3D列印機_控制噴嘴 << Previous Next >> 3D列印機_控制高度

3D列印機_自動繪製

自動繪製正方體

3D print AutoControl cube.ttt

自動繪製圓柱體

3D print AutoControl circle.ttt

自動繪製心臟線

3D print AutoControl Cardioid.ttt

參考影片

程式參考:

1.正方體

find_Position=function()
XYZ={xp, yp, zz, step}
end
function sysCall_threadmain()
    joint01=sim.getObjectHandle('X')
    joint02=sim.getObjectHandle('Y')
    joint03=sim.getObjectHandle('Z')
    grap=sim.getObjectHandle('Graph')
    set=0
    set1=0
    set2=0
    s=0.01
    step=1
    xp=0
    yp=0
    zz=0
    xstep=0
    ystep=0
    zstep=0
    cubesize=10
    t=1
    
    
    while zstep<=cubesize do
        while step<cubesize do --go++
            while xstep<=step do
                xp=xp+s
                sim.setJointTargetPosition(joint01,xp)
                find_Position()
                print(XYZ)
                xstep=xstep+1
                sim.wait(t)
            end
            while ystep<=step do
                yp=yp+s
                sim.setJointTargetPosition(joint02,yp)
                find_Position()
                print(XYZ)
                ystep=ystep+1
                sim.wait(t)
            end
            --step=step+1
            xstep=0
            ystep=0    
            while xstep<=step do
                xp=xp-s
                sim.setJointTargetPosition(joint01,xp)
                find_Position()
                print(XYZ)
                xstep=xstep+1
                sim.wait(t)
            end
            while ystep<=step do --go--
                yp=yp-s
                sim.setJointTargetPosition(joint02,yp)
                find_Position()
                print(XYZ)
                ystep=ystep+1
                sim.wait(t)
            end
            if step < (cubesize-1) then
                xp=xp-0.5*s
                yp=yp-0.5*s
                sim.setJointTargetPosition(joint01,xp)
                sim.setJointTargetPosition(joint02,yp)
                find_Position()
                print(XYZ)
            end
            step=step+1
            sim.wait(t)
            xstep=0
            ystep=0
        end
        step=1
        zz=zz+s
        sim.setJointTargetPosition(joint03,zz)
        find_Position()
        print(XYZ)
        zstep=zstep+1
        sim.wait(t)
        xp=0
        yp=0
        sim.setJointTargetPosition(joint01,xp)
        sim.setJointTargetPosition(joint02,yp)
        find_Position()
        print(XYZ)
        sim.wait(t)
    end
    
end

function sysCall_cleanup()
      
    
end

-- See the user manual or the available code snippets for additional callback functions and details

2. 圓柱體

function sysCall_threadmain()
    joint01=sim.getObjectHandle('X')
    joint02=sim.getObjectHandle('Y')
    joint03=sim.getObjectHandle('Z')
    grap=sim.getObjectHandle('Graph')
    set=0
    set1=0
    set2=0
    s=0.01
    step=1
    r=0.005
    rset=0.01
    zz=0
    zstep=1
    dz=0.01
    rstep=1
    cubesize=10
    t=0.01
    angle=0
    angleset=2
    
end

function sysCall_cleanup()
    while zstep<=20 do
        while rstep<=5 do
            while angle~=360 do
                angle=angle+angleset
                sim.setJointTargetPosition(joint01,r*(math.sin(angle*math.pi/180)))
                sim.setJointTargetPosition(joint02,r*(math.cos(angle*math.pi/180)))
                sim.wait(t)
            end
        rstep=rstep+1
        angle=0
        r=r+rset
        print(rstep)
        end
    zz=zz+dz
    zstep=zstep+1
    sim.setJointTargetPosition(joint03,zz)
    sim.setJointTargetPosition(joint01,0)
    sim.setJointTargetPosition(joint02,0)
    rstep=1
    r=0.005
    end
    
end

-- See the user manual or the available code snippets for additional callback functions and details

3. 心臟線

function sysCall_threadmain()
    joint01=sim.getObjectHandle('X')
    joint02=sim.getObjectHandle('Y')
    joint03=sim.getObjectHandle('Z')
    grap=sim.getObjectHandle('Graph')
    set=0
    set1=0
    set2=0
    s=0.01
    step=1
    r=0.005
    rset=0.001
    zz=0
    zstep=1
    dz=0.001
    rstep=1
    cubesize=10
    t=0.5
    angle=0
    angleset=2
    
end

function sysCall_cleanup()
    while zstep<=30 do
        while rstep<=30 do
            while angle~=360 do
                angle=angle+angleset
                sim.setJointTargetPosition(joint01,2*r*((math.cos(angle*math.pi/180))-0.5*(math.cos(2*angle*math.pi/180))))
                sim.setJointTargetPosition(joint02,2*r*((math.sin(angle*math.pi/180))-0.5*(math.sin(2*angle*math.pi/180))))
                sim.wait(t)
            end
        rstep=rstep+1
        angle=0
        r=r+rset
        print(rstep)
        end
    zz=zz+dz
    zstep=zstep+1
    sim.setJointTargetPosition(joint03,zz)
    sim.setJointTargetPosition(joint01,0)
    sim.setJointTargetPosition(joint02,0)
    rstep=1
    r=0.005
    end
    
end

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