#这个程序将创建点和项目points on a window blank; x,y - coordinates form a sine wave # Variables # x x-coordinate in mm # y y-coordinate in mm # z z-coordinate in mm # y_steps y-coordinate increments between points # x_steps x- def Make_Points(Point_Start, Point_End, Num_Points): # Extract the Starting Points Point_List = [] x = Point_Start[0] y = Point_Start[1] z = Point_Start[2] # Calculate the distance between each consecutive waypoint x_steps = (Point_End[0] - Point_Start[0])/(Num_Points - 1) point_i = [x,y,z] Point_List = [] Point_List.append(point_i) for r in range(2): for i in range(49): x += x_steps point_i = [x,y,z] Point_List.append(point_i) if r == 1: break y += 30 point_i = [x,y,z] Point_List.append(point_i) for i in range(49): x -= x_steps point_i = [x,y,z] Point_List.append(point_i) y += 30 point_i = [x,y,z] Point_List.append(point_i) return Point_List from robolink import * # Import the robolink library from robodk import * # Import RoboDK robotics toolbox from random import seed # Only if needed from random import randint # Only if needed # Starting Parameters Point_Start = [130.3,-616,117] Point_End = [354.4,-616,117] Num_Points = 50 # Generate points that will be used to create sine wave path POINTS = Make_Points(Point_Start, Point_End, Num_Points) # Open communication with simulator RDK = Robolink() # Turn off auto rendering RDK.Render(False) # Automatically delete previously generated items (Auto tag) list_items = RDK.ItemList() for item in list_items: if item.Name().startswith('Auto'): item.Delete() # Turn rendering ON before starting the simulation RDK.Render(True) object_curve = RDK.AddCurve(POINTS) ProjectionType = PROJECTION_CLOSEST # Available values include: #PROJECTION_NONE = 0 # No curve projection #PROJECTION_CLOSEST = 1 # The projection will be the closest point on the surface #PROJECTION_ALONG_NORMAL = 2 # The projection will be done along the normal. #PROJECTION_ALONG_NORMAL_RECALC = 3 # The projection will be done along the normal. Furthermore, the normal will be recalculated according to the surface normal. #PROJECTION_CLOSEST_RECALC = 4 # The projection will be the closest point on the surface and the normals will be recalculated #PROJECTION_RECALC = 5 # The normals are recalculated according to the surface normal of the closest projection #------------------------------------------------------------- # Ask the user to provide the object with the features object_features = RDK.ItemUserPick("Select object with the features to project (curves and/or points)", ITEM_TYPE_OBJECT) if not object_features.Valid(): quit() # Ask the user to provide the object with the surface used as a reference object_surface = RDK.ItemUserPick("Select Surface Object to project features", ITEM_TYPE_OBJECT) if not object_surface.Valid(): quit() # Create a duplicate copy of the surface object object_surface.Copy() new_object = RDK.Paste(object_surface.Parent()) new_object.setName("Recalculated Normals") new_object.setVisible(True) # Hide the objects used to build the new object with the desired curves object_features.setVisible(False) object_surface.setVisible(False) # Turn Off rendering (faster) RDK.Render(False) # Add all curves, projected as desired (iterate through all curves until no more curves are found) curve_points, name_feature = object_features.GetPoints(FEATURE_CURVE, 0) print(name_feature) curve_points_proj = RDK.ProjectPoints(curve_points, object_surface, ProjectionType) RDK.AddCurve(curve_points_proj, new_object, True, PROJECTION_NONE) # Turn On rendering (Optional) RDK.Render(True) print("Done") path_settings = RDK.AddMillingProject("AutoCurveFollow settings") prog, status = path_settings.setMillingParameters(part=new_object)