> = [ABS[#<xmax>-#<xmin>]/2]
o<if50> endif
; load tool and establish scaling for first outline pass
o<loadtool> call [#<toolno>][#<use_g43>][#<h_for_g43>][#<verbose>]
#<thetooldiam> = #5410
#<tooldiam> = [#5410 + #<tdelta>]
#<r> = [#<tooldiam> / 2]
#<sizei> = [#<tooldiam> / #<minor>]
#<qscalei> = [#<scale> * #<sizei>]
o<ifsc> if [#<qscalei> GE #<scale>]
(print, qpocket: tooldiam is too big #<thetooldiam> - EXITING)
(debug, qpocket: tooldiam is too big #<thetooldiam> - EXITING)
(AXIS,notify, qpocket: tooldiam is too big - EXITING)
m2
o<ifsc> endif
; scale the centered feature and translate to original position
o<move> call [#<x1>][#<y1>][0][#<qscalei>][#<xctr>][#<yctr>]
#<x1i> = #<_move:x>
#<y1i> = #<_move:y>
o<move> call [#<x2>][#<y2>][0][#<qscalei>][#<xctr>][#<yctr>]
#<x2i> = #<_move:x>
#<y2i> = #<_move:y>
o<move> call [#<x3>][#<y3>][0][#<qscalei>][#<xctr>][#<yctr>]
#<x3i> = #<_move:x>
#<y3i> = #<_move:y>
o<move> call [#<x4>][#<y4>][0][#<qscalei>][#<xctr>][#<yctr>]
#<x4i> = #<_move:x>
#<y4i> = #<_move:y>
; xni,yni are the initial points at the smallest scaling
; apply input rotation and offset
o<move> call [#<x1i>][#<y1i>][#<rotate>][1][#<xoff>][#<yoff>]
#<x1i> = #<_move:x>
#<y1i> = #<_move:y>
o<move> call [#<x2i>][#<y2i>][#<rotate>][1][#<xoff>][#<yoff>]
#<x2i> = #<_move:x>
#<y2i> = #<_move:y>
o<move> call [#<x3i>][#<y3i>][#<rotate>][1][#<xoff>][#<yoff>]
#<x3i> = #<_move:x>
#<y3i> = #<_move:y>
o<move> call [#<x4i>][#<y4i>][#<rotate>][1][#<xoff>][#<yoff>]
#<x4i> = #<_move:x>
#<y4i> = #<_move:y>
;get angles for connecting lines
o<line> call [#<x1i>][#<y1i>][#<x2i>][#<y2i>]
#<cos12> = #<_line:cos>
#<sin12> = #<_line:sin>
o<line> call [#<x2i>][#<y2i>][#<x3i>][#<y3i>]
#<cos23> = #<_line:cos>
#<sin23> = #<_line:sin>
o<line> call [#<x3i>][#<y3i>][#<x4i>][#<y4i>]
#<cos34> = #<_line:cos>
#<sin34> = #<_line:sin>
o<line> call [#<x4i>][#<y4i>][#<x1i>][#<y1i>]
#<cos41> = #<_line:cos>
#<sin41> = #<_line:sin>
;compute angles at line intersections:
o<dot> call [#<x1i>][#<y1i>][#<x2i>][#<y2i>][#<x3i>][#<y3i>]
#<ang123> = #<_dot:ang>
o<dot> call [#<x2i>][#<y2i>][#<x3i>][#<y3i>][#<x4i>][#<y4i>]
#<ang234> = #<_dot:ang>
o<dot> call [#<x3i>][#<y3i>][#<x4i>][#<y4i>][#<x1i>][#<y1i>]
#<ang341> = #<_dot:ang>
o<dot> call [#<x4i>][#<y4i>][#<x1i>][#<y1i>][#<x2i>][#<y2i>]
#<ang412> = #<_dot:ang>
f #<feedrate>
s #<rpm> m3 ;spindle cw
o<if60> if [#<spin_notify> GT 0]
o<spin> call [#<rpm>] ; optionally prompt user
o<if60> endif
g0 z#<zsafe>
; depth loop (outer)
#<zcurrent> = #<zstart>
#<depthpass> = 1
o<wh10> while [#<zcurrent> GT #<cutdepth>]
#<zlast> = #<zcurrent>
#<zcurrent> = [#<zcurrent> + #<zincr>]
o<wh11> if [#<zcurrent> LT #<cutdepth>]
#<zcurrent> = #<cutdepth>
o<wh11> endif
o<wh12> if [#<depthpass> GT #<depthpasslimit>]
(print, qpocket: depthpasslimit exceeded #<depthpasslimit> - EXITING)
(debug, qpocket: depthpasslimit exceeded #<depthpasslimit> - EXITING)
(AXIS,notify, qpocket: depthpasslimit exceeded - EXITING)
m2
o<wh12> endif
o<pas1> if [#<depthpass> EQ 1]
;entry point:
;go along the 1-->2 line to enter at a point where tool will fit
#<elen12> = [ #<r> / [TAN[#<ang412>/2]]]
#<k12> = [#<elen12> / #<r>]
;(print, entry 12 k=#<k12> elen12=#<elen12> angle=#<angle>)
#<xentry> = [#<x1i> + #<elen12> * #<cos12>]
#<yentry> = [#<y1i> + #<elen12> * #<sin12>]
;compute pre-entry points:
o<dir00> if [#<dir> EQ 2] ; dir EQ 2 CW (conventional)
#<prex2> = [#<xentry> + #<r> * #<sin12> - #<r> * #<cos12>]
#<prey2> = [#<yentry> - #<r> * #<cos12> - #<r> * #<sin12>]
#<prex1> = [#<prex2> + #<r> * #<cos12>]
#<prey1> = [#<prey2> + #<r> * #<sin12>]
#<vx> = [ #<r> * #<cos12>]
#<vy> = [ #<r> * #<sin12>]
o<dir00> else ;dir EQ 3 CCW (climb)
#<prex2> = [#<xentry> - #<r> * #<sin12> - #<r> * #<cos12>]
#<prey2> = [#<yentry> + #<r> * #<cos12> - #<r> * #<sin12>]
#<prex1> = [#<prex2> + #<r> * #<cos12>]
#<prey1> = [#<prey2> + #<r> * #<sin12>]
#<vx> = [ #<r> * #<cos12>]
#<vy> = [ #<r> * #<sin12>]
o<dir00> endif
g0 x #<prex1> y #<prey1> ;preentry 1
g0 x #<prex2> y #<prey2> ;preentry 2
o<dir10> if [#<dir> EQ 2] ; CW
/ g42 ;cutter radius comp right of path
g2 x #<xentry> y #<yentry> i #<vx> j #<vy> ;arc entry
o<dir10> else ;dir EQ 3 CCW
/ g41 ;cutter radius comp left of path
g3 x #<xentry> y #<yentry> i #<vx> j #<vy> ;arc entry
o<dir10> endif
g1 z #<zstart> ;plunge to start height from zsafe
o<pas1> else
; depthpass GT 1: return to interior entry point
g1 x #<xentry> y #<yentry> z#<zlast> ; use zlast
o<pas1> endif
; outline loop (inner)
#<outlinepass> = 1
#<qscale> = #<qscalei>
#<size> = #<sizei>
o<wh20> do
o<wh22> if [#<outlinepass> GT #<outlinepasslimit>]
(print, qpocket: outlinepasslimit exceeded #<outlinepasslimit> - EXITING)
(debug, qpocket: outlinepasslimit exceeded #<outlinepasslimit> - EXITING)
(AXIS,notify,qpocket: outlinepasslimit exceeded - EXITING)
m2
o<wh22> endif
#<seq> = [#<outlinepass> mod 4]
o<wh23> if [#<outlinepass> EQ 1]
; move through smallest interior outline
o<ramp1> if [#<seq> EQ 1]
g1 x #<x2i> y #<y2i> z#<zcurrent> ;ramp down to zcurrent
g1 x #<x3i> y #<y3i>
g1 x #<x4i> y #<y4i>
g1 x #<x1i> y #<y1i>
g1 x #<x2i> y #<y2i>
o<ramp1> endif
o<ramp2> if [#<seq> EQ 2]
g1 x #<x3i> y #<y3i> z#<zcurrent> ;ramp down to zcurrent
g1 x #<x4i> y #<y4i>
g1 x #<x1i> y #<y1i>
g1 x #<x2i> y #<y2i>
g1 x #<x3i> y #<y3i>
o<ramp2> endif
o<ramp3> if [#<seq> EQ 3]
g1 x #<x4i> y #<y4i> z#<zcurrent> ;ramp down to zcurrent
g1 x #<x1i> y #<y1i>
g1 x #<x2i> y #<y2i>
g1 x #<x3i> y #<y3i>
g1 x #<x4i> y #<y4i>
o<ramp3> endif
o<ramp0> if [#<seq> EQ 0]
g1 x #<x1i> y #<y1i> z#<zcurrent> ;ramp down to zcurrent
g1 x #<x2i> y #<y2i>
g1 x #<x3i> y #<y3i>
g1 x #<x4i> y #<y4i>
g1 x #<x1i> y #<y1i>
o<ramp0> endif
#<outlinepass> = [#<outlinepass> + 1]
o<wh23> else
; increasingly larger outlines
#<size> = [#<size> + #<stepover> * #<sizei>]
#<qscale> = [#<scale> * #<size>]
#<outlinepass> = [#<outlinepass> + 1]
o<wh24> if [#<qscale> GE #<scale>]
#<qscale> = #<scale>
#<outlinepass> = 0 ;terminate after this pass
o<wh24> endif
; scale the centered feature and translate to original position
o<move> call [#<x1>][#<y1>][0][#<qscale>][#<xctr>][#<yctr>]
#<x1t> = #<_move:x>
#<y1t> = #<_move:y>
o<move> call [#<x2>][#<y2>][0][#<qscale>][#<xctr>][#<yctr>]
#<x2t> = #<_move:x>
#<y2t> = #<_move:y>
o<move> call [#<x3>][#<y3>][0][#<qscale>][#<xctr>][#<yctr>]
#<x3t> = #<_move:x>
#<y3t> = #<_move:y>
o<move> call [#<x4>][#<y4>][0][#<qscale>][#<xctr>][#<yctr>]
#<x4t> = #<_move:x>
#<y4t> = #<_move:y>
; apply input rotation and offset
o<move> call [#<x1t>][#<y1t>][#<rotate>][1][#<xoff>][#<yoff>]
#<x1s> = #<_move:x>
#<y1s> = #<_move:y>
o<move> call [#<x2t>][#<y2t>][#<rotate>][1][#<xoff>][#<yoff>]
#<x2s> = #<_move:x>
#<y2s> = #<_move:y>
o<move> call [#<x3t>][#<y3t>][#<rotate>][1][#<xoff>][#<yoff>]
#<x3s> = #<_move:x>
#<y3s> = #<_move:y>
o<move> call [#<x4t>][#<y4t>][#<rotate>][1][#<xoff>][#<yoff>]
#<x4s> = #<_move:x>
#<y4s> = #<_move:y>
; move through scaled interior outline
o<seq0> if [#<seq> EQ 0]
g1 x #<x1s> y #<y1s> z #<zcurrent>
x #<x2s> y #<y2s>
x #<x3s> y #<y3s>
x #<x4s> y #<y4s>
x #<x1s> y #<y1s>
o<seq0> endif
o<seq1> if [#<seq> EQ 1]
g1 x #<x2s> y #<y2s> z #<zcurrent>
x #<x3s> y #<y3s>
x #<x4s> y #<y4s>
x #<x1s> y #<y1s>
x #<x2s> y #<y2s>
o<seq1> endif
o<seq2> if [#<seq> EQ 2]
g1 x #<x3s> y #<y3s> z #<zcurrent>
x #<x4s> y #<y4s>
x #<x1s> y #<y1s>
x #<x2s> y #<y2s>
x #<x3s> y #<y3s>
o<seq2> endif
o<seq3> if [#<seq> EQ 3]
g1 x #<x4s> y #<y4s> z #<zcurrent>
x #<x1s> y #<y1s>
x #<x2s> y #<y2s>
x #<x3s> y #<y3s>
x #<x4s> y #<y4s>
o<seq3> endif
o<wh23> endif
o<wh20> while [#<outlinepass> GT 0]
#<depthpass> = [#<depthpass> + 1]
o<wh10> endwhile
; after finishing at input scale, need to turn corner
; and go along the next line enough to turn off compensation
o<fin0> if [#<seq> EQ 0] ;end at pt 1
#<xfinal_a> = #<x1s>
#<yfinal_a> = #<y1s>
#<elen12> = [#<r> / [TAN[#<ang412>/2]]]
#<xfinal_b> = [#<x1s> + #<elen12> * #<cos12>]
#<yfinal_b> = [#<y1s> + #<elen12> * #<sin12>]
o<fin0> endif
o<fin1> if [#<seq> EQ 1] ;end at pt 2
#<xfinal_a> = #<x2s>
#<yfinal_a> = #<y2s>
#<elen23> = [#<r> / [TAN[#<ang123>/2]]]
#<xfinal_b> = [#<x2s> + #<elen23> * #<cos23>]
#<yfinal_b> = [#<y2s> + #<elen23> * #<sin23>]
o<fin1> endif
o<fin2> if [#<seq> EQ 2] ;end at pt 3
#<xfinal_a> = #<x3s>
#<yfinal_a> = #<y3s>
#<elen34> = [#<r> / [TAN[#<ang234>/2]]]
#<xfinal_b> = [#<x3s> + #<elen34> * #<cos34>]
#<yfinal_b> = [#<y3s> + #<elen34> * #<sin34>]
o<fin2> endif
o<fin3> if [#<seq> EQ 3] ;end at pt 4
#<xfinal_a> = #<x4s>
#<yfinal_a> = #<y4s>
#<elen41> = [#<r> / [TAN[#<ang341>/2]]]
#<xfinal_b> = [#<x4s> + #<elen41> * #<cos41>]
#<yfinal_b> = [#<y4s> + #<elen41> * #<sin41>]
o<fin3> endif
g1 x #<xfinal_a> y #<yfinal_a>
g1 x #<xfinal_b> y #<yfinal_b>
g0 z #<zsafe>
g40 ;cutter radius compensation off
o<qpocket> endsub
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