From fbf7f5bdcad5e9105dcd2afbe487e81c5738b63b Mon Sep 17 00:00:00 2001
From: Michael Fogleman <fogleman@gmail.com>
Date: Sat, 19 Oct 2019 16:38:04 -0400
Subject: [PATCH] handibot

---
 examples/handibot-polygons.py | 75 +++++++++++++++++++++++++++++++++++
 1 file changed, 75 insertions(+)
 create mode 100644 examples/handibot-polygons.py

diff --git a/examples/handibot-polygons.py b/examples/handibot-polygons.py
new file mode 100644
index 0000000..6bea325
--- /dev/null
+++ b/examples/handibot-polygons.py
@@ -0,0 +1,75 @@
+from math import *
+from shapely import geometry, ops
+import axi
+
+W = 6
+H = 8
+BOUNDS = (0, 0, W, H)
+
+BIT_RADIUS = 0.125
+
+def regular_polygon(n, x, y, r):
+    points = []
+    for i in range(n):
+        t = 2 * pi / n * i
+        points.append((x + r * cos(t), y + r * sin(t)))
+    points.append(points[0])
+    return points
+
+def polygon_splits(n, x, y, r, b):
+    lines = []
+    for i in range(n):
+        t = 2 * pi / n * (i + 0.5)
+        lines.append([(x, y), (x + r * cos(t), y + r * sin(t))])
+    return geometry.MultiLineString(lines).buffer(b)
+
+def polygon(n, r, br, notch=False):
+    p = regular_polygon(n, 0, 0, r)
+    g = geometry.Polygon(p)
+    g = g.buffer(br).exterior
+    if notch:
+        g = g.difference(polygon_splits(n, 0, 0, r * 2, br * 2))
+        g = ops.linemerge(g)
+    p = axi.shapely_to_paths(g)
+    return axi.Drawing(p).origin()
+
+def drawings_to_gcode(ds, zs, z0, f):
+    lines = []
+    lines.append('G90') # absolute coordinates
+    lines.append('G20') # inches
+    lines.append('G0 Z%g' % z0) # jog to z0
+    lines.append('M4') # turn on router
+    lines.append('G4 P2.0') # dwell for N seconds
+    lines.append('F%g' % f) # set feed rate (inches per minute)
+    for d, z in zip(ds, zs):
+        for path in d.paths:
+            # jog to first point
+            x, y = path[0]
+            lines.append('G0 X%g Y%g' % (x, y))
+            # move z down
+            lines.append('G1 Z%g' % z)
+            # draw path
+            for x, y in path[1:]:
+                lines.append('G1 X%g Y%g' % (x, y))
+            # move z up
+            lines.append('G1 Z%g' % z0)
+    lines.append('M8')
+    lines.append('G0 X0 Y0')
+    return '\n'.join(lines)
+
+def main():
+    d0 = polygon(3, 3 / sqrt(3), BIT_RADIUS, False)
+    d1 = polygon(3, 3 / sqrt(3), BIT_RADIUS, True)
+
+    ds = [d0, d0, d1]
+    ds = [d.translate(1, 1) for d in ds]
+    zs = [-0.25, -0.5, -0.75]
+
+    g = drawings_to_gcode(ds, zs, 0.5, 30)
+    print(g)
+
+    for i, (d, z) in enumerate(zip(ds, zs)):
+        d.render(bounds=BOUNDS).write_to_png('z%g.png' % z)
+
+if __name__ == '__main__':
+    main()