Method XYZB_gcode

lab/fullcontrol/multiaxis/gcode/XYZB/point.py:10–21

generate XYZBC gcode string to move from a point p to this point. return XYZB string

(self, self_systemXYZ, p)

    b: Optional[float] = None

    def XYZB_gcode(self, self_systemXYZ, p) -> float:
        'generate XYZBC gcode string to move from a point p to this point. return XYZB string'
        s = ''
        if self_systemXYZ.x != None and self_systemXYZ.x != p.x:
            s += f'X{round(self_systemXYZ.x, 6):.6} '
        if self_systemXYZ.y != None and self_systemXYZ.y != p.y:
            s += f'Y{round(self_systemXYZ.y, 6):.6} '
        if self_systemXYZ.z != None and self_systemXYZ.z != p.z:
            s += f'Z{round(self_systemXYZ.z, 6):.6} '
        if self_systemXYZ.b != None and self_systemXYZ.b != p.b:
            s += f'B{round(self_systemXYZ.b, 6):.6f} '
        return s if s != '' else None

    def inverse_kinematics(self, state):
        'calculate system XYZ for the current point XYZ (in part coordinates)'