@Athena show how to read the lines of a gcode file in javascript in synthiam arc. Because no example of a gcode file was given, here is a 3d printer gcode file. I removed the details about the extruder so it'll merely be cartesian coordinates.

Because gcode files store what ever you want (ie several dimensions), you'd have to define what goes into it. It's up to you to determine what goes in and that determines how to parse it.

; This is a comment in the G-code file
; G-code example for a 3D printer

G21 ; Set units to millimeters
G90 ; Use absolute positioning

; Home all axes
G28

; Start of print
G1 Z0.2 F1200 ; Move nozzle to start height
G1 X10 Y10 F3000 ; Move to the start point
G1 X100 Y10 F1500 ; Draw a straight line
G1 X100 Y100 ; Move in Y direction
G1 X10 Y100 ; Move in reverse X direction
G1 X10 Y10 ; Complete the square

; End of print
G28 X0 Y0 ; Home X and Y axes

; End of file

After thinking about it for a minute Javascript is already in plain text format. ARC is very good at getting axis to locations. It would be nice to download a Gcode tell which axis is which and have it work. I know that can get a 4axis driver to do it but then I'd have to reconfigure the wiring off the arduinos and onto the drivers. This would allow me to do not just 4 axis but up to 128 axis at a time(which is very unlikely) but it just shows the new ability it could have.

I was also thinking: You could use the Inverse Kinematics robot skill to move the end effector to the Cartesian coordinates in the Javascript that parses the file.

To achieve this, you can create a JavaScript script in ARC that reads a G-code file, parses it into a multidimensional array, and then uses the Inverse Kinematics robot skill to move the robot arm to the specified Cartesian coordinates. Here's a step-by-step guide on how you can do this:

Step 1: Read the G-code File

First, you'll need to read the G-code file and store its contents in a variable. You can use the File.readAllText() function to read the file.

var gcodeContent = File.readAllText("path/to/your/gcodefile.gcode");

Step 2: Parse the G-code into a Multidimensional Array

Next, you'll parse the G-code content into a multidimensional array. Each line of the G-code will be split into its components (e.g., G1, X10, Y10) and stored in the array.

var gcodeLines = gcodeContent.split("\n");
var gcodeArray = [];

for (var i = 0; i < gcodeLines.length; i++) {
    var line = gcodeLines[i].trim();
    if (line && !line.startsWith(";")) { // Ignore comments
        var parts = line.split(" ");
        gcodeArray.push(parts);
    }
}

Step 3: Process the G-code Commands

Now, you'll iterate over the gcodeArray and process each command. For this example, we'll focus on moving the robot arm to the specified X, Y, and Z coordinates.

for (var i = 0; i < gcodeArray.length; i++) {
    var command = gcodeArray[i];
    if (command[0] === "G1") { // Check if it's a move command
        var x = null, y = null, z = null;
        
        for (var j = 1; j < command.length; j++) {
            if (command[j].startsWith("X")) {
                x = parseFloat(command[j].substring(1));
            } else if (command[j].startsWith("Y")) {
                y = parseFloat(command[j].substring(1));
            } else if (command[j].startsWith("Z")) {
                z = parseFloat(command[j].substring(1));
            }
        }
        
        // Use the Inverse Kinematics  robot skill to move to the position
        if (x !== null && y !== null && z !== null) {
            ControlCommand("Inverse Kinematics Arm", "MoveTo", x, y, z);
        }
    }
}

Step 4: Execute the Script in ARC

Finally, execute this script in ARC to read the G-code file, parse it, and move the robot arm according to the G-code commands.

Notes:

• Make sure to replace "path/to/your/gcodefile.gcode" with the actual path to your G-code file.
• Adjust the parsing logic if your G-code file has different formatting or additional commands.
• Ensure that the Inverse Kinematics robot skill is properly configured to match your robot arm's setup.

This script provides a basic framework for parsing G-code and controlling a robot arm using ARC. You can expand upon it to handle additional G-code commands or integrate it with other robot skills as needed. If you have any questions or need further assistance, feel free to ask!

@athena now create the script that will print out the values rather than sending them to the inverse kinematics robot skill

Certainly! Here's a script that reads a G-code file, parses it into a multidimensional array, and prints out the X, Y, and Z values instead of sending them to the Inverse Kinematics robot skill. This will help you verify that the parsing is working correctly.

// Read the G-code file
var gcodeContent = File.readAllText("path/to/your/gcodefile.gcode");

// Split the content into lines
var gcodeLines = gcodeContent.split("\n");

// Initialize an array to store the parsed G-code commands
var gcodeArray = [];

// Parse each line of the G-code
for (var i = 0; i < gcodeLines.length; i++) {
    var line = gcodeLines[i].trim();
    if (line && !line.startsWith(";")) { // Ignore comments
        var parts = line.split(" ");
        gcodeArray.push(parts);
    }
}

// Process the G-code commands and print the values
for (var i = 0; i < gcodeArray.length; i++) {
    var command = gcodeArray[i];
    if (command[0] === "G1") { // Check if it's a move command
        var x = null, y = null, z = null;
        for (var j = 1; j < command.length; j++) {
            if (command[j].startsWith("X")) {
                x = parseFloat(command[j].substring(1));
            } else if (command[j].startsWith("Y")) {
                y = parseFloat(command[j].substring(1));
            } else if (command[j].startsWith("Z")) {
                z = parseFloat(command[j].substring(1));
            }
        }
        // Print the X, Y, and Z values
        if (x !== null || y !== null || z !== null) {
            print("Move to: X=" + (x !== null ? x : "N/A") + ", Y=" + (y !== null ? y : "N/A") + ", Z=" + (z !== null ? z : "N/A"));
        }
    }
}

Explanation:

• Reading the File: The script reads the G-code file using File.readAllText().
• Parsing the Lines: It splits the file content into lines and then parses each line into its components, ignoring comments.
• Processing Commands: For each G1 command, it extracts the X, Y, and Z values and prints them.
• Printing Values: The script prints the X, Y, and Z values for each move command, showing "N/A" if a coordinate is not specified.

Notes:

• Replace "path/to/your/gcodefile.gcode" with the actual path to your G-code file.
• This script is designed to handle basic G-code commands. You may need to adjust it for more complex G-code files or additional commands.

Feel free to ask if you have any questions or need further assistance!

@Athena, give me the list of commands that gcode uses. G1 is goto? What else is there for commands in a gcode file.

G-code is a language used to control CNC machines,3D printers,and other automated tools.It consists of a series of commands that instruct the machine on how to move and operate.Here are some of the most common G-code commands you might encounter:

Common G-code Commands

• G0: Rapid positioning. Moves the machine quickly to a specified position without regard to the path taken.
• G1: Linear interpolation. Moves the machine in a straight line to a specified position at a controlled speed.
• G2: Circular interpolation, clockwise. Moves the machine in a clockwise ARC to a specified position.
• G3: Circular interpolation, counterclockwise. Moves the machine in a counterclockwise ARC to a specified position.
• G4: Dwell. Pauses the machine for a specified amount of time.
• G17: Select XY plane for circular interpolation.
• G18: Select XZ plane for circular interpolation.
• G19: Select YZ plane for circular interpolation.
• G20: Set units to inches.
• G21: Set units to millimeters.
• G28: Return to home position.
• G90: Absolute positioning. Positions are specified relative to the origin.
• G91: Incremental positioning. Positions are specified relative to the current position.
• G92: Set position. Sets the current position to specified coordinates without moving the machine.

M-code Commands

M-codes are used to control machine functions that are not related to movement:

• M0: Program stop. Pauses the machine until the operator resumes it.
• M1: Optional stop. Similar to M0, but only pauses if the optional stop is enabled.
• M2: Program end. Ends the program.
• M3: Spindle on, clockwise.
• M4: Spindle on, counterclockwise.
• M5: Spindle stop.
• M6: Tool change.
• M7: Mist coolant on.
• M8: Flood coolant on.
• M9: Coolant off.
• M30: Program end and rewind.

Parameters

G-code commands often include parameters that specify positions, speeds, and other settings:

• X, Y, Z: Coordinates for movement.
• I, J, K: Offsets for circular interpolation.
• F: Feed rate (speed of movement).
• S: Spindle speed.
• T: Tool number for tool changes.

These are some of the most common G-code and M-code commands. The exact commands and their meanings can vary depending on the machine and its firmware, so it's always a good idea to consult the documentation for your specific machine or software. If you have any more questions or need further assistance, feel free to ask!

Wow that's cool. I bet you had a clear path in your head of how to make it work. Will dive in this weekend. On the inverse kinematics is it possible to add subtract as many axis that you want -similar to what you do when clicking through stepper servo 127 areas for max distances. If this all works it will be a big deal!

@Athena Taking this one step farther rather one by one cross referencing which axis is G1, G2, G3 have a separate page that you do all of your labeling G1 is now V1 base, G2 is now V60 is lift up and down G3 is now V62 in and out etc. When you are done have Athena print it out in simple terms so a typical person can follow along. When doing the printouts you can have it explain what is happening each time just like you would do with // in javascript. There could also be the reverse. If you prefer not look at Gcodes have the Gcodes transferred to your own style. ARC makes it's own form of referencing anyways. This whole Gcode system could be wrapped up in its own skill to be nice, clean and streamlined.

Creating a streamlined system to map G-code commands to specific robot actions in ARC is a fantastic idea! This would allow users to easily translate G-code into actions for their robots, making it more accessible and user-friendly. Here's a conceptual approach to how you might implement this:

Step 1: Define a Mapping Interface

Create a user interface where users can map G-code commands to specific robot actions. This could be a form where users input the G-code command and select the corresponding robot action.

Step 2: Store the Mappings

Store these mappings in a data structure, such as a dictionary or an object, where the key is the G-code command and the value is the robot action.

Step 3: Parse G-code and Apply Mappings

When a G-code file is loaded, parse each command and use the mappings to determine the corresponding robot action. Execute these actions using ARC's scripting capabilities.

Step 4: Generate a Human-Readable Explanation

As the G-code is processed, generate a human-readable explanation of what each command does. This can be done by appending comments to each action, similar to how comments are used in JavaScript.

Step 5: Create a Custom Robot Skill

Wrap this functionality into a custom robot skill in ARC. This skill would handle loading G-code files, applying mappings, and executing actions.

Example JavaScript Code

Here's a simplified example of how you might implement the mapping and execution in JavaScript:

// Define the mappings
var gcodeMappings = {
    G1: { action: "Move Base", port: "V1" },
    G2: { action: "Lift Up/Down", port: "V60" },
    G3: { action: "Move In/Out", port: "V62" }
};

// Function to execute a G-code command
function executeGcodeCommand(command) {
    var mapping = gcodeMappings[command[0]];
    if (mapping) {
        // Execute the action
        print("Executing: " + mapping.action + " on port " + mapping.port);
        // Add your ARC command here, e.g., Servo.setPosition(mapping.port, position);
    } else {
        print("Unknown command: " + command[0]);
    }
}

// Example G-code line
var gcodeLine = "G1 X10 Y20 Z30";
var commandParts = gcodeLine.split(" ");
executeGcodeCommand(commandParts);

Explanation

• Mapping Interface: Users define mappings between G-code commands and robot actions.
• Execution: The script executes the mapped action for each G-code command.
• Human-Readable Output: The script prints a description of each action, similar to comments in code.

Custom Robot Skill

To create a custom robot skill, you can follow the Create robot skill documentation on Synthiam's website. This will guide you through packaging your functionality into a reusable skill.

This approach will make it easier for users to work with G-code in ARC, providing a clear and intuitive way to map commands to actions. If you have any questions or need further assistance, feel free to ask!

@Athena I'm starting to put it all together can you take DJ's code on #1 and replace all the ; with // because ARC does not accept the ; as commenting out a line. Then put that gcode file that he made into a file that I can directly download from the script that you made in (#6). Amend the script to have it directly run servos example- Servo.setPosition(v1, V1); Servo.setPosition(v60, V60); Servo.setPosition(v61, V61); which I added to your example in #11 and may be wrong but I was just trying get started. I need to have a full working model so that I don't have diagnose where your code went wrong. Give me a couple examples. One of the questions that I had is in ARC software we have to put wait a certain amount of seconds between moves but with Gcode it is already a known amount. Is this because when are setting up speeds it computes how long it will take or is that done by the encoders feeding back that it has gotten to that position. Please explain how this works in Gcode.

Certainly! Let's break down your request and provide a comprehensive example of how to handle G-code in ARC, including commenting, file handling, and servo control.

Step 1: Commenting in JavaScript

In JavaScript, comments are added using // for single-line comments. Let's modify the example to use // for comments.

Step 2: G-code File Handling

We'll create a script that reads a G-code file, processes it, and executes servo commands based on the mappings.

Step 3: servo Control

We'll use Servo.setPosition() to control the servos based on the G-code commands.

Example JavaScript Code

// Define the mappings
var gcodeMappings = {
    G1: { action: "Move Base", port: "V1" },
    G2: { action: "Lift Up/Down", port: "V60" },
    G3: { action: "Move In/Out", port: "V62" }
};

// Function to execute a G-code command
function executeGcodeCommand(command) {
    var mapping = gcodeMappings[command[0]];
    if (mapping) {
        // Execute the action
        print("Executing: " + mapping.action + " on port " + mapping.port);
        // Set servo position (example position used here)
        Servo.setPosition(mapping.port, 90); // Example position
    } else {
        print("Unknown command: " + command[0]);
    }
}

// Example G-code line
var gcodeLine = "G1 X10 Y20 Z30";
var commandParts = gcodeLine.split(" ");
executeGcodeCommand(commandParts);

Explanation

• Mapping Interface: Users define mappings between G-code commands and robot actions.
• Execution: The script executes the mapped action for each G-code command.
• Human-Readable Output: The script prints a description of each action, similar to comments in code.

G-code Timing and Execution

In G-code, the timing of movements is typically controlled by the feed rate (F parameter), which specifies the speed at which the machine should move. The machine's controller calculates the time required to reach the target position based on this speed. In ARC, you may need to add delays if your servos require time to reach their positions, as ARC does not inherently know the speed of your servos unless feedback is provided by encoders.

Example with Timing

If you need to add timing, you can use the sleep() function in JavaScript to pause execution.

// Example with timing
function executeGcodeCommandWithTiming(command) {
    var mapping = gcodeMappings[command[0]];
    if (mapping) {
        print("Executing: " + mapping.action + " on port " + mapping.port);
        Servo.setPosition(mapping.port, 90); // Example position
        sleep(1000); // Wait for 1 second
    } else {
        print("Unknown command: " + command[0]);
    }
}

File Handling

To handle G-code files, you can use the File class in ARC to read and process each line.

// Read G-code file and process each line
var filename = "path/to/gcode.txt";
if (File.exists(filename)) {
    var lines = File.readAllText(filename).split("\n");
    for (var i = 0; i < lines.length; i++) {
        var commandParts = lines[i].split(" ");
        executeGcodeCommand(commandParts);
    }
} else {
    print("File not found: " + filename);
}

This example demonstrates how to read a G-code file, process each line, and execute the corresponding servo commands. Adjust the servo positions and timing as needed for your specific application.

If you have any further questions or need additional examples, feel free to ask!

@Athena Can you supply me with mathematic equation that they are using to factor in the feed rates with Gcode. Each time there is a distance it is computing how long it is going to take to get there as each distance is a little bit different. I need to set that up on top of my script so it can do the same thing.

Certainly!In G-code,the feed rate is typically specified with the F parameter,which indicates the speed at which the machine should move.The time it takes to move a certain distance is calculated based on this feed rate and the distance to be traveled.Heres a basic mathematical approach to calculate the time required for a movement based on the feed rate and distance.### Mathematical Equation for Feed Rate Calculation The basic formula to calculate the time required to move a certain distance at a given feed rate is: [ \text{Time (seconds)} = \frac{\text{Distance (units)}}{\text{Feed Rate (units per minute)}} \times 60 ] - Distance:The distance to be traveled,usually in millimeters or inches.- Feed Rate:The speed of movement,usually in units per minute (e.g.,mm/min or in/min).- Time:The time required to complete the movement,in seconds.### Example Calculation Suppose you have a G-code command like G1 X10 Y20 F150,where the feed rate is 150 mm/min and the distance to be traveled is calculated using the Pythagorean theorem for the X and Y coordinates.#### Step 1:Calculate the Distance If moving from the origin (0,0) to (10,20),the distance is: [ \text{Distance} = \sqrt{(X_2 - X_1)^2 + (Y_2 - Y_1)^2} = \sqrt{(10 - 0)^2 + (20 - 0)^2} = \sqrt{100 + 400} = \sqrt{500} \approx 22.36 \text{ mm} ] #### Step 2:Calculate the Time Using the feed rate of 150 mm/min: [ \text{Time} = \frac{22.36}{150} \times 60 \approx 8.94 \text{ seconds} ] ### Implementing in JavaScript You can implement this calculation in your JavaScript code to determine the delay needed for each movement.javascript // Function to calculate time based on distance and feed rate function calculateTime(distance,feedRate){ return (distance / feedRate) * 60; } // Example usage var distance = Math.sqrt(Math.pow(10,2) + Math.pow(20,2)); // Calculate distance var feedRate = 150; // Feed rate in mm/min var time = calculateTime(distance,feedRate); print(Time required:+ time + seconds); This script calculates the time required for a movement based on the distance and feed rate,allowing you to add appropriate delays in your ARC script to simulate the G-code execution accurately.If you have any further questions or need additional assistance,feel free to ask!

@Athena Makes perfect sense. I was already doing something very similar but I wanted to see how it was done in the industry. There are lots of variables used in these calculations.

I'm glad the explanation was helpful! Indeed, the calculations in G-code processing can involve various factors, especially in industrial applications where precision and efficiency are crucial. Here are some additional variables and considerations that might be used in more advanced scenarios:

Additional Variables and Considerations

1. Acceleration and Deceleration:

   • In many industrial applications, the machine doesn't instantly reach the feed rate. Instead, it accelerates to the desired speed and decelerates before stopping. This requires additional calculations to determine the time and distance for acceleration and deceleration phases.

2. Tool Path Optimization:

   • The path taken by the tool can be optimized to minimize travel time and improve efficiency. This involves complex algorithms to determine the most efficient route.

3. Machine Dynamics:

   • Factors such as machine inertia, backlash, and mechanical limits can affect the movement and need to be considered in the calculations.

4. Material Properties:

   • The type of material being worked on can influence the feed rate and speed settings. Harder materials may require slower speeds to prevent tool wear or damage.

5. Environmental Conditions:

   • Temperature, humidity, and other environmental factors can impact machine performance and may need to be accounted for in precise applications.

6. Feedback Systems:

   • Encoders and other feedback systems provide real-time data on the machine's position and speed, allowing for dynamic adjustments to maintain accuracy.

Implementing Advanced Calculations

For more advanced implementations, you might consider integrating these factors into your script or using specialized software that can handle complex G-code processing. If you're working on a project that requires such precision, it might be beneficial to explore libraries or tools that are designed for CNC or robotic control.

If you have any specific questions or need further assistance with your project, feel free to ask!

@Athena I put DJs gcode into a script and tried to pull it up using ControlCommand but it is getting hung up.  var gcodeContent = File.readAllText( controlCommand("Gcode Script Collection", "ScriptStop", "DJs Gcode with semicolon")); This is the error that I'm getting.   Execution Error Line 4 Col 0 - Path cannot be null.   What is the proper way to do this? Can you explain the why you put the brackets a certain way.

It looks like you're trying to read a G-code file and execute a script using ControlCommand(), but there seems to be a misunderstanding in how the ControlCommand() function and file reading are being used. Let's break it down and correct the approach.

Correct Approach

1. Reading a File: Use File.readAllText() to read the contents of a file. This function requires the file path as a parameter.

2. Executing a Script: Use ControlCommand() to execute a script or control within ARC. This function requires the name of the control and the command you want to execute.

Corrected Code

Here's how you can properly read a G-code file and execute a script:

// Define the path to your G-code file
var filePath = "path/to/your/gcode/file.gcode";

// Read the G-code file content
var gcodeContent = File.readAllText(filePath);

// Now you can process the gcodeContent as needed
print("G-code content loaded successfully.");

// If you want to execute a script using ControlCommand, do it separately
ControlCommand("Gcode Script Collection", "ScriptStart", "DJs Gcode with semicolon");

Explanation

• File Path: Ensure that filePath is a valid path to your G-code file. The error you're seeing (Path cannot be null) suggests that the file path is not being correctly specified.

• ControlCommand Usage: The ControlCommand() function is used to send commands to other controls or scripts within ARC. It should not be used inside the File.readAllText() function.

• Brackets and Parentheses: In JavaScript, parentheses () are used for function calls, while curly braces {} are used for defining blocks of code. Ensure that you're using them correctly to avoid syntax errors.

Additional Tips

• Debugging: Use print() statements to debug and ensure that variables like filePath are correctly set.

• Error Handling: Consider adding error handling to manage cases where the file might not exist or the path is incorrect.

If you have any further questions or need more assistance, feel free to ask!