├── .gitignore
├── CMakeLists.txt
├── Geometry.cpp
├── Geometry.h
├── LICENSE.txt
├── Machine.cpp
├── Machine.h
├── README.md
├── gcode.l
├── main.cpp
├── nbproject
    ├── configurations.xml
    └── project.xml
├── test.ngc
├── vplotter_geometry.png
└── vplotter_wiring.png


/.gitignore:
--------------------------------------------------------------------------------
1 | build
2 | dist
3 | nbproject/private
4 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required (VERSION 2.6)
 2 | project(vplotter)
 3 | 
 4 | find_library(WIRINGPI_LIBRARIES NAMES wiringPi)
 5 | find_package(FLEX)
 6 | 
 7 | FLEX_TARGET(Gcode gcode.l lex.xx.cc)
 8 | set(SRC_FILES  Geometry.cpp Machine.cpp  main.cpp ${FLEX_Gcode_OUTPUTS})
 9 | 
10 | add_definitions( -std=c++0x )
11 | 
12 | add_executable(vplotter ${SRC_FILES})
13 | target_link_libraries(vplotter ${WIRINGPI_LIBRARIES}) 
14 | install(TARGETS vplotter
15 |         RUNTIME DESTINATION bin)
16 | 
17 | 


--------------------------------------------------------------------------------
/Geometry.cpp:
--------------------------------------------------------------------------------
  1 | /***************************************************************************
  2 |  *   Copyright (C) 2016 by Herbert Roider                                  *
  3 |  *   herbert.roider@utanet.at                                                     *
  4 |  *                                                                         *
  5 |  *   This program is free software; you can redistribute it and/or modify  *
  6 |  *   it under the terms of the GNU General Public License as published by  *
  7 |  *   the Free Software Foundation; either version 3 of the License, or     *
  8 | 
  9 |  *   (at your option) any later version.                                   *
 10 |  *                                                                         *
 11 |  *   This program is distributed in the hope that it will be useful,       *
 12 |  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 13 |  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 14 |  *   GNU General Public License for more details.                          *
 15 |  *                                                                         *
 16 |  *   You should have received a copy of the GNU General Public License     *
 17 |  *   along with this program; if not, write to the                         *
 18 |  *   Free Software Foundation, Inc.,                                       *
 19 |  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 20 |  ***************************************************************************/
 21 | 
 22 | /* 
 23 |  * File:   Geometry.cpp
 24 |  * Author: Herbert Roider <herbert@roider.at>
 25 |  * 
 26 |  * Created on 16. Februar 2016, 18:15
 27 |  */
 28 | 
 29 | #include "Geometry.h"
 30 | #include <iostream>
 31 | #include <math.h>
 32 | 
 33 | /**
 34 |  * return a point in polar coordinates from cartesian.
 35 |  * the x of the new point is the radius, and y is the angle in radian.
 36 |  * @param p
 37 |  * @return   the x is the radius and the y is the angle [rad]
 38 |  */
 39 | Point toPolar(Point p) {
 40 |     Point polar;
 41 |     polar.y = atan2(p.y, p.x);
 42 |     polar.x = sqrt(p.x * p.x + p.y * p.y);
 43 |     return polar;
 44 | }
 45 | 
 46 | /**
 47 |  * return a new point with cartesian coordinates from polar
 48 |  * @param polar  the x is the radius and the y is the angle [rad]
 49 |  * @return 
 50 |  */
 51 | Point toCartesian(Point polar) {
 52 |     Point cart;
 53 |     cart.x = polar.x * cos(polar.y);
 54 |     cart.y = polar.x * sin(polar.y);
 55 |     return cart;
 56 | 
 57 | }
 58 | /**
 59 |  * add the values for x and y to the point and return the new point
 60 |  * @param p
 61 |  * @param x
 62 |  * @param y
 63 |  * @return 
 64 |  */
 65 | Point movePoint(Point p, double x, double y){
 66 |     p.x += x;
 67 |     p.y += y;
 68 |     return p;
 69 |     
 70 |     
 71 |     
 72 | }
 73 | 
 74 | Geometry::Geometry() {
 75 | }
 76 | 
 77 | Geometry::Geometry(const Geometry& orig) {
 78 | }
 79 | 
 80 | Geometry::~Geometry() {
 81 | }
 82 | 
 83 | /**
 84 |  * calculates the center point of the arc
 85 |  * @param begin  first point of the arc
 86 |  * @param end    last point
 87 |  * @param r      radius
 88 |  * @param ccw    counter clockwise: true or false
 89 |  * @return      the center point
 90 |  */
 91 | Point Geometry::getArcCenterPoint(Point begin, Point end, double r, bool ccw) {
 92 | 
 93 |     double distance;
 94 |     double dist_center;
 95 | 
 96 |     // distance between begin and end:
 97 |     distance = sqrt(pow((end.x - begin.x), 2.0) + pow((end.y - begin.y), 2.0));
 98 | 
 99 |     // center point from the line from begin to end:
100 |     Point middle((begin.x + end.x) / 2.0, (begin.y + end.y) / 2.0);
101 |     //middle.y() = ;
102 | 
103 |     // center point of the circle:
104 |     double x;
105 |     double y;
106 |     if (ccw) {  // counter clockwise
107 |         x = middle.x + sqrt(pow(r, 2.0) - pow((distance / 2.0), 2.0)) * (begin.y - end.y) / distance;
108 |         y = middle.y + sqrt(pow(r, 2.0) - pow((distance / 2.0), 2.0)) * (end.x - begin.x) / distance;
109 |     } else {
110 |         x = middle.x - sqrt(pow(r, 2.0) - pow((distance / 2.0), 2.0)) * (begin.y - end.y) / distance;
111 |         y = middle.y - sqrt(pow(r, 2.0) - pow((distance / 2.0), 2.0)) * (end.x - begin.x) / distance;
112 | 
113 |     }
114 |     Point center(x, y);
115 | 
116 |     return center;
117 | }
118 | 
119 | //int Geometry::ccw(Point p0, Point p1, Point p2) {
120 | //    double dx1, dx2, dy1, dy2;
121 | //    dx1 = p1.x - p0.x;
122 | //    dy1 = p1.y - p0.y;
123 | //    dx2 = p2.x - p0.x;
124 | //    dy2 = p2.y - p0.y;
125 | //    if (dx1 * dy2 > dy1 * dx2) {
126 | //        return 1;
127 | //    }
128 | //    if (dx1 * dy2 < dy1 * dx2) {
129 | //        return -1;
130 | //    }
131 | //    if ((dx1 * dx2 < 0) || (dy1 * dy2 < 0)) {
132 | //        return -1;
133 | //    }
134 | //    if ((dx1 * dx1 + dy1 * dy1) < (dx2 * dx2 + dy2 * dy2)) {
135 | //        return 1;
136 | //    }
137 | //
138 | //    return 0;
139 | //
140 | //}
141 | /** calculate multiple points on the arc without the first point.
142 |  * 
143 |  * @param begin first point of the arc
144 |  * @param end    last point of the arc
145 |  * @param r     radius
146 |  * @param ccw   counter clockwise: true or false
147 |  * @return      std::vector<Point> with the points on the arc without the first point.
148 |  */
149 | std::vector<Point> Geometry::getArcPolygon(Point begin, Point end, double r, bool ccw) {
150 |     //std::cout << " begin=" << begin.x << ", " << begin.y << std::endl;
151 |     Point center = this->getArcCenterPoint(begin, end, r, ccw);
152 | //    std::cout << " center=" << center.x << ", " << center.y << ", r=" << r << std::endl;
153 | //    std::cout << " end=" << end.x << ", " << end.y << std::endl;
154 |     std::vector<Point> points;
155 |     
156 |     Point begin_polar = toPolar(movePoint(begin, -center.x, -center.y));
157 |     //std::cout << " begin trans polar=" << begin_polar.x << ", " << begin_polar.y << std::endl;    
158 |     
159 |     Point end_polar = toPolar(movePoint(end, -center.x, -center.y));
160 |     //std::cout << " end trans polar=" << end_polar.x << ", " << end_polar.y << std::endl;
161 |    
162 |     
163 |     
164 |     double delta_angle = 0.1; // rad
165 |     //points.push_back(begin);        
166 |     if (ccw) {
167 |         if (end_polar.y < begin_polar.y) {
168 |             end_polar.y += 2.0 * PI;
169 |         }
170 |         begin_polar.y += delta_angle;
171 |         while (begin_polar.y < end_polar.y) {
172 |             Point p = toCartesian(begin_polar);
173 |             p = movePoint(p, center.x, center.y);
174 |             points.push_back(p);
175 |             begin_polar.y += delta_angle;
176 |         }
177 | 
178 | 
179 | 
180 |     } else {
181 |         if (end_polar.y > begin_polar.y) {
182 |             end_polar.y -= 2.0 * PI;
183 |         }
184 |         begin_polar.y -= delta_angle;
185 |         while (begin_polar.y > end_polar.y) {
186 |             Point p = toCartesian(begin_polar);
187 |             p = movePoint(p, center.x, center.y);
188 |             points.push_back(p);
189 |             begin_polar.y -= delta_angle;
190 |         }
191 | 
192 | 
193 |     }
194 |     //std::cout << " end=" << end.x << ", " << end.y << std::endl;
195 |     points.push_back(end);
196 | 
197 |     return points;
198 | }


--------------------------------------------------------------------------------
/Geometry.h:
--------------------------------------------------------------------------------
 1 | /***************************************************************************
 2 |  *   Copyright (C) 2016 by Herbert Roider                                  *
 3 |  *   herbert.roider@utanet.at                                                     *
 4 |  *                                                                         *
 5 |  *   This program is free software; you can redistribute it and/or modify  *
 6 |  *   it under the terms of the GNU General Public License as published by  *
 7 |  *   the Free Software Foundation; either version 3 of the License, or     *
 8 | 
 9 |  *   (at your option) any later version.                                   *
10 |  *                                                                         *
11 |  *   This program is distributed in the hope that it will be useful,       *
12 |  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
13 |  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
14 |  *   GNU General Public License for more details.                          *
15 |  *                                                                         *
16 |  *   You should have received a copy of the GNU General Public License     *
17 |  *   along with this program; if not, write to the                         *
18 |  *   Free Software Foundation, Inc.,                                       *
19 |  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
20 |  ***************************************************************************/
21 | 
22 | /* 
23 |  * File:   Geometry.h
24 |  * Author: Herbert Roider <herbert@roider.at>
25 |  *
26 |  * Created on 16. Februar 2016, 18:15
27 |  */
28 | 
29 | #ifndef GEOMETRY_H
30 | #define GEOMETRY_H
31 | 
32 | #include <math.h>
33 | #include <vector>
34 | 
35 | class Point {
36 | public:
37 | 
38 |     Point(const Point & orig) {
39 |         x = orig.x;
40 |         y = orig.y;
41 |     };
42 | 
43 |     Point(double _x = 0.0, double _y = 0.0) {
44 |         x = _x;
45 |         y = _y;
46 |     };
47 |     double x;
48 |     double y;
49 | };
50 | Point toPolar(Point p);
51 | 
52 | Point toCartesian(Point polar);
53 | 
54 | Point movePoint(Point p, double x, double y);
55 | 
56 | const double PI = 3.141592653589793238463;
57 | 
58 | class Geometry {
59 | public:
60 |     Geometry();
61 |     Geometry(const Geometry& orig);
62 |     virtual ~Geometry();
63 | 
64 |     Point getArcCenterPoint(Point begin, Point end, double r, bool ccw);
65 |     std::vector<Point> getArcPolygon(Point begin, Point end, double r, bool ccw);
66 | 
67 | private:
68 | 
69 | };
70 | #endif /* GEOMETRY_H */
71 | 


--------------------------------------------------------------------------------
/LICENSE.txt:
--------------------------------------------------------------------------------
  1 |                     GNU GENERAL PUBLIC LICENSE
  2 |                        Version 3, 29 June 2007
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--------------------------------------------------------------------------------
/Machine.cpp:
--------------------------------------------------------------------------------
  1 | /***************************************************************************
  2 |  *   Copyright (C) 2016 by Herbert Roider                                  *
  3 |  *   herbert.roider@utanet.at                                                     *
  4 |  *                                                                         *
  5 |  *   This program is free software; you can redistribute it and/or modify  *
  6 |  *   it under the terms of the GNU General Public License as published by  *
  7 |  *   the Free Software Foundation; either version 3 of the License, or     *
  8 | 
  9 |  *   (at your option) any later version.                                   *
 10 |  *                                                                         *
 11 |  *   This program is distributed in the hope that it will be useful,       *
 12 |  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 13 |  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 14 |  *   GNU General Public License for more details.                          *
 15 |  *                                                                         *
 16 |  *   You should have received a copy of the GNU General Public License     *
 17 |  *   along with this program; if not, write to the                         *
 18 |  *   Free Software Foundation, Inc.,                                       *
 19 |  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 20 |  ***************************************************************************/
 21 | 
 22 | 
 23 | /* 
 24 |  * File:   Machine.cpp
 25 |  * Author: Herbert Roider <herbert@roider.at>
 26 |  * 
 27 |  * Created on 13. Februar 2016, 08:42
 28 |  */
 29 | 
 30 | #include "Machine.h"
 31 | #include <iostream>
 32 | #include <sstream>
 33 | #include <fstream>
 34 | #include <math.h>
 35 | #include <stdlib.h>
 36 | #include <unistd.h>
 37 | #include <wiringPi.h>
 38 | #include <softPwm.h>
 39 | #include "Geometry.h"
 40 | 
 41 | // step wiringpi pin 0
 42 | #define LEFT_STEPPER01 0
 43 | // direction  wiring pin 1
 44 | #define LEFT_STEPPER02 7
 45 | 
 46 | 
 47 | // step  wiring pin 3
 48 | #define RIGHT_STEPPER01  3
 49 | // direction   wiring pin 4
 50 | #define RIGHT_STEPPER02  4
 51 | 
 52 | // Wiring pi for the servo pin 1 
 53 | #define Z_SERVO 1
 54 | 
 55 | /**
 56 |  * 
 57 |  * @param _BaseLength sets the distance between the stepper motors in mm
 58 |  * @param _X0  horizontal distance to the zero point from the left stepper
 59 |  * @param _Y0  vertical distance to the zero point from the left stepper
 60 |  * @param _StepsPermm  Steps per mm, for microsteping: 1600 / circumference of the pulley
 61 |  * @param _z_down  value for the servo to turn the pen down to the paper
 62 |  * @param _z_up   value for the servo to lift the pen from the paper
 63 |  */
 64 | Machine::Machine(double _BaseLength, double _X0, double _Y0, double _StepsPermm, int _z_down, int _z_up) {
 65 |     this->BaseLength = _BaseLength;
 66 |     this->X0 = _X0;
 67 |     this->Y0 = _Y0;
 68 | 
 69 |     this->StepsPermm = _StepsPermm; // 51   //2000.0 / 98.0;
 70 |     this->z_down = _z_down;
 71 |     this->z_up = _z_up;
 72 | 
 73 |     this->currentX = 0.0;
 74 |     this->currentY = 0.0;
 75 |     
 76 |     this->currentZ = -1;
 77 | 
 78 |     if (wiringPiSetup() == -1) {
 79 |         std::cout << "Could not run wiringPiSetup, require root privileges!\n";
 80 |         exit(1);
 81 |     }
 82 | 
 83 |     softPwmCreate(Z_SERVO, this->z_up, 200);
 84 | 
 85 |     this->penDown(false);
 86 | 
 87 | 
 88 |     pinMode(LEFT_STEPPER01, OUTPUT);
 89 |     pinMode(LEFT_STEPPER02, OUTPUT);
 90 | 
 91 |     digitalWrite(LEFT_STEPPER01, 0);
 92 |     digitalWrite(LEFT_STEPPER02, 0);
 93 | 
 94 |     pinMode(RIGHT_STEPPER01, OUTPUT);
 95 |     pinMode(RIGHT_STEPPER02, OUTPUT);
 96 | 
 97 |     digitalWrite(RIGHT_STEPPER01, 0);
 98 |     digitalWrite(RIGHT_STEPPER02, 0);
 99 | 
100 | 
101 | 
102 |     this->CordLengthLeft = sqrt(this->X0 * this->X0 + this->Y0 * this->Y0) * this->StepsPermm;
103 |     this->CordLengthRight = sqrt((this->BaseLength - this->X0) * (this->BaseLength - this->X0) + this->Y0 * this->Y0) * this->StepsPermm;
104 | 
105 | 
106 | 
107 |     std::cout << "X0=" << this->X0 << ", Y0=" << this->Y0 << ", Steps per mm=" << this->StepsPermm << std::endl;
108 | 
109 | }
110 | 
111 | Machine::Machine(const Machine& orig) {
112 | }
113 | 
114 | Machine::~Machine() {
115 | }
116 | 
117 | /**
118 |  * moves the left motor 1 step
119 |  *
120 |  * @param direction -1 or +1
121 |  * @param count    count of steps
122 |  * @param time     duration per step [microsecond], for G0 is 200 a good value
123 |  */
124 | void Machine::MakeStepLeft(int direction, int count, unsigned int time) {
125 | 
126 |     if (direction > 0) {
127 |         digitalWrite(LEFT_STEPPER02, 1);
128 |     } else {
129 |         digitalWrite(LEFT_STEPPER02, 0);
130 |     }
131 |     time /= 2;
132 |     for (int i = 0; i < count; i++) {
133 |         digitalWrite(LEFT_STEPPER01, 1);
134 |         ::usleep(time);
135 |         digitalWrite(LEFT_STEPPER01, 0);
136 |         ::usleep(time);
137 |         this->CordLengthLeft += direction;
138 |     }
139 | 
140 | }
141 | 
142 | /**
143 |  *  move the right motor 1 step 
144 |  * 
145 |  * @param direction -1 or +1
146 |  * @param count    count of steps
147 |  * @param time     duration per step [microsecond], for G0 is 200 a good value
148 |  */
149 | void Machine::MakeStepRight(int direction, int count, unsigned int time) {
150 | 
151 |     if (direction > 0) {
152 |         digitalWrite(RIGHT_STEPPER02, 0);
153 |     } else {
154 |         digitalWrite(RIGHT_STEPPER02, 1);
155 |     }
156 |     time /= 2;
157 |     for (int i = 0; i < count; i++) {
158 |         digitalWrite(RIGHT_STEPPER01, 1);
159 |         ::usleep(time);
160 |         digitalWrite(RIGHT_STEPPER01, 0);
161 |         ::usleep(time);
162 |         this->CordLengthRight += direction;
163 |     }
164 | 
165 | }
166 | 
167 | /**
168 |  * Moves to the given point. The path is not a straight line, therefore it should not be too long!
169 |  * @param X
170 |  * @param Y
171 |  * @param time   time per step  [microsecond]
172 |  * @return true if position is reached 
173 |  */
174 | bool Machine::moveShortDist(double X, double Y, unsigned int time) {
175 |     double newCordLengthLeft;
176 |     double newCordLengthRight;
177 |     int dirRight;
178 |     int dirLeft;
179 |     bool ready = true;
180 | 
181 |     X += this->X0;
182 |     Y += this->Y0;
183 | 
184 | 
185 |     newCordLengthLeft = this->StepsPermm * sqrt((X * X) + (Y * Y));
186 |     newCordLengthRight = this->StepsPermm * sqrt(((BaseLength - X) * (BaseLength - X)) + (Y * Y));
187 | 
188 |     double old_CordLengthLeft = (double) this->CordLengthLeft;
189 |     double old_CordLengthRight = (double) this->CordLengthRight;
190 | 
191 |     double stepsLeft = newCordLengthLeft - (double) CordLengthLeft;
192 |     double stepsRight = newCordLengthRight - (double) CordLengthRight;
193 | 
194 | 
195 |     // set the directions for the steppers
196 |     if (stepsLeft > 0) {
197 |         dirLeft = 1;
198 |     } else {
199 |         dirLeft = -1;
200 | 
201 |     }
202 |     if (stepsRight > 0) {
203 |         dirRight = 1;
204 |     } else {
205 |         dirRight = -1;
206 | 
207 |     }
208 | 
209 |     stepsLeft = fabs(stepsLeft);
210 |     stepsRight = fabs(stepsRight);
211 | 
212 | 
213 | 
214 |     //std::cout << "steps left=" << stepsLeft << ", right=" << stepsRight << std::endl;
215 | 
216 |     double fact;
217 | 
218 |     if (stepsLeft < 0.5 && stepsRight < 0.5) {
219 |         return ready;
220 |     } else if (stepsRight < 0.5) {
221 |         this->MakeStepLeft(dirLeft, stepsLeft, time);
222 |     } else if (stepsLeft < 0.5) {
223 |         this->MakeStepRight(dirRight, stepsRight, time);
224 |     } else if (stepsLeft >= stepsRight) {
225 |         fact = stepsLeft / stepsRight;
226 |         for (double r = 0.0; r < stepsRight; r++) {
227 |             this->MakeStepRight(dirRight, 1, time);
228 |             this->MakeStepLeft(dirLeft, (int) (r * fact - fabs(old_CordLengthLeft - (double) this->CordLengthLeft)), time);
229 |         }
230 |     } else if (stepsRight > stepsLeft) {
231 |         fact = stepsRight / stepsLeft;
232 |         for (double l = 0.0; l < stepsLeft; l++) {
233 |             this->MakeStepLeft(dirLeft, 1, time);
234 |             this->MakeStepRight(dirRight, (int) (l * fact - fabs(old_CordLengthRight - (double) this->CordLengthRight)), time);
235 |         }
236 |     } else {
237 |         std::cout << "Error  4567" << std::endl;
238 |         exit(1);
239 | 
240 |     }
241 | 
242 | 
243 | 
244 | 
245 |     /*
246 |     std::cout << "soll pos: l=" << (int)newCordLengthLeft << ", r=" << (int)newCordLengthRight << " ist pos: l=" << this->CordLengthLeft << ", r=" << this->CordLengthRight 
247 |             << " delta l=" << (int)stepsLeft << " delta r=" << (int)stepsRight << std::endl;
248 |      
249 |      
250 |      */
251 | 
252 |     return ready;
253 | 
254 | 
255 | }
256 | 
257 | /**
258 |  * moves the pen to a point in a straight way
259 |  * @param X
260 |  * @param Y
261 |  * @param F Feed in mm/min
262 |  * @return 
263 |  */
264 | int Machine::MoveToPoint(double X, double Y, double F) {
265 |     unsigned int time = 0;
266 |     if(X == this->currentX && Y == this->currentY){
267 |         return 0;
268 |     }
269 |     
270 |     if (F <= 0.0) {
271 |         F = 100000; // big number for rapid speed
272 |     }
273 |     F *= 1.2; // correction factor, the value fits better
274 |     // calculate the time of a step from feed F:
275 |     time = 1000000.0 * 60.0 / (this->StepsPermm * F);
276 |     // set the time per step not too small:
277 |     if (time < 200) {
278 |         time = 200;
279 |     }
280 |     //std::cout << "time=" << time << std::endl;
281 | 
282 |     Point p2(X, Y);
283 |     p2 = movePoint(p2, -this->currentX, -this->currentY);
284 |     p2 = toPolar(p2);
285 |     Point pi(p2); // interpolatios point
286 |     pi.x = 3.0; // steps of one millimeter
287 |     Point pi_cart;
288 | 
289 |     while (pi.x < p2.x) {
290 |         pi_cart = movePoint(toCartesian(pi), this->currentX, this->currentY);
291 |         this->moveShortDist(pi_cart.x, pi_cart.y, time);
292 |         pi.x += 3.0; // steps of one millimeter
293 | 
294 |     }
295 |     this->moveShortDist(X, Y, time);
296 | 
297 |     this->currentX = X;
298 |     this->currentY = Y;
299 |     return 0;
300 | }
301 | 
302 | /**
303 |  * raise and down the pen
304 |  * @param down
305 |  */
306 | void Machine::penDown(bool down) {
307 |     if (down) {
308 |         if(this->currentZ == 0){
309 |             return;
310 |         }
311 |         softPwmWrite(Z_SERVO, this->z_down);
312 |         usleep(500000);
313 |         softPwmWrite(Z_SERVO, 0);
314 |         this->currentZ = 0;
315 | 
316 |     } else {
317 |         if(this->currentZ == 1){
318 |             return;
319 |         }
320 |         softPwmWrite(Z_SERVO, this->z_up);
321 |         usleep(500000);
322 |         softPwmWrite(Z_SERVO, 0);
323 |         this->currentZ = 1;
324 |     }
325 | 
326 | }


--------------------------------------------------------------------------------
/Machine.h:
--------------------------------------------------------------------------------
 1 | /***************************************************************************
 2 |  *   Copyright (C) 2016 by Herbert Roider                                  *
 3 |  *   herbert.roider@utanet.at                                                     *
 4 |  *                                                                         *
 5 |  *   This program is free software; you can redistribute it and/or modify  *
 6 |  *   it under the terms of the GNU General Public License as published by  *
 7 |  *   the Free Software Foundation; either version 3 of the License, or     *
 8 | 
 9 |  *   (at your option) any later version.                                   *
10 |  *                                                                         *
11 |  *   This program is distributed in the hope that it will be useful,       *
12 |  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
13 |  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
14 |  *   GNU General Public License for more details.                          *
15 |  *                                                                         *
16 |  *   You should have received a copy of the GNU General Public License     *
17 |  *   along with this program; if not, write to the                         *
18 |  *   Free Software Foundation, Inc.,                                       *
19 |  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
20 |  ***************************************************************************/
21 | 
22 | 
23 | /* 
24 |  * File:   Machine.h
25 |  * Author: Herbert Roider <herbert@roider.at>
26 |  *
27 |  * Created on 13. Februar 2016, 08:42
28 |  */
29 | 
30 | #ifndef MACHINE_H
31 | #define MACHINE_H
32 | 
33 | class Machine {
34 | public:
35 |     //Machine();
36 |     Machine(double _BaseLength, double _X0, double _Y0, double _StepsPermm, int _z_down, int _z_up);
37 |     Machine(const Machine& orig);
38 |     virtual ~Machine();
39 |     //int CalculateLine(double moveToX, double moveToY);
40 |     int MoveToPoint(double X, double Y, double F);
41 |     void penDown(bool down);
42 |     double getX(){return currentX;};
43 |     double getY(){return currentY;};
44 | private:
45 |     double currentX;
46 |     double currentY;
47 |     long CordLengthLeft;
48 |     long CordLengthRight;
49 |     double BaseLength;
50 |     int z_down;
51 |     int z_up;
52 |     /** -1  don't know
53 |      * 0 down
54 |      * 1 up
55 |      */
56 |     int currentZ;
57 |     /**
58 |     
59 |      horizontal direction from the left stepper
60 |     */
61 |     double X0;
62 |     /**
63 |     
64 |       Vertikal direction from the left stepper
65 |      
66 |      */
67 |     double Y0;
68 |     int currentPlotDown;
69 |     double StepsPermm; // 51   //2000.0 / 98.0;
70 | 
71 |     void MakeStepLeft(int direction, int count, unsigned int time);
72 |     void MakeStepRight(int direction, int count, unsigned int time);
73 |     //void moveXY(double X, double Y);
74 |      
75 |     bool moveShortDist(double X, double Y, unsigned int time);
76 | 
77 | };
78 | 
79 | #endif /* MACHINE_H */
80 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # About #
 2 | 
 3 | Vplotter is a vertical plotter for g-code. It runs on a [Raspberry Pi](https://www.raspberrypi.org/). 
 4 | Works with the [gcodetools](https://github.com/cnc-club/gcodetools) extension for [Inkscape](https://inkscape.org).
 5 | 
 6 | v-plotter in action on youtube:
 7 | 
 8 | [![raspberry pi v-plotter in action](http://img.youtube.com/vi/LhT2oX4Yt_c/0.jpg)](http://www.youtube.com/watch?v=LhT2oX4Yt_c "raspberry pi v-plotter in action")
 9 | 
10 | 
11 | # Install #
12 | 
13 | - install raspian: [www.raspberrypi.org/downloads/](https://www.raspberrypi.org/downloads/)
14 | 
15 | - install necessary packages: git, cmake, flex, [wiringPi](http://wiringpi.com)
16 | 
17 |         sudo apt-get install git-core cmake flex wiringpi
18 | 
19 | - download and build vplotter:
20 | 
21 |         git clone https://github.com/bertlr/vplotter.git
22 |         cd vplotter
23 |         cmake .
24 |         make
25 |         sudo make install        
26 | 
27 | # Usage #
28 | 
29 | The vplotter reads g-code files.
30 | 
31 | ![Geometry](vplotter_geometry.png)
32 | 
33 | The plotter needs some commandline arguments:
34 | 
35 | - x0      :    horizontal distance from the left stepper motor to the zero point of the canvas in mm. see the image 
36 | - y0      :    vertical distance from the left stepper motor to the zero point of the canvas in mm. see the image
37 | - baselength : the distance between the stepper motors in mm, see the image.
38 | - z_up    :    a value for the servo motor to lift the pen (1 - 100)
39 | - z_down  :    a value for the servo motro to move down the pen (1 - 100)
40 | - steps   :    the count of steps to move the cord at 1 mm:
41 |  
42 |     1600 / circumference of the pulley
43 |     
44 |     for microsteps
45 | 
46 | 
47 | run the plotter as root:
48 | 
49 |     sudo vplotter --x0=170 --y0=-720 --baselength=685 --z_up=11 --z_down=7 --steps=40.1
50 | 
51 | provide a g-code file test.ngc:
52 | 
53 |     sudo vplotter --x0=170 --y0=-720 --baselength=685 --z_up=11 --z_down=7 --steps=40.1 < test.ngc
54 | 
55 | 
56 | finish the plotter type <kbd>Ctrl</kbd>+<kbd>C</kbd> or type in the konsole:
57 |     
58 |     M30
59 | 
60 | The Z-axis can only lift or drop the pen. A value >0 lift the pen, and <=0 drop the pen.
61 | 
62 |     G0 Z0 (move the pen down)
63 |     G0 Z1 (raise the pen up)
64 | 
65 | It is possible to set a feed, but this is not exact.
66 |     
67 |     G1 X100 F200
68 | 
69 | It supports G2 and G3 for circles with radius R:
70 |     
71 |     G2 X10 Y20 R20
72 | 
73 | or with relative center point coordinates:
74 | 
75 |     G2 X10 Y0 I5 J10
76 | 
77 | Change units to inches:
78 | 
79 |     G20
80 | 
81 | Change to millimetre:
82 | 
83 |     G21
84 | 
85 | # Wiring #
86 | 
87 | The plotter uses EasyDriver for the stepper motors:
88 | [www.schmalzhaus.com/EasyDriver/](http://www.schmalzhaus.com/EasyDriver/)
89 | 
90 | ![wiring](vplotter_wiring.png "wiring")
91 | 
92 | 


--------------------------------------------------------------------------------
/gcode.l:
--------------------------------------------------------------------------------
 1 | %option prefix="xx"
 2 | %option noyywrap
 3 | %option c++
 4 | 
 5 | 
 6 | %{
 7 | /*
 8 | //#include <FlexLexer.h>
 9 | // An example of using the flex C++ scanner class.
10 | 
11 | // compile:
12 | //  flex svg_data.l
13 | //  g++  lex.xx.cc
14 | */
15 | #include <iostream>
16 | 
17 | %}
18 | 
19 | COMMENT      "(".*")"
20 | G            "G"[0-9]+
21 | X            "X"{NUMBER}
22 | Y            "Y"{NUMBER}
23 | Z            "Z"{NUMBER}
24 | M            "M"[0-9]+
25 | R            "R"{NUMBER}
26 | I            "I"{NUMBER}
27 | J            "J"{NUMBER}
28 | F            "F"{NUMBER}
29 | 
30 | 
31 | DEF_REEL1    [-+]?[0-9]+([Ee][+-]?[0-9]+)?
32 | DEF_REEL2    [-+]?[0-9]+"."[0-9]*([Ee][+-]?[0-9]+)?
33 | DEF_REEL3    [-+]?[0-9]*"."[0-9]+([Ee][+-]?[0-9]+)?
34 | NUMBER       {DEF_REEL1}|{DEF_REEL2}|{DEF_REEL3}
35 | 
36 | 
37 | 
38 | %%
39 | [ \t\n]        ;
40 | {COMMENT}      ;
41 | {G}         {return 1;}
42 | {X}         {return 2;}
43 | {Y}         {return 3;}
44 | {Z}         {return 4;}
45 | {M}         {return 5;}
46 | {R}         {return 6;}
47 | {I}         {return 7;}
48 | {J}         {return 8;}
49 | {F}         {return 9;}
50 | 
51 | %%
52 | 
53 | 
54 | 


--------------------------------------------------------------------------------
/main.cpp:
--------------------------------------------------------------------------------
  1 | /***************************************************************************
  2 |  *   Copyright (C) 2016 by Herbert Roider                                  *
  3 |  *   herbert.roider@utanet.at                                                     *
  4 |  *                                                                         *
  5 |  *   This program is free software; you can redistribute it and/or modify  *
  6 |  *   it under the terms of the GNU General Public License as published by  *
  7 |  *   the Free Software Foundation; either version 3 of the License, or     *
  8 | 
  9 |  *   (at your option) any later version.                                   *
 10 |  *                                                                         *
 11 |  *   This program is distributed in the hope that it will be useful,       *
 12 |  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 13 |  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 14 |  *   GNU General Public License for more details.                          *
 15 |  *                                                                         *
 16 |  *   You should have received a copy of the GNU General Public License     *
 17 |  *   along with this program; if not, write to the                         *
 18 |  *   Free Software Foundation, Inc.,                                       *
 19 |  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 20 |  ***************************************************************************/
 21 | 
 22 | /* 
 23 |  * File:   main.cpp
 24 |  * Author: Herbert Roider <herbert@roider.at>
 25 |  *
 26 |  * Created on 12. Februar 2016, 22:15
 27 |  */
 28 | 
 29 | #include <iostream>
 30 | #include <sstream>
 31 | #include <fstream>
 32 | #include <math.h>
 33 | #include <stdlib.h>
 34 | #include <unistd.h>
 35 | #include <string>
 36 | #include <limits>
 37 | #include <cfloat>
 38 | #include "Machine.h"
 39 | #include "Geometry.h"
 40 | #include <getopt.h>
 41 | 
 42 | // siehe manpages flex :
 43 | #undef yyFlexLexer
 44 | #define yyFlexLexer xxFlexLexer
 45 | #include <FlexLexer.h>
 46 | 
 47 | /*
 48 |  * 
 49 |  */
 50 | int main(int argc, char** argv) {
 51 |     double x = 0.0;
 52 |     double y = 0.0;
 53 |     double z = 1.0;
 54 |     double r = DBL_MAX; // radius
 55 |     double i = DBL_MAX;
 56 |     double j = DBL_MAX;
 57 |     double f = 0.0; // feed in mm/min, 0 is rapid speed
 58 | 
 59 |     int M_command = -1;
 60 |     int G_command = -1;
 61 |     // Fact to convert the values, used when inches:
 62 |     double to_metric = 1.0;
 63 | 
 64 |     double base_length = 650.0;
 65 |     double x0 = 100.0;
 66 |     double y0 = -700.0;
 67 |     double stepsPermm = 40.0;
 68 |     int servo_up = 13;
 69 |     int servo_down = 8;
 70 | 
 71 |     int c;
 72 |     int count_options = 0;
 73 |     // Read the options
 74 |     while (1) {
 75 |         static struct option long_options[] = {
 76 | 
 77 |             /* These options don’t set a flag.
 78 |                We distinguish them by their indices. */
 79 |             {"baselength", required_argument, 0, 'b'},
 80 |             {"y0", required_argument, 0, 'y'},
 81 |             {"x0", required_argument, 0, 'x'},
 82 |             {"steps", required_argument, 0, 's'},
 83 |             {"z_up", required_argument, 0, 'u'},
 84 |             {"z_down", required_argument, 0, 'd'},
 85 | 
 86 |             {0, 0, 0, 0}
 87 |         };
 88 |         /* getopt_long stores the option index here. */
 89 |         int option_index = 0;
 90 | 
 91 |         c = getopt_long(argc, argv, "b:y:x:s:u:p:",
 92 |                 long_options, &option_index);
 93 | 
 94 |         /* Detect the end of the options. */
 95 |         if (c == -1)
 96 |             break;
 97 | 
 98 |         switch (c) {
 99 | 
100 | 
101 |             case 'b':
102 |                 base_length = atof(optarg);
103 |                 std::cout << "baselength = " << base_length << std::endl;
104 |                 count_options++;
105 |                 break;
106 | 
107 |             case 'y':
108 |                 y0 = atof(optarg);
109 |                 std::cout << "y0 = " << y0 << std::endl;
110 |                 count_options++;
111 |                 break;
112 | 
113 |             case 'x':
114 |                 x0 = atof(optarg);
115 |                 std::cout << "x0 = " << x0 << std::endl;
116 |                 count_options++;
117 |                 break;
118 | 
119 |             case 's':
120 |                 stepsPermm = atof(optarg);
121 |                 std::cout << "steps = " << stepsPermm << std::endl;
122 |                 count_options++;
123 |                 break;
124 | 
125 |             case 'u':
126 |                 servo_up = atoi(optarg);
127 |                 std::cout << "z_up = " << servo_up << std::endl;
128 |                 count_options++;
129 |                 break;
130 | 
131 |             case 'd':
132 |                 servo_down = atof(optarg);
133 |                 std::cout << "z_down = " << servo_down << std::endl;
134 |                 count_options++;
135 |                 break;
136 | 
137 |             default:
138 |                 abort();
139 |         }
140 |     }
141 |     if (count_options < 6) {
142 |         std::cout << "not all options are set" << std::endl;
143 |         exit(1);
144 |     }
145 | 
146 |     // end read options
147 |     std::cout << "--------------------------------------------------------------" << std::endl
148 |             << "                  VPLOTTER                                    " << std::endl
149 |             << "--------------------------------------------------------------" << std::endl;
150 | 
151 | 
152 |     Machine m(base_length, x0, y0, stepsPermm, servo_down, servo_up);
153 |     std::cout << "started" << std::endl;
154 | 
155 |     std::string line;
156 |     int linenumber = 0;
157 |     while (std::getline(std::cin, line)) {
158 |         std::stringstream is;
159 |         std::stringstream os;
160 |         linenumber++;
161 | 
162 |         is << line;
163 | 
164 |         std::cout << line;
165 |         // parse one line:
166 |         xxFlexLexer lexer(&is, &os); // das prefix "xx" siehe flexerfile
167 |         int ret = 0;
168 |         do {
169 |             int G;
170 |             ret = lexer.yylex();
171 |             std::string s = lexer.YYText();
172 |             s.erase(0, 1);
173 |             if (ret == 1) {
174 |                 G = ::atoi(s.c_str());
175 |                 switch (G) {
176 |                     case 0:
177 |                     case 1:
178 |                     case 2:
179 |                     case 3:
180 |                         G_command = G;
181 |                         break;
182 |                     case 20:
183 |                         to_metric = 25.4;
184 |                         break;
185 |                     case 21:
186 |                         to_metric = 1.0;
187 |                         break;
188 |                 }
189 | 
190 |             } else if (ret == 2) {
191 |                 x = ::atof(s.c_str()) * to_metric;
192 |             } else if (ret == 3) {
193 |                 y = ::atof(s.c_str()) * to_metric;
194 |             } else if (ret == 4) {
195 |                 z = ::atof(s.c_str()) * to_metric;
196 |             } else if (ret == 5) {
197 |                 M_command = ::atoi(s.c_str());
198 |             } else if (ret == 6) {
199 |                 r = ::atof(s.c_str()) * to_metric;
200 |             } else if (ret == 7) {
201 |                 i = ::atof(s.c_str()) * to_metric;
202 |             } else if (ret == 8) {
203 |                 j = ::atof(s.c_str()) * to_metric;
204 |             } else if (ret == 9) {
205 |                 f = ::atof(s.c_str()) * to_metric;
206 |             }
207 |         } while (ret != 0);
208 | 
209 |         // Execute on line:
210 | 
211 |         if (M_command == 30) {
212 |             m.penDown(false);
213 |             m.MoveToPoint(0.0, 0.0, 0.0);
214 |             return 0;
215 | 
216 |         }
217 | 
218 |         // movement
219 |         if (G_command == 0 || G_command == 1 || G_command == 2 || G_command == 3) {
220 |             if (z > 0) {
221 |                 m.penDown(false);
222 |             } else {
223 |                 m.penDown(true);
224 |             }
225 |             if (G_command == 1 || G_command == 2 || G_command == 3) {
226 |                 if (f <= 0.0) {
227 |                     std::cout << "Error: no feed rate (f.e.: F400)" << std::endl;
228 |                     exit(1);
229 |                 }
230 |             }
231 | 
232 |             std::cout << " --> " << linenumber << ": ";
233 |             if (G_command == 0) {
234 |                 std::cout << "   -> rapid  to: " << x << ", " << y << std::endl;
235 |                 m.MoveToPoint(x, y, 0.0);
236 |             } else if (G_command == 1) {
237 |                 std::cout << "   -> line  to: " << x << ", " << y << ", f=" << f << std::endl;
238 |                 m.MoveToPoint(x, y, f);
239 |             } else if (G_command == 2 || G_command == 3) {
240 | 
241 |                 bool ccw;
242 |                 // G2 clockwise, G3 counter clockwise
243 |                 if (G_command == 2) {
244 |                     ccw = false;
245 |                 } else {
246 |                     ccw = true;
247 |                 }
248 |                 // either r (radius) or i and k (relative center point coordinates)
249 |                 if (r == DBL_MAX & i < DBL_MAX && j < DBL_MAX) {
250 |                     r = sqrt(i * i + j * j);
251 |                 }
252 |                 if (r == DBL_MAX) {
253 |                     std::cout << "Error: either R or I and J" << std::endl;
254 |                     exit(1);
255 |                 } 
256 |                 std::cout << "   -> arc to: " << x << ", " << y << " r=" << r << std::endl;
257 |                 Geometry g;
258 |                 std::vector<Point> points = g.getArcPolygon(Point(m.getX(), m.getY()), Point(x, y), r, ccw);
259 |                 for (int i = 0; i < points.size(); i++) {
260 |                     //std::cout << points[i].x << ", " << points[i].y << std::endl;
261 |                     m.MoveToPoint(points[i].x, points[i].y, f);
262 |                 }
263 |             }
264 | 
265 |         }
266 | 
267 |         //std::cout << "x =" << x << " y=" << y << std::endl;
268 | 
269 |         M_command = -1;
270 | 
271 |         r = DBL_MAX; // radius
272 |         i = DBL_MAX;
273 |         j = DBL_MAX;
274 | 
275 | 
276 | 
277 |     }
278 |     std::cout << "Finish" << std::endl;
279 |     return 0;
280 | }
281 | 


--------------------------------------------------------------------------------
/nbproject/configurations.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <configurationDescriptor version="97">
 3 |   <logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
 4 |     <logicalFolder name="f1" displayName="Source" projectFiles="true" kind="ROOT">
 5 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/Geometry.cpp</itemPath>
 6 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/Geometry.h</itemPath>
 7 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/Machine.cpp</itemPath>
 8 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/Machine.h</itemPath>
 9 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/gcode.l</itemPath>
10 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/main.cpp</itemPath>
11 |     </logicalFolder>
12 |     <logicalFolder name="ExternalFiles"
13 |                    displayName="Important Files"
14 |                    projectFiles="false"
15 |                    kind="IMPORTANT_FILES_FOLDER">
16 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/Makefile</itemPath>
17 |       <itemPath>/home/herbert/NetBeansProjects/vplotter/nbproject/private/launcher.properties</itemPath>
18 |     </logicalFolder>
19 |   </logicalFolder>
20 |   <sourceFolderFilter>^(nbproject)$</sourceFolderFilter>
21 |   <sourceRootList>
22 |     <Elem>/home/herbert/NetBeansProjects/vplotter</Elem>
23 |   </sourceRootList>
24 |   <projectmakefile>/home/herbert/NetBeansProjects/vplotter/Makefile</projectmakefile>
25 |   <confs>
26 |     <conf name="Default" type="0">
27 |       <toolsSet>
28 |         <compilerSet>default</compilerSet>
29 |         <dependencyChecking>false</dependencyChecking>
30 |         <rebuildPropChanged>false</rebuildPropChanged>
31 |       </toolsSet>
32 |       <codeAssistance>
33 |       </codeAssistance>
34 |       <makefileType>
35 |         <makeTool>
36 |           <buildCommandWorkingDir>/home/herbert/NetBeansProjects/vplotter</buildCommandWorkingDir>
37 |           <buildCommand>${MAKE} -f Makefile</buildCommand>
38 |           <cleanCommand>${MAKE} -f Makefile clean</cleanCommand>
39 |           <executablePath></executablePath>
40 |           <ccTool>
41 |             <incDir>
42 |               <pElem>/usr/include/c++/7</pElem>
43 |             </incDir>
44 |           </ccTool>
45 |         </makeTool>
46 |         <preBuild>
47 |           <preBuildCommandWorkingDir>.</preBuildCommandWorkingDir>
48 |           <preBuildCommand></preBuildCommand>
49 |         </preBuild>
50 |       </makefileType>
51 |       <item path="/home/herbert/NetBeansProjects/vplotter/Geometry.cpp"
52 |             ex="false"
53 |             tool="1"
54 |             flavor2="0">
55 |       </item>
56 |       <item path="/home/herbert/NetBeansProjects/vplotter/Geometry.h"
57 |             ex="false"
58 |             tool="3"
59 |             flavor2="0">
60 |       </item>
61 |       <item path="/home/herbert/NetBeansProjects/vplotter/Machine.cpp"
62 |             ex="false"
63 |             tool="1"
64 |             flavor2="0">
65 |       </item>
66 |       <item path="/home/herbert/NetBeansProjects/vplotter/Machine.h"
67 |             ex="false"
68 |             tool="3"
69 |             flavor2="0">
70 |       </item>
71 |       <item path="/home/herbert/NetBeansProjects/vplotter/gcode.l"
72 |             ex="false"
73 |             tool="3"
74 |             flavor2="0">
75 |       </item>
76 |       <item path="/home/herbert/NetBeansProjects/vplotter/main.cpp"
77 |             ex="false"
78 |             tool="1"
79 |             flavor2="0">
80 |       </item>
81 |     </conf>
82 |   </confs>
83 | </configurationDescriptor>
84 | 


--------------------------------------------------------------------------------
/nbproject/project.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <project xmlns="http://www.netbeans.org/ns/project/1">
 3 |     <type>org.netbeans.modules.cnd.makeproject</type>
 4 |     <configuration>
 5 |         <data xmlns="http://www.netbeans.org/ns/make-project/1">
 6 |             <name>vplotter</name>
 7 |             <c-extensions/>
 8 |             <cpp-extensions>cpp</cpp-extensions>
 9 |             <header-extensions>h</header-extensions>
10 |             <sourceEncoding>UTF-8</sourceEncoding>
11 |             <make-dep-projects/>
12 |             <sourceRootList>
13 |                 <sourceRootElem>/home/herbert/NetBeansProjects/vplotter</sourceRootElem>
14 |             </sourceRootList>
15 |             <confList>
16 |                 <confElem>
17 |                     <name>Default</name>
18 |                     <type>0</type>
19 |                 </confElem>
20 |             </confList>
21 |             <formatting>
22 |                 <project-formatting-style>false</project-formatting-style>
23 |             </formatting>
24 |         </data>
25 |     </configuration>
26 | </project>
27 | 


--------------------------------------------------------------------------------
/test.ngc:
--------------------------------------------------------------------------------
  1 | %
  2 | (Header)
  3 | (Generated by gcodetools from Inkscape.)
  4 | (Using default header. To add your own header create file "header" in the output dir.)
  5 | M3
  6 | (Header end.)
  7 | G21 (All units in mm)
  8 | 
  9 | (Start cutting path id: path4453)
 10 | (Change tool to Default tool)
 11 | 
 12 | G00 Z5.000000
 13 | G00 X48.703383 Y71.271882
 14 | 
 15 | G01 Z-0.125000 F100.0(Penetrate)
 16 | G02 X47.184429 Y63.714616 Z-0.125000 I-19.559355 J0.000000 F400.000000
 17 | G02 X44.901282 Y62.195661 Z-0.125000 I-2.283150 J0.956429
 18 | G02 X43.664507 Y62.703871 Z-0.125000 I-0.000002 J1.759002
 19 | G02 X42.212789 Y64.854023 Z-0.125000 I4.655920 J4.708692
 20 | G02 X41.417420 Y67.576352 Z-0.125000 I11.656261 J4.882903
 21 | G02 X41.099179 Y71.271882 Z-0.125000 I21.297750 J3.695531
 22 | G02 X41.417420 Y74.967413 Z-0.125000 I21.615992 J-0.000000
 23 | G02 X42.212789 Y77.689741 Z-0.125000 I12.451629 J-2.160575
 24 | G02 X43.664507 Y79.839893 Z-0.125000 I6.107638 J-2.558540
 25 | G02 X44.901282 Y80.348104 Z-0.125000 I1.236773 J-1.250791
 26 | G02 X47.184429 Y78.829149 Z-0.125000 I-0.000002 J-2.475385
 27 | G02 X48.703383 Y71.271882 Z-0.125000 I-18.040402 J-7.557266
 28 | G01 X48.703383 Y71.271882 Z-0.125000
 29 | G00 Z5.000000
 30 | 
 31 | (End cutting path id: path4453)
 32 | 
 33 | 
 34 | (Start cutting path id: path4453-7)
 35 | (Change tool to Default tool)
 36 | 
 37 | G00 Z5.000000
 38 | G00 X67.946784 Y70.986784
 39 | 
 40 | G01 Z-0.125000 F100.0(Penetrate)
 41 | G02 X67.628542 Y67.291254 Z-0.125000 I-21.615992 J-0.000000 F400.000000
 42 | G02 X66.833174 Y64.568925 Z-0.125000 I-12.451629 J2.160575
 43 | G02 X65.381456 Y62.418773 Z-0.125000 I-6.107638 J2.558540
 44 | G02 X64.144681 Y61.910563 Z-0.125000 I-1.236773 J1.250791
 45 | G02 X61.861533 Y63.429518 Z-0.125000 I0.000002 J2.475385
 46 | G02 X60.342580 Y70.986784 Z-0.125000 I18.040402 J7.557266
 47 | G02 X61.861533 Y78.544051 Z-0.125000 I19.559355 J-0.000000
 48 | G02 X64.144681 Y80.063006 Z-0.125000 I2.283150 J-0.956429
 49 | G02 X65.381456 Y79.554795 Z-0.125000 I0.000002 J-1.759002
 50 | G02 X66.833174 Y77.404643 Z-0.125000 I-4.655920 J-4.708692
 51 | G02 X67.628542 Y74.682315 Z-0.125000 I-11.656261 J-4.882903
 52 | G02 X67.946784 Y70.986784 Z-0.125000 I-21.297750 J-3.695531
 53 | G01 X67.946784 Y70.986784 Z-0.125000
 54 | G00 Z5.000000
 55 | 
 56 | (End cutting path id: path4453-7)
 57 | 
 58 | 
 59 | (Start cutting path id: path3347)
 60 | (Change tool to Default tool)
 61 | 
 62 | G00 Z5.000000
 63 | G00 X88.493064 Y61.436359
 64 | 
 65 | G01 Z-0.125000 F100.0(Penetrate)
 66 | G02 X85.966924 Y48.736593 Z-0.125000 I-33.186085 J0.000000 F400.000000
 67 | G02 X78.773084 Y37.970252 Z-0.125000 I-30.659945 J12.699766
 68 | G02 X68.006742 Y30.776413 Z-0.125000 I-23.466105 J23.466107
 69 | G02 X55.306976 Y28.250274 Z-0.125000 I-12.699763 J30.659946
 70 | G02 X31.840871 Y37.970253 Z-0.125000 I0.000000 J33.186085
 71 | G02 X22.120891 Y61.436359 Z-0.125000 I23.466106 J23.466106
 72 | G02 X24.647031 Y74.136125 Z-0.125000 I33.186085 J0.000003
 73 | G02 X31.840870 Y84.902467 Z-0.125000 I30.659946 J-12.699763
 74 | G02 X42.607211 Y92.096306 Z-0.125000 I23.466107 J-23.466105
 75 | G02 X55.306976 Y94.622447 Z-0.125000 I12.699766 J-30.659944
 76 | G02 X68.006743 Y92.096307 Z-0.125000 I0.000003 J-33.186085
 77 | G02 X78.773085 Y84.902468 Z-0.125000 I-12.699764 J-30.659945
 78 | G02 X85.966925 Y74.136125 Z-0.125000 I-23.466106 J-23.466106
 79 | G02 X88.493064 Y61.436359 Z-0.125000 I-30.659945 J-12.699764
 80 | G01 X88.493064 Y61.436359 Z-0.125000
 81 | G00 Z5.000000
 82 | 
 83 | (End cutting path id: path3347)
 84 | 
 85 | 
 86 | (Start cutting path id: path4455)
 87 | (Change tool to Default tool)
 88 | 
 89 | G00 Z5.000000
 90 | G00 X35.447456 Y54.170356
 91 | 
 92 | G01 Z-0.125000 F100.0(Penetrate)
 93 | G03 X46.343629 Y47.342272 Z-0.125000 I48.245261 J64.881173 F400.000000
 94 | G03 X54.736882 Y45.316130 Z-0.125000 I8.277821 J15.893196
 95 | G03 X63.122318 Y47.459763 Z-0.125000 I-0.115465 J17.924517
 96 | G03 X74.026308 Y54.492329 Z-0.125000 I-39.131897 J72.643583
 97 | G02 X62.959861 Y42.087807 Z-0.125000 I-92.270318 J71.178509
 98 | G02 X54.736882 Y38.715709 Z-0.125000 I-8.310928 J8.554426
 99 | G02 X46.499214 Y41.979105 Z-0.125000 I-0.087085 J11.808888
100 | G02 X35.447456 Y54.170356 Z-0.125000 I78.248526 J82.039802
101 | G01 X35.447456 Y54.170356 Z-0.125000
102 | G00 Z5.000000
103 | 
104 | (End cutting path id: path4455)
105 | 
106 | 
107 | (Footer)
108 | M5
109 | G00 X0.0000 Y0.0000
110 | M2
111 | (Using default footer. To add your own footer create file "footer" in the output dir.)
112 | (end)
113 | %


--------------------------------------------------------------------------------
/vplotter_geometry.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/bertlr/vplotter/c9ae071b61689869407f7343b87d04ff48068cce/vplotter_geometry.png


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/vplotter_wiring.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/bertlr/vplotter/c9ae071b61689869407f7343b87d04ff48068cce/vplotter_wiring.png


--------------------------------------------------------------------------------