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66 changes: 66 additions & 0 deletions
66
src/main/java/com/marginallyclever/ro3/node/nodes/marlinsimulation/MarlinCoordinate.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| package com.marginallyclever.ro3.node.nodes.marlinsimulation; | ||
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| import javax.vecmath.Vector3d; | ||
| import java.util.Arrays; | ||
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| public class MarlinCoordinate { | ||
| public static final int SIZE=6; | ||
| public final double [] p = new double[SIZE]; | ||
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| public MarlinCoordinate() {} | ||
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| public MarlinCoordinate(MarlinCoordinate other) { | ||
| set(other); | ||
| } | ||
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| public void add(MarlinCoordinate other) { | ||
| for(int i=0;i<SIZE;++i) { | ||
| p[i] += other.p[i]; | ||
| } | ||
| } | ||
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| public void sub(MarlinCoordinate other) { | ||
| for(int i=0;i<SIZE;++i) { | ||
| p[i] -= other.p[i]; | ||
| } | ||
| } | ||
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| public void scale(double s) { | ||
| for(int i=0;i<SIZE;++i) { | ||
| p[i] *= s; | ||
| } | ||
| } | ||
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| public void set(MarlinCoordinate other) { | ||
| System.arraycopy(other.p, 0, p, 0, SIZE); | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| return super.toString() + Arrays.toString(p); | ||
| } | ||
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| public void normalize() { | ||
| double len = length(); | ||
| if(len==0) return; | ||
| scale(1.0/len); | ||
| } | ||
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| public double length() { | ||
| return Math.sqrt(dot(this)); | ||
| } | ||
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| public void sub(MarlinCoordinate a, MarlinCoordinate b) { | ||
| for(int i=0;i<SIZE;++i) { | ||
| this.p[i] = a.p[i] - b.p[i]; | ||
| } | ||
| } | ||
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| public double dot(MarlinCoordinate b) { | ||
| double sum=0; | ||
| for(int i=0;i<SIZE;++i) { | ||
| sum += p[i] * b.p[i]; | ||
| } | ||
| return sum; | ||
| } | ||
| } |
38 changes: 38 additions & 0 deletions
38
src/main/java/com/marginallyclever/ro3/node/nodes/marlinsimulation/MarlinSettings.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| package com.marginallyclever.ro3.node.nodes.marlinsimulation; | ||
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| public class MarlinSettings { | ||
| public static final int MAX_ACCELERATION = 1; | ||
| public static final int SEGMENTS_PER_SECOND = 2; | ||
| public static final int MIN_SEGMENT_LENGTH = 3; | ||
| public static final int BLOCK_BUFFER_SIZE = 4; | ||
| public static final int MIN_SEG_TIME = 5; | ||
| public static final int MINIMUM_PLANNER_SPEED = 6; | ||
| public static final int HANDLE_SMALL_SEGMENTS = 7; | ||
| public static final int MAX_FEEDRATE = 8; | ||
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| public double getDouble(int key) { | ||
| return switch (key) { | ||
| case MAX_ACCELERATION -> 3000; | ||
| case MAX_FEEDRATE -> 5; | ||
| case MIN_SEGMENT_LENGTH -> 0.5; | ||
| case MINIMUM_PLANNER_SPEED -> 0.05; | ||
| default -> 0; | ||
| }; | ||
| } | ||
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| public int getInteger(int key) { | ||
| return switch (key) { | ||
| case SEGMENTS_PER_SECOND -> 5; | ||
| case BLOCK_BUFFER_SIZE -> 16; | ||
| case MIN_SEG_TIME -> 100; | ||
| default -> 0; | ||
| }; | ||
| } | ||
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| public boolean getBoolean(int key) { | ||
| if (key == HANDLE_SMALL_SEGMENTS) { | ||
| return false; | ||
| } | ||
| return false; | ||
| } | ||
| } |
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