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FILE * md1;
FILE * mod1;
FILE *gtmod1;
double posi1x, posi1y, posi1z, rot1x, rot1y, rot1z;
double posi2x, posi2y, posi2z, rot2x, rot2y, rot2z;
double posi3x, posi3y, posi3z, rot3x, rot3y, rot3z;
double posi4x, posi4y, posi4z, rot4x, rot4y, rot4z;
double posi5x, posi5y, posi5z, rot5x, rot5y, rot5z;
double posi6x, posi6y, posi6z, rot6x, rot6y, rot6z;
double posi7x, posi7y, posi7z, rot7x, rot7y, rot7z;
double rpos1x, rpos1y, rpos1z;
double rpos2x, rpos2y, rpos2z;
double rpos3x, rpos3y, rpos3z;
double rpos4x, rpos4y, rpos4z;
double rpos5x, rpos5y, rpos5z;
double rpos6x, rpos6y, rpos6z;
double rpos7x, rpos7y, rpos7z;
double framesize, fmsz, axdia, nz;
double frame1x, frame1y, frame1z;
double frame2x, frame2y, frame2z;
double frame3x, frame3y, frame3z;
double frame4x, frame4y, frame4z;
double frame5x, frame5y, frame5z;
double frame6x, frame6y, frame6z;
double frame7x, frame7y, frame7z;
double cod12x, cod12y, cod12z;
double cod13x, cod13y, cod13z;
double cod14x, cod14y, cod14z;
double cod15x, cod15y, cod15z;
double cod16x, cod16y, cod16z;
double cod17x, cod17y, cod17z;
double cod23x, cod23y, cod23z;
double cod24x, cod24y, cod24z;
double cod25x, cod25y, cod25z;
double cod26x, cod26y, cod26z;
double cod27x, cod27y, cod27z;
double cod23x, cod23y, cod23z;
double cod24x, cod24y, cod24z;
double cod25x, cod25y, cod25z;
double cod26x, cod26y, cod26z;
double cod27x, cod27y, cod27z;
double cod34x, cod34y, cod34z;
double cod35x, cod35y, cod35z;
double cod36x, cod36y, cod36z;
double cod37x, cod37y, cod37z;
double cod45x, cod45y, cod45z;
double cod46x, cod46y, cod46z;
double cod47x, cod47y, cod47z;
double cod56x, cod56y, cod56z;
double cod57x, cod57y, cod57z;
double cod67x, cod67y, cod67z;
double axrot1, axrot2, axrot3, axrot4, axrot5, axrot6;
int h, v;
double cu_tx, cu_ty, cu_tz, cu_rx, cu_ry, cu_rz, cu_x, cu_y, cu_z;
double cy_tx, cy_ty, cy_tz, cy_rx, cy_ry, cy_rz, cy_x, cy_y, cy_z;
double sp_tx, sp_ty, sp_tz, sp_rx, sp_ry, sp_rz, sp_x, sp_y, sp_z;
double e_2xy, e_2z, e_2bsl, e_2drl, e_3xy, e_3z, e_3bsl, e_3drl;
double e_4xy, e_4z, e_4bsl, e_4drl, e_5xy, e_5z, e_5bsl, e_5drl;
double e_6xy, e_6z, e_6bsl, e_6drl, e_7xy, e_7z, e_7bsl, e_7drl;
double ex2xy, ex2z, ex2bsl, ex2drl, ex3xy, ex3z, ex3bsl, ex3drl;
double ex4xy, ex4z, ex4bsl, ex4drl, ex5xy, ex5z, ex5bsl, ex5drl;
double ex6xy, ex6z, ex6bsl, ex6drl, ex7xy, ex7z, ex7bsl, ex7drl;
double r_codx, r_cody, r_codz;
double mtx, mty, mtz, mcx, mcy, mcz, mrx, mry, mrz;
void gtpos(double, double, double, double *, double *, double *);
void gt_r_pos();
void dataqz_2();
void gtpath1(double, double, double, double, double, double);
void gt_mdpt1();
void gt_dlt_2(double, double, double);
void gtmotion();
void f_menu();
void f_ani();
void gtsfacfull();
void cal_scad();
void dataqz_2(){
// data axil 1
fmsz = 30; nz = 0.0; axdia=200;
posi1x=posi1y=posi1z=0;
rot1x=0;rot1y=0;rot1z=0;
frame1x=frame1y=frame1z=0;
// data axil 2
posi2x=400;posi2y=200;posi2z=300;
rot2x=90; rot2y=0; rot2z=0;
frame2x=posi2x;
frame2y=posi2y;
frame2z=posi2z;
// data axil 3
posi3x=500; posi3y=350; posi3z = 1700;
rot3x=90; rot3y=0; rot3z=0;
frame3x = posi3x - posi2x;
frame3y = posi3y - posi2y;
frame3z = posi3z - posi2z;
// data axil 4
posi4x=670; posi4y=550; posi4z = 1380;
rot4x=0; rot4y=0; rot4z=0;
frame4x = posi4x - posi3x;
frame4y = posi4y - posi3y;
frame4z = posi4z - posi3z;
// data axil 5
posi5x=697; posi5y=595; posi5z = 2836;
rot5x=90; rot5y=0; rot5z=0;
frame5x = posi5x - posi4x;
frame5y = posi5y - posi4y;
frame5z = posi5z - posi4z;
// data axil 6
posi6x=600; posi6y=500; posi6z = 3100;
rot6x=0; rot6y=0; rot6z=0;
frame6x = posi6x - posi5x;
frame6y = posi6y - posi5y;
frame6z = posi6z - posi5z;
// point 7 teminial
posi7x=605, posi7y=509, posi7z=3160;
rot7x=0, rot7y=0, rot7z=0;
frame7x = posi7x - posi6x;
frame7y = posi7y - posi6y;
frame7z = posi7z - posi6z;
}
void gtrpos()
{
gtpos(posi1x, posi1y, posi1z, &rpos1x, &rpos1y, &rpos1z);
gtpos(posi2x, posi2y, posi2z, &rpos2x, &rpos2y, &rpos2z);
gtpos(posi3x, posi3y, posi3z, &rpos3x, &rpos3y, &rpos3z);
gtpos(posi4x, posi4y, posi4z, &rpos4x, &rpos4y, &rpos4z);
gtpos(posi5x, posi5y, posi5z, &rpos5x, &rpos5y, &rpos5z);
gtpos(posi6x, posi6y, posi6z, &rpos6x, &rpos6y, &rpos6z);
gtpos(posi7x, posi7y, posi7z, &rpos7x, &rpos7y, &rpos7z);
}
void gtpos(double x, double y, double z, double *px, double *py, double *pz)
{
// The pointer must be first position
*px = x;
*py = y;
*pz = z;
printf("x=%f, y=%f, z=%f, rx=%f, ry=%f, rz=%f\n", x, y, z, *px, *py, *pz);
}
double axle1(double ornt1){
fprintf(md1, "// axil 1\n\n");
fprintf(md1, "rotate([0,0,%f])\n", ornt1);
fprintf(md1, "union(){\n");
// Axil one
fprintf(md1, "color([1,0,1], 0.5)\n translate([%f,%f,%f])\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n ",
posi1x, posi1y, posi1z, rot1x, rot1y, rot1z);
fprintf(md1, "color([1,0,0])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
posi1x, posi1y, posi1z, posi2x, fmsz, fmsz,
posi2x, posi1y, posi1z, fmsz, posi2y, fmsz,
posi2x, posi2y, posi1z, fmsz, fmsz, posi2z);
fprintf(md1, "}\n\n");
}
double axle2(double ornt2)
{
// rotate of axil 2
fprintf(md1, "// axil 2\n\n");
fprintf(md1, "translate([%f,%f,%f])\n", posi2x, posi2y, posi2z);
fprintf(md1, "rotate([0,%f,0])\n", ornt2);
fprintf(md1, "union(){\n");
// Axil two
fprintf(md1, "color([1,0,1], 0.5)\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n",
rot2x, rot2y, rot2z);
fprintf(md1, "color([0,1,0])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
nz, nz, nz, frame3x, fmsz, fmsz,
frame3x, nz, nz, fmsz, frame3y, fmsz,
frame3x, frame3y, nz, fmsz, fmsz, frame3z);
fprintf(md1, "}\n\n");
}
double axle3(double ornt3)
{
// rotate of axil 3
fprintf(md1, "// axil 3\n\n");
fprintf(md1, "translate([%f,%f,%f])\n", frame3x, frame3y, frame3z);
fprintf(md1, "rotate([0,%f,0])\n", ornt3);
fprintf(md1, "union(){\n");
// Axil three
fprintf(md1, "color([1,0,1], 0.5)\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n",
rot3x, rot3y, rot3z);
fprintf(md1, "color([0,0,1])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
nz, nz, nz, fabs(frame4x), fmsz, fmsz,
frame4x, nz, nz, fmsz, fabs(frame4y), fmsz,
frame4x, frame4y, frame4z, fmsz, fmsz, fabs(frame4z));
fprintf(md1, "}\n\n");
}
double axle4(double ornt4)
{
// rotate of axil 4
fprintf(md1, "// axil 4\n\n");
fprintf(md1, "translate([%f,%f,%f])\n", frame4x, frame4y, frame4z);
fprintf(md1, "rotate([0,0,%f])\n", ornt4);
fprintf(md1, "union(){\n");
// Axil four
fprintf(md1, "color([1,0,1], 0.5)\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n",
rot4x, rot4y, rot4z);
fprintf(md1, "color([1,1,0])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
nz, nz, nz, fabs(frame5x), fmsz, fmsz,
frame5x, nz, nz, fmsz, fabs(frame5y), fmsz,
frame5x, frame5y, nz, fmsz, fmsz, fabs(frame5z));
fprintf(md1, "}\n\n");
}
double axle5(double ornt5)
{
// rotate of axil 5
fprintf(md1, "// axil 5\n\n");
fprintf(md1, "translate([%f,%f,%f])\n", frame5x, frame5y, frame5z);
fprintf(md1, "rotate([0,%f,0])\n", ornt5);
fprintf(md1, "union(){\n");
// Axil five
fprintf(md1, "color([1,0,1], 0.5)\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n",
rot5x, rot5y, rot5z);
fprintf(md1, "color([0,1,5])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
frame6x, frame6y, nz, fabs(frame6x), fmsz, fmsz,
nz, frame6y, nz, fmsz, fabs(frame6y), fmsz,
frame6x, frame6y, nz, fmsz, fmsz, fabs(frame6z));
fprintf(md1, "}\n\n");
}
double axle6(double ornt6)
{
// rotate of axil 6
fprintf(md1, "// axil 6\n\n");
fprintf(md1, "translate([%f,%f,%f])\n", frame6x, frame6y, frame6z);
fprintf(md1, "rotate([0,0,%f])\n", ornt6);
fprintf(md1, "union(){\n");
// Axil six, this is the terminal points
fprintf(md1, "color([1,0,1], 0.5)\n rotate([%f,%f,%f])\n cylinder(r=200, h=20);\n",
rot6x, rot6y, rot6z);
fprintf(md1, "color([0,0,1])\n union(){\n");
fprintf(md1, "translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n \
translate([%f,%f,%f])\n cube([%f,%f,%f]);\n",
nz, nz, nz, axdia, fmsz, fmsz,
frame7x, nz, nz, fmsz, frame7y, fmsz,
frame7x, frame7y, nz, fmsz, fmsz, frame7z);
fprintf(md1, "}\n\n");
fprintf(md1, "}}}}}}\n");
}
double path1(double n1, double n2, double n3, double n4, double n5, double n6)
{
axle1(n1);
axle2(n2);
axle3(n3);
axle4(n4);
axle5(n5);
axle6(n6);
}
void gt_r_pos()
{
gtpos(posi1x, posi1y, posi1z, &rpos1x, &rpos1y, &rpos1z);
gtpos(posi2x, posi2y, posi2z, &rpos2x, &rpos2y, &rpos2z);
gtpos(posi3x, posi3y, posi3z, &rpos3x, &rpos3y, &rpos3z);
gtpos(posi4x, posi4y, posi4z, &rpos4x, &rpos4y, &rpos4z);
gtpos(posi5x, posi5y, posi5z, &rpos5x, &rpos5y, &rpos5z);
gtpos(posi6x, posi6y, posi6z, &rpos6x, &rpos6y, &rpos6z);
gtpos(posi7x, posi7y, posi7z, &rpos7x, &rpos7y, &rpos7z);
}
void gtmotion()
{
double d_rx, d_ry, d_rz, d_tx, d_ty, d_tz, d_cx, d_cy, d_cz;
mod1 = fopen("path1.dat", "w");
char s_rx[100], s_ry[100], s_rz[100], s_tx[100], s_ty[100], s_tz[100], s_cx[100], s_cy[100], s_cz[100];
printf("Gmop3d for get the motion path.\n");
printf("1. cube, input the number only, individual with ' ' 'space' sign.\n");
printf("translate([x, y, z]) for the position in the coordinate system.\n");
printf("Enter the x, y, z only and divided by ',' colon sign.\n");
scanf("%s %s %s", &s_tx, &s_ty, &s_tz);
d_tx=atof(s_tx);
d_ty=atof(s_ty);
d_tz=atof(s_tz);
printf("rotate([x, y, z]) for rotation of object path.\n");
scanf("%s %s %s", &s_rx, &s_ry, &s_rz);
d_rx=atof(s_rx);
d_ry=atof(s_ry);
d_rz=atof(s_rz);
printf("cube([x, y, z]) for the size of the cube object motion path.\n");
scanf("%s %s %s", &s_cx, &s_cy, &s_cz);
d_cx=atof(s_cx);
d_cy=atof(s_cy);
d_cz=atof(s_cz);
printf(" %f %f %f\n", d_tx, d_ty, d_tz);
printf(" %f %f %f\n", d_rx, d_ry, d_rz);
printf(" %f %f %f\n", d_cx, d_cy, d_cz);
fprintf(mod1, " %f %f %f\n", d_tx, d_ty, d_tz);
fprintf(mod1, " %f %f %f\n", d_rx, d_ry, d_rz);
fprintf(mod1, " %f %f %f\n", d_cx, d_cy, d_cz);
fclose(mod1);
}
void gt_mdpt1()
{
gtmod1 = fopen("path1.dat", "r");
char s_tx[100], s_ty[100], s_tz[100], s_rx[100], s_ry[100], s_rz[100], s_cx[100], s_cy[100], s_cz[100];
rewind(gtmod1);
fscanf(gtmod1, "%s %s %s \
%s %s %s \
%s %s %s", s_tx, s_ty, s_tz, s_rx, s_ry, s_rz, s_cx, s_cy, s_cz);
fclose(gtmod1);
mtx=atof(s_tx);
mty=atof(s_ty);
mtz=atof(s_tz);
mrx=atof(s_rx);
mry=atof(s_ry);
mrz=atof(s_rz);
mcx=atof(s_cx);
mcy=atof(s_cy);
mcz=atof(s_cz);
printf("%f %f %f\n", mtx, mty, mtz);
printf("%f %f %f\n", mrx, mry, mrz);
printf("%f %f %f\n", mcx, mcy, mcz);
}
void cal_scad()
{
pid_t pid;
if ((pid = fork()) < 0)
perror("fork error");
else if (pid == 0) {
execl("/usr/local/bin/openscad", "./1.scad");
}
}
void f_menu()
{
for(;;)
{
printf("\n\tgMOP3D MOtion Path with 3D animation\n\n");
printf("Manipulator or axle base Robotics path model builder system.\n");
printf("Simulation with openSCAD, but you must build path model again.\n");
printf("Robot model with 6 axle, robot model changed by source code only.\n");
printf("Path only support cube only, build path by your self by instructions.\n");
printf("1. Build path model as build openSCAD model.\n");
printf("2. Start animation of path model.\n");
printf("99. Escape the Program and Save parameters.\n");
printf("->");
int c;
char s_c[10];
scanf("%s", &s_c);
c = atoi(s_c);
switch (c)
{
case 99: printf("Thanks for your use GMOP3D, and see you next time!\n");
exit(0);
case 1: gtmotion(); break;
case 2: f_ani(); break;
default: printf("\nError input! Please enter integer between 1 or 99 only.\n");
break;
}
}
}
void f_ani()
{
md1 = fopen("1.scad", "w");
// part one , got motion path model, robot model.
cal_scad();
dataqz_2();
gtrpos();
gt_mdpt1();
gtsfacfull();
}
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