tmac2.c

激光加工控制系统 可以读入plt文件

	  strcpy(buf1,"P");
	  itoa(x,buf2,10);
	  strcat(buf1,buf2);
	  itoa(y,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	}

	oldxx = x;
	oldyy = y;
	x_count += x;
	y_count += y;
      }

      times = (int)((len*ysteps - 2*y_len_to_acc)/vmax);
      for (i=0;i<times;i++){
	strcpy(buf1,"P");
	yy = vmax*fabs(e_y-b_y)/sqrt((e_x-b_x)*(e_x-b_x)+(e_y-b_y)*(e_y-b_y));
	xx = yy*fabs(e_x-b_x)/fabs(e_y-b_y);
/*
    xx1 = xx;
    yy1 = yy;
    xx = xx*xx1/sqrt(xx1*xx1+yy1*yy1);
    yy = yy*yy1/sqrt(xx1*xx1+yy1*yy1);
*/
    if (e_x < b_x)
	  xx = -xx;
    if (e_y < b_y)
	  yy = -yy;
	curx = oldx + xx/xsteps;
	cury = oldy + yy/ysteps;
	xx = (curx - oldx)*xsteps;
	yy = (cury - oldy)*ysteps;
	oldx = curx;
	oldy = cury;
	if (xx > 0)
	  x = xx + x_adj + 0.5;
	else
	  x = xx + x_adj - 0.5;
	if (yy > 0)
	  y = yy + y_adj + 0.5;
	else
	  y = yy + y_adj - 0.5;
	x_adj += xx - x;
	y_adj += yy - y;
    if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else{
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }

    oldxx = x;
    oldyy = y;
	x_count += x;
	y_count += y;
      }

	x_count += x;
	y_count += y;
      for (i=0;i<y_times;i++){
	strcpy(buf1,"P");
	if (s2 > 0){
	  if (s2 > 1){
	    yy = (y_times - i)*y_once_max_a_pulses + 2;
	    s2 -= 2;
	  }
	  else{
	    yy = (y_times - i)*y_once_max_a_pulses + 1;
	    s2 --;
	  }
	}
	else
	  yy = (y_times - i)*y_once_max_a_pulses;
	xx = yy*fabs(e_x-b_x)/fabs(e_y-b_y);
    xx1 = xx;
    yy1 = yy;
    xx = xx*yy1/sqrt(xx1*xx1+yy1*yy1);
    yy = yy*yy1/sqrt(xx1*xx1+yy1*yy1);
    if (e_x < b_x)
	  xx = -xx;
    if (e_y < b_y)
	  yy = -yy;
	if (e_x < b_x)
	  xx = -xx;
	if (i != y_times-1){
	  curx = oldx + xx/xsteps;
	  cury = oldy + yy/ysteps;
	}
	else{
	  curx = e_x;
	  cury = e_y;
	}
	xx = (curx - oldx)*xsteps;
	yy = (cury - oldy)*ysteps;
	oldx = curx;
	oldy = cury;
	if (xx > 0)
	  x = xx + x_adj + 0.5;
	else
	  x = xx + x_adj - 0.5;
	if (yy > 0)
	  y = yy + y_adj + 0.5;
	else
	  y = yy + y_adj - 0.5;
	x_adj += xx - x;
	y_adj += yy - y;
    if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else{
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    oldxx = x;
    oldyy = y;
	x_count += x;
	y_count += y;

      }
    }
    else{
      len /= 2;
      times = 0;
      ll = 0;
      while (ll < len){
	times ++;
	yy = times*y_once_max_a_pulses/ysteps;
	xx = yy*fabs(e_x-b_x)/fabs(e_y-b_y);
    xx1 = xx;
    yy1 = yy;
    xx = xx*yy1/sqrt(xx1*xx1+yy1*yy1);
    yy = yy*yy1/sqrt(xx1*xx1+yy1*yy1);
	ll += sqrt(xx*xx + yy*yy);
      }
      ll -= sqrt(xx*xx + yy*yy);
      times --;
      s1 = s2 = (len - ll)*ysteps;
      for (i=0;i<times;i++){
	strcpy(buf1,"P");
	if (s1 > 0){
	  if (s1 > 1){
	    yy = (i+1)*y_once_max_a_pulses + 2;
	    s1 -= 2;
	  }
	  else{
	    yy = (i+1)*y_once_max_a_pulses + 1;
	    s1 --;
	  }
	}
	else
	  yy = (i+1)*y_once_max_a_pulses;
    xx = yy*fabs(e_x-b_x)/fabs(e_y-b_y);
    xx1 = xx;
    yy1 = yy;
    xx = xx*yy1/sqrt(xx1*xx1+yy1*yy1);
    yy = yy*yy1/sqrt(xx1*xx1+yy1*yy1);
    if (e_y < b_y)
	  yy = -yy;
	if (e_x < b_x)
	  xx = -xx;
	curx = oldx + xx/xsteps;
	cury = oldy + yy/ysteps;
	xx = (curx - oldx)*xsteps;
	yy = (cury - oldy)*ysteps;
	oldx = curx;
	oldy = cury;
	if (xx > 0)
	  x = xx + x_adj + 0.5;
	else
	  x = xx + x_adj - 0.5;
	if (yy > 0)
	  y = yy + y_adj + 0.5;
	else
	  y = yy + y_adj - 0.5;
	x_adj += xx - x;
	y_adj += yy - y;
	if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	  strcpy(buf1,"P");
	  itoa(0,buf2,10);
	  strcat(buf1,buf2);
	  itoa(0,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	  strcpy(buf1,"P");
	  itoa(x,buf2,10);
	  strcat(buf1,buf2);
	  itoa(y,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	}
	else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
	  strcpy(buf1,"P");
	  itoa(0,buf2,10);
	  strcat(buf1,buf2);
	  itoa(0,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	  strcpy(buf1,"P");
	  itoa(x,buf2,10);
	  strcat(buf1,buf2);
	  itoa(y,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	}
	else{
	  strcpy(buf1,"P");
	  itoa(x,buf2,10);
	  strcat(buf1,buf2);
	  itoa(y,buf2,10);
	  strcat(buf1," ");
	  strcat(buf1,buf2);
	  put_a_line(to_file,buf1);
	}

	oldxx = x;
	oldyy = y;
	x_count += x;
	y_count += y;
      }

      for (i=0;i<times;i++){
	strcpy(buf1,"P");
	if (s2 > 0){
	  if (s2 > 1){
	    yy = (times - i)*y_once_max_a_pulses + 2;
	    s2 -= 2;
	  }
	  else{
	    yy = (times - i)*y_once_max_a_pulses + 1;
	    s2 --;
	  }
	}
	else
	  yy = (times - i)*y_once_max_a_pulses;
	xx = yy*fabs(e_x-b_x)/fabs(e_y-b_y);
    xx1 = xx;
    yy1 = yy;
    xx = xx*yy1/sqrt(xx1*xx1+yy1*yy1);
    yy = yy*yy1/sqrt(xx1*xx1+yy1*yy1);
    if (e_y < b_y)
	  yy = -yy;
	if (e_x < b_x)
	  xx = -xx;
	if (i != times-1){
	  curx = oldx + xx/xsteps;
	  cury = oldy + yy/ysteps;
	}
	else{
	  curx = e_x;
	  cury = e_y;
	}
	xx = (curx - oldx)*xsteps;
	yy = (cury - oldy)*ysteps;
	oldx = curx;
	oldy = cury;
	if (xx > 0)
	  x = xx + x_adj + 0.5;
	else
	  x = xx + x_adj - 0.5;
	if (yy > 0)
	  y = yy + y_adj + 0.5;
	else
	  y = yy + y_adj - 0.5;
	x_adj += xx - x;
	y_adj += yy - y;
    if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){
      strcpy(buf1,"P");
      itoa(0,buf2,10);
      strcat(buf1,buf2);
      itoa(0,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    else{
      strcpy(buf1,"P");
      itoa(x,buf2,10);
      strcat(buf1,buf2);
      itoa(y,buf2,10);
      strcat(buf1," ");
      strcat(buf1,buf2);
      put_a_line(to_file,buf1);
    }
    oldxx = x;
    oldyy = y;
	x_count += x;
	y_count += y;

      }
    }
  }
  oldx = e_x;
  oldy = e_y;
}

proc_circ(int b_p,FILE *to_file,int type)
{
  float I,J,cx,cy,r,vmax,amax,curx,cury;
  float ba,ea,an,ll,len,angle,xx,yy;
  int x,y;
  unsigned char buf1[20],buf2[20];
  int s,s1,s2;
  int i,j,times;
  unsigned char chbak;

  strcpy(buf1,"P0 0");
  put_a_line(to_file,buf1);
  b_x = oldx;
  b_y = oldy;
  I = oldi;
  J = oldj;
  if (buf[b_p] == 'X'){
    i = b_p + 1;
    while ((buf[i] != 'Y')&&(buf[i] != 'I')&&(buf[i] != 'J')&&(buf[i] != 0))
      i ++;
    if (buf[i] != 0){
      chbak = buf[i];
      buf[i] = 0;
    }
    e_x = atof(&(buf[b_p+1]));
    e_x -= o_x;
    buf[i] = chbak;
    i = b_p + 1;
    while ((buf[i] != 'Y')&&(buf[i] != 0))
      i ++;
    if (buf[i] == 'Y'){
      j = b_p + 1;
      while ((buf[j] != 'I')&&(buf[j] != 'J')&&(buf[i] != 0))
	j ++;
      if (buf[j] != 0){
	chbak = buf[j];
	buf[j] = 0;
      }
      e_y = atof(&(buf[i+1]));
      e_y -= o_y;
      buf[j] = chbak;
    }
    else{
      e_y = b_y;
    }
  }
  else{
    e_x = b_x;
    e_y = atof(&(buf[b_p+1]));
    e_y -= o_y;
  }

  i = b_p + 1;
  while ((buf[i] != 'I')&&(buf[i] != 0))
    i ++;
  if (buf[i] == 'I'){
    j = b_p + 1;
    while ((buf[j] != 'J')&&(buf[i] != 0))
      j ++;
    if (buf[j] != 0){
      chbak = buf[j];
      buf[j] = 0;
    }
    I = atof(&(buf[i+1]));
    buf[j] = chbak;
  }
  else
    I = oldi;

  i = b_p + 1;
  while ((buf[i] != 'J')&&(buf[i] != 0))
    i ++;
  if (buf[i] == 'J'){
    J = atof(&(buf[i+1]));
  }
  else
    J = oldj;

  cx = I + b_x;
  cy = J + b_y;

  r = sqrt((b_x-cx)*(b_x-cx)+(b_y-cy)*(b_y-cy));
  vmax = x_once_max_v_pulses;
  amax = x_once_max_a_pulses;
  oldx = curx = b_x;
  oldy = cury = b_y;
  ba = count_angle(cx,cy,b_x,b_y);
  ea = count_angle(cx,cy,e_x,e_y);
  an = ba;
  ll = x_len_to_acc/xsteps;
  if (ba > ea){
    len = r*(ba-ea);
  }
  else{
    len = r*(ba + 2*PI - ea);
  }
  if (type == 3)
    len = r*2*PI - len;
  if ((fabs(ba-ea) < 0.0001) || (fabs(fabs(ba-ea)-2*PI) < 0.0001))
    len = r*2*PI;

  if (len > 2*ll){
    s = (len - 2*ll)*xsteps - (int)((len - 2*ll)*xsteps/vmax)*vmax;
    s2 = s1 = s/2;
    for (i=0;i<x_times;i++){
      strcpy(buf1,"P");
      if (s1 > 0){
	if (s1 > 1){
	  angle = ((i+1)*x_once_max_a_pulses+2)/(r*xsteps);
	  s1 -= 2;
	}
	else{
	  angle = ((i+1)*x_once_max_a_pulses+1)/(r*xsteps);
	  s1 --;
	}
      }
      else
	angle = (i+1)*x_once_max_a_pulses/(r*xsteps);
      if (type == 2){
	an -= angle;
	if (an < 0)
	  an += 2*PI;
      }
      else{
	an += angle;
	if (an > 2*PI)
	  an -= 2*PI;
      }

      curx = cx + r*cos(an);
      cury = cy + r*sin(an);
      xx = (curx - oldx)*xsteps;
      yy = (cury - oldy)*ysteps;
      oldx = curx;
      oldy = cury;
      if (xx > 0)
	x = xx + x_adj + 0.5;
      else
	x = xx + x_adj - 0.5;
      if (yy > 0)
	y = yy + y_adj + 0.5;
      else
	y = yy + y_adj - 0.5;
      x_adj += xx - x;
      y_adj += yy - y;
      if (((oldxx > 0)&&(x < 0))||((oldxx < 0)&&(x > 0))){
	strcpy(buf1,"P");
	itoa(0,buf2,10);
	strcat(buf1,buf2);
	itoa(0,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
	strcpy(buf1,"P");
	itoa(x,buf2,10);
	strcat(buf1,buf2);
	itoa(y,buf2,10);
	strcat(buf1," ");
	strcat(buf1,buf2);
	put_a_line(to_file,buf1);
      }
      else if (((oldyy > 0)&&(y < 0))||((oldyy < 0)&&(y > 0))){