add max z feedrate. fix first point x,y and z moves split
This commit is contained in:
Stewart Allen
parent
cbf3e2ff1a
commit
958c4b8d7f
7 changed files with 157 additions and 126 deletions
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@ -12,6 +12,7 @@
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UTIL = BASE.util,
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POLY = BASE.polygons,
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CAM = KIRI.driver.CAM = {
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init,
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slice,
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sliceRender,
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printSetup,
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@ -47,6 +48,14 @@
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newPolygon = BASE.newPolygon,
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time = UTIL.time;
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function init(kiri, api) {
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api.event.on("mode.set", (mode) => {
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let isCAM = mode === 'CAM';
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$('set-tools').style.display = isCAM ? '' : 'none';
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kiri.space.platform.setColor(isCAM ? 0xeeeeee : 0xcccccc);
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});
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}
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function getToolById(settings, id) {
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for (let i=0, t=settings.tools; i<t.length; i++) {
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if (t[i].id === id) return t[i];
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@ -1341,75 +1350,72 @@
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let rate = feedRate;
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if (!lastPoint) {
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// before first point, move cutting head to point above it
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layerPush(point.clone().setZ(zmax), 0, 0, tool.number);
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// then set that as the lastPoint
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lastPoint = newPoint(origin.x, origin.y, point.z);
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}
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// only when we have a previous point to compare to
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// TODO obsolete check. lastPoint now synthesized.
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if (lastPoint) {
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let deltaXY = lastPoint.distTo2D(point),
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deltaZ = point.z - lastPoint.z,
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absDeltaZ = Math.abs(deltaZ),
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isMove = !cut;
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// drop points too close together
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if (deltaXY < 0.001 && point.z === lastPoint.z) {
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console.trace(["drop dup",lastPoint,point]);
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return;
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}
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if (isMove && deltaXY <= toolDiamMove) {
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// convert short planar moves to cuts
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if (absDeltaZ <= tolerance) {
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cut = 1;
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isMove = false;
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} else if (deltaZ <= -tolerance) {
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// move over before descending
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layerPush(point.clone().setZ(lastPoint.z), 0, 0, tool.number);
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// new pos for plunge calc
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deltaXY = 0;
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}
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} //else (TODO verify no else here b/c above could change isMove)
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// move over things
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if ((deltaXY > toolDiam || (deltaZ > toolDiam && deltaXY > tolerance)) && (isMove || absDeltaZ >= tolerance)) {
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let maxz = toolProfile ? MAX(
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getTopoZPathMax(
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widget,
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toolProfile,
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lastPoint.x - wmx,
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lastPoint.y - wmy,
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point.x - wmx,
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point.y - wmy) + zadd,
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point.z,
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lastPoint.z) : zmax,
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mustGoUp = MAX(maxz - point.z, maxz - lastPoint.z) >= tolerance,
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clearz = maxz;
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// up if any point between higher than start/finish
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if (mustGoUp) {
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clearz = maxz + zclear;
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layerPush(lastPoint.clone().setZ(clearz), 0, 0, tool.number);
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}
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// over to point above where we descend to
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if (mustGoUp || point.z < maxz) {
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layerPush(point.clone().setZ(clearz), 0, 0, tool.number);
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// new pos for plunge calc
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deltaXY = 0;
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}
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}
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// synth new plunge rate
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if (deltaZ <= -tolerance) {
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let threshold = MIN(deltaXY / 2, absDeltaZ),
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modifier = threshold / absDeltaZ;
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if (threshold && modifier && deltaXY > tolerance) {
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// use modifier to speed up long XY move plunge rates
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rate = Math.round(plungeRate + ((feedRate - plungeRate) * modifier));
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} else {
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rate = plungeRate;
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}
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// console.log({deltaZ: deltaZ, deltaXY: deltaXY, threshold:threshold, modifier:modifier, rate:rate, plungeRate:plungeRate});
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}
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} else {
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// before first point, move cutting head to point above it
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layerPush(point.clone().setZ(zmax), 0, 0, tool.number);
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let deltaXY = lastPoint.distTo2D(point),
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deltaZ = point.z - lastPoint.z,
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absDeltaZ = Math.abs(deltaZ),
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isMove = !cut;
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// drop points too close together
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if (deltaXY < 0.001 && point.z === lastPoint.z) {
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console.trace(["drop dup",lastPoint,point]);
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return;
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}
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if (isMove && deltaXY <= toolDiamMove) {
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// convert short planar moves to cuts
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if (absDeltaZ <= tolerance) {
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cut = 1;
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isMove = false;
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} else if (deltaZ <= -tolerance) {
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// move over before descending
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layerPush(point.clone().setZ(lastPoint.z), 0, 0, tool.number);
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// new pos for plunge calc
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deltaXY = 0;
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}
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} //else (TODO verify no else here b/c above could change isMove)
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// move over things
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if ((deltaXY > toolDiam || (deltaZ > toolDiam && deltaXY > tolerance)) && (isMove || absDeltaZ >= tolerance)) {
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let maxz = toolProfile ? MAX(
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getTopoZPathMax(
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widget,
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toolProfile,
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lastPoint.x - wmx,
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lastPoint.y - wmy,
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point.x - wmx,
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point.y - wmy) + zadd,
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point.z,
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lastPoint.z) : zmax,
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mustGoUp = MAX(maxz - point.z, maxz - lastPoint.z) >= tolerance,
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clearz = maxz;
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// up if any point between higher than start/finish
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if (mustGoUp) {
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clearz = maxz + zclear;
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layerPush(lastPoint.clone().setZ(clearz), 0, 0, tool.number);
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}
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// over to point above where we descend to
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if (mustGoUp || point.z < maxz) {
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layerPush(point.clone().setZ(clearz), 0, 0, tool.number);
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// new pos for plunge calc
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deltaXY = 0;
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}
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}
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// synth new plunge rate
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if (deltaZ <= -tolerance) {
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let threshold = MIN(deltaXY / 2, absDeltaZ),
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modifier = threshold / absDeltaZ;
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if (threshold && modifier && deltaXY > tolerance) {
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// use modifier to speed up long XY move plunge rates
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rate = Math.round(plungeRate + ((feedRate - plungeRate) * modifier));
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} else {
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rate = plungeRate;
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}
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// console.log({deltaZ: deltaZ, deltaXY: deltaXY, threshold:threshold, modifier:modifier, rate:rate, plungeRate:plungeRate});
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}
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// todo synthesize move speed from feed / plunge accordingly
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layerPush(
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point,
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@ -1779,12 +1785,6 @@
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function moveTo(out) {
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let newpos = out.point;
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// first point out sets the current position (but not Z)
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if (points === 0) {
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pos.x = newpos.x;
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pos.y = newpos.y;
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}
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// no point == dwell
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// out.speed = time to dwell in ms
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if (!newpos) {
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@ -1808,13 +1808,32 @@
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filterEmit(cmdToolChange, consts);
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}
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// first point out sets the current position (but not Z)
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// hacky AF way to split initial x,y,z into z then x,y
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if (points === 0) {
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pos.x = pos.y = pos.z = 0;
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points++;
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moveTo({
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tool: out.tool,
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point: { x: 0, y: 0, z: newpos.z },
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speed: spro.camFastFeedZ
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});
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moveTo({
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tool: out.tool,
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point: { x: newpos.x, y: newpos.y, z: newpos.z },
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speed: spro.camFastFeed
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});
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points--;
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return;
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}
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let speed = out.speed,
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feed = speed || spro.camFastFeed,
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nl = [speed ? 'G1' : 'G0'],
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dx = newpos.x - pos.x,
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dy = newpos.y - pos.y,
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dz = newpos.z - pos.z,
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dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
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dist = Math.sqrt(dx * dx + dy * dy + dz * dz),
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feed = Math.min(speed || spro.camFastFeed, dz ? spro.camFastFeedZ : spro.camFastFeed);
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// drop dup points (all deltas are 0)
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if (!(dx || dy || dz)) {
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