30 lines
1.7 KiB
JavaScript
30 lines
1.7 KiB
JavaScript
const TRT_ROOT = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting";
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function trt(id, coordinates, type, offsets, model) {
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const stem = coordinates.toLowerCase();
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return Object.freeze({
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id, label: `${coordinates} TRT`, coordinates, axes: [...stem], joint_count: coordinates.length,
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entrypoint: `${TRT_ROOT}/${id}.ini`, program: `${TRT_ROOT}/demos/boat-${stem}.ngc`,
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switchkins_program: `${TRT_ROOT}/demos/${stem}_switchkins.ngc`,
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kinematics_type: type, runtime: "trt", model,
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source_path: `linuxcnc/src/hal/user_comps/vismach/${id}-gui.py`,
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subroutines: [`${stem}_switchkins_sub`, `helix_${stem.slice(3)}`],
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offsets,
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joint_limits: { x: [-200, 200], y: [-100, 100], z: [-120, 120], [stem[3]]: [-100, 50], c: [-36000, 36000] },
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axis_limits: { x: [-200, 200], y: [-100, 100], z: [-120, 120], [stem[3]]: coordinates === "XYZAC" ? [-100, 50] : [-36000, 36000], c: [-36000, 36000] },
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});
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}
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export const MACHINE_DEFINITIONS = Object.freeze([
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trt("xyzac-trt", "XYZAC", 2, { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 0 }, "trt-moving-knee"),
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trt("xyzbc-trt", "XYZBC", 3, { x_rot_point: 0, y_rot_point: 0, z_rot_point: 0, x_offset: -20, y_offset: 0, z_offset: -15, tool_offset: 0 }, "trt-moving-head"),
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]);
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export const DEFAULT_MACHINE = MACHINE_DEFINITIONS[0];
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export function machineDefinition(value) {
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return MACHINE_DEFINITIONS.find((entry) => [entry.id, entry.entrypoint, entry.coordinates].includes(value)) ?? null;
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}
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export function machineAxes(snapshot) {
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const coordinates = snapshot?.kinematics?.coordinates ?? snapshot?.visual?.machine_model?.coordinate_system;
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return machineDefinition(coordinates)?.axes ?? DEFAULT_MACHINE.axes;
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}
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