grid-apps-cmms/web/kiri/engine.html
2025-05-15 13:12:40 -06:00

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<html>
<head lang="en">
<title>Kiri:Moto Javascript Engine API</title>
<meta charset="UTF-8" />
<meta name="keywords" content="browser,slicer,3d print,free,3d slicer,3d slicing,fdm,sla,cnc,cam,machining,toolpaths,toolpath generation,construction systems,kirimoto,metamoto,kiri:moto,kiri,gridbot" />
<meta name="description" content="Kiri:Moto Javascript Engine API" />
<meta property="og:description" content="Embed the Kiri:Moto slicing engine with a Javascript API">
<meta property="og:title" content="Kiri:Moto Javascript Engine API">
<meta property="og:type" content="website">
<meta property="og:url" content="https://grid.space/kiri/engine.html">
<meta property="og:image" content="//static.grid.space/img/logo_gs_og.png">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<link rel="icon" href="//static.grid.space/img/favicon.ico">
<link rel="apple-touch-icon" href="//static.grid.space/img/favicon-mobile.png">
<style>
body {
display: flex;
flex-direction: column;
align-items: center;
font-family: sans-serif;
}
#demo {
display: flex;
flex-direction: row;
}
#loadExample #examples {
display:flex;
flex-direction: row;
}
#loadExample #examples button {
margin-right: 1rem;
}
#jcode, #gcode {
width: 400px;
height: 400px;
margin: 5px;
border-radius: 3px;
border: 1px solid #aaa;
}
#jcode, #gcode {
display: flex;
flex-direction: column;
}
#jhead, #ghead {
padding: 3px;
text-align: center;
background-color: rgba(61,133,198,0.25);
border-bottom: 1px solid #aaa;
}
#jbody, #gbody {
flex-grow: 1;
}
#jfoot, #dfoot {
display: flex;
flex-direction: row;
justify-content: center;
}
#jfoot button, #dfoot button {
width: 100%;
}
#gbody {
font-family: monospace;
font-size: smaller;
white-space: pre;
overflow: auto;
}
#gfoot {
display: none;
background-color: rgba(61,133,198,0.25);
border-top: 1px solid #aaa;
padding: 3px;
text-align: center;
}
body div {
width: 812px;
}
#download {
display: none;
}
li {
list-style: circle;
}
li label {
white-space: pre;
font-family: monospace;
}
</style>
<script src="https://cdnjs.cloudflare.com/ajax/libs/ace/1.4.12/ace.js"></script>
<script src="/code/engine.js"></script>
<script>
let edit, saveit = "";
function $(id) { return document.getElementById(id) }
function onload() {
edit = ace.edit($("jbody"), {
mode: "ace/mode/javascript",
theme: "ace/theme/chrome",
selectionStyle: "text"
});
edit.session.setTabSize(4);
edit.session.setUseSoftTabs(true);
let FDMExample = loadExample(demoFDM)
}
function display_message(msg) {
$('gfoot').innerText = msg ? Object.keys(msg).join(' - ') : '';
}
function display_gcode(gcode) {
$('gbody').innerText = saveit = gcode;
display_message();
$('dfoot').style.display = 'block';
$('gfoot').style.display = '';
}
function loadExample(func){
let fnstr = func.toString().split("\n");
edit.session.setValue(
fnstr
.slice(1,fnstr.length - 1)
.map(l => l.replace(" ",""))
.join('\n')
)
}
function run_code() {
$('dfoot').style.display = 'none';
$('gfoot').style.display = 'block';
let code = edit.session.getValue();
eval(`(function(){${code}})()`);
}
function demoFDM() {
kiri.newEngine()
.setListener(display_message)
.load("/obj/cube.stl")
.then(eng => eng.setProcess({
}))
.then(eng => eng.setDevice({
gcodePre: [ "M82", "M104 S220" ],
gcodePost: [ "M107" ]
}))
.then(eng => eng.slice())
.then(eng => eng.prepare())
.then(eng => eng.export())
.then(display_gcode);
}
function demoCAM(){
kiri.newEngine()
.setListener(display_message)
.load("/obj/cube.stl")
// should to call widget.setTopZ here ideally
.then(eng => eng.setMode("CAM"))
.then(eng => eng.setStock({
"x": 25,
"y": 25,
"z": 25,
"center": {
"x": 0,
"y": 0,
"z": 12.5
}
}))
.then(eng => eng.moveTo(50, 0, 0))
.then(eng=> eng.setTools([{
id: 1000,
number: 1,
type: "endmill",
name: "end 1/4",
metric: false,
shaft_diam: 0.25,
shaft_len: 1,
flute_diam: 0.25,
flute_len: 2,
taper_tip: 0,
order: 5
}]))
.then(eng => eng.setProcess({
camEaseAngle:10,
camEaseDown:true,
camZAnchor: "bottom",
camDepthFirst : false,
camZThru: 1.524,
camZBottom:-25, // temp hack to get around setTopZ bug
camToolInit: true,
ops: [{
type: "outline",
tool: 1000,
spindle: 13000,
step: 0.4,
steps: 1,
down: 5.08,
rate: 635,
plunge: 51,
dogbones: false,
omitvoid: false,
omitthru: false,
outside: false,
inside: false,
wide: false,
top: false,
ov_topz: 0,
ov_botz: 0,
ov_conv: true
}
]
}))
.then(eng => eng.setDevice({
mode: "CAM",
internal: 0,
bedHeight: 2.5,
bedWidth: 678.18,
bedDepth: 1524,
maxHeight: 150,
originCenter: false,
spindleMax: 24000,
gcodePre: [
"G20 ; set units to inches (required)",
"G90 ; absolute position mode (required)"
],
gcodePost: [
"M05 ; spindle off",
"M30 ; program end"
],
gcodeDwell: [
"G4 P{time} ; dwell for {time}ms"
],
gcodeSpindle: [
"M3 S{speed} ; spindle on at {spindle} rpm"
],
gcodeChange: [
"M05 ; spindle off",
"M6 T{tool} ; change tool to '{tool_name}'",
"G37; get tool offset with ETS"
],
gcodeFExt: "nc",
gcodeSpace: true,
gcodeStrip: false,
deviceName: "Tormach.24R",
useLaser: false
}))
.then(eng => eng.slice())
.then(eng => eng.prepare())
.then(eng => eng.export())
.then(display_gcode);
}
function demoLASER(){
kiri.newEngine()
.setListener(display_message)
.load("/obj/cube.stl")
// should to call widget.setTopZ here ideally
.then(eng => eng.setMode("LASER"))
.then(eng => eng.setStock({
"x": 25,
"y": 25,
"z": 24.999998092651367,
"center": {
"x": 0,
"y": 0,
"z": 12.499999046325684
}
}))
.then(eng => eng.setProcess({
"processName": "default",
"ctSliceKerf": 0.1,
"ctSliceHeight": 0.5,
"ctSliceHeightMin": 0,
"ctSliceSingle": false,
"ctOutTileSpacing": 1,
"ctOutPower": 100,
"ctOutSpeed": 1000,
"ctOutGroup": true,
"ctOutZColor": false,
"ctOutLayer": false,
"ctOutMark": false,
"ctOutStack": false,
"ctOutMerged": false,
"ctOriginCenter": false,
"ctOriginBounds": false,
"outputInvertX": false,
"outputInvertY": false,
"ctOutKnifeDepth": 1,
"ctOutKnifePasses": 1,
"ctOutKnifeTip": 2,
"ctOutInches": false,
"ctOutShaper": false
}))
.then(eng => eng.setDevice({
"mode": "LASER",
"internal": 0,
"bedHeight": 2.5,
"bedWidth": 600,
"bedDepth": 308,
"maxHeight": 150,
"gcodePre": [],
"gcodePost": [],
"gcodeFExt": "svg",
"gcodeSpace": true,
"gcodeLaserOn": [],
"gcodeLaserOff": [],
"new": false,
"deviceName": "Xtool.P2",
"imageURL": "",
"laserMaxPower": 255,
"bedBelt": false,
"bedRound": false,
"originCenter": false,
"fwRetract": false
}))
.then(eng => eng.slice())
.then(eng => eng.prepare())
.then(eng => eng.export())
.then(display_gcode);
}
function download() {
let blob = new Blob([saveit], {type: "octet/stream"});
let url = window.URL.createObjectURL(blob);
let filename = window.prompt("Enter filename", "sample.gcode");
$('download').innerHTML = `<a id="xo" href="${url}" download="${filename}"></a>`;
$('xo').click();
}
</script>
</head>
<body onload="onload()">
<h2 id="title">Kiri:Moto Javascript Engine <a href="https://docs.grid.space/projects/kiri-moto/apis">API</a></h2>
<div id="demo">
<div id="jcode">
<div id="jhead">JavaScript</div>
<div id="jbody"></div>
<div id="jfoot"><button onclick="run_code()">run code</button></div>
</div>
<div id="gcode">
<div id="ghead">Output</div>
<div id="gbody"></div>
<div id="gfoot"></div>
<div id="dfoot"><button onclick="download()">download</button></div>
</div>
</div>
<div id="loadExample">
<h2>Load Examples</h2>
<div id="examples">
<button onclick="loadExample(demoFDM)">Load FDM Example</button>
<button onclick="loadExample(demoCAM)">Load CAM Example</button>
<button onclick="loadExample(demoLASER)">Load LASER Example</button>
</div>
</div>
<div id="api">
<h2>Engine Methods</h2>
<li><label>load(url)</label> - where URL points to an STL</li>
<li><label>parse(data)</label> - where data is a string or binary STL</li>
<li><label>setMode(mode)</label> - FDM, CAM, LASER, SLA (untested)</li>
<li><label>setListener(fn)</label> - function to receive engine progress messages</li>
<li><label>setDevice(options)</label> - change default object parameters</li>
<li><label>setProcess(options)</label> - change default process parameters</li>
<li><label>setStock(options)</label> - set stock dimensions for CAM mode</li>
<li><label>setTools(tools)</label> - set available tools for CAM operations</li>
<li><label>moveTo(x,y,z)</label> - absolute move origin of loaded object</li>
<li><label>move(x,y,z)</label> - relative move origin of loaded object</li>
<li><label>scale(x,y,z)</label> - scale axes of loaded object</li>
<li><label>rotate(x,y,z)</label> - rotate axes of loaded object in radians</li>
<li><label>slice()</label> - async slice loaded object</li>
<li><label>prepare()</label> - async path routing of slice data</li>
<li><label>export()</label> - async gcode generation from path routing</li>
</div>
<div id="deviceOptions">
<h2>Device Options</h2>
</div>
<div id="toolOptions">
<h2>Tool Options</h2>
<p>
Tool options are only relevant for <a href="#cam">CAM mode</a>. If you aren't using CAM mode, this section can be ignored. <br>
Each CAM Operation has a <code>tool</code> parameter, which is a
refrence to a tool ID in the tool list (not to be confused with the tool number).
the <code>setTools</code> function accepts an array of objects with the following parameters:
<table>
<thead>
<tr>
<th>Parameter</th>
<th>Default Value</th>
</tr>
</thead>
<tbody>
<tr><td>id</td><td>1000</td></tr>
<tr><td>number</td><td>1</td></tr>
<tr><td>type</td><td>"endmill"</td></tr>
<tr><td>name</td><td>"end 1/4"</td></tr>
<tr><td>metric</td><td>false</td></tr>
<tr><td>shaft_diam</td><td>0.25</td></tr>
<tr><td>shaft_len</td><td>1</td></tr>
<tr><td>flute_diam</td><td>0.25</td></tr>
<tr><td>flute_len</td><td>2</td></tr>
<tr><td>taper_tip</td><td>0</td></tr>
<tr><td>order</td><td>5</td></tr>
</tbody>
</table>
</p>
</div>
<div id="processOptions">
<h2>Process Options</h2>
<p>
The process options for a given mode determine the global parameters for how an object is processed.
Some process options are mode-specific, and some are shared between modes.
</p>
<div id="global">
<h3>Global</h3>
</div>
<div id="fdm">
<h3>FDM</h3>
<p>
<table border="1" cellpadding="4" cellspacing="0">
<thead>
<tr>
<th>Parameter</th>
<th>Default Value</th>
<th>Param Type</th>
<th>Short Description</th>
</tr>
</thead>
<tbody>
<tr><td>processName</td><td>default</td><td>string</td><td>Name of the slicing process profile</td></tr>
<tr><td>sliceAngle</td><td>45</td><td>number</td><td>Angle of slicing fill pattern (degrees)</td></tr>
<tr><td>sliceHeight</td><td>0.25</td><td>number</td><td>Layer height in millimeters</td></tr>
<tr><td>sliceShells</td><td>3</td><td>number</td><td>Number of perimeter shells</td></tr>
<tr><td>sliceShellOrder</td><td>in-out</td><td>string</td><td>Shell printing order (e.g., inside-out)</td></tr>
<tr><td>sliceLayerStart</td><td>last</td><td>string</td><td>Starting layer for slicing</td></tr>
<tr><td>sliceLayerStartX</td><td>0</td><td>number</td><td>X offset for slice start</td></tr>
<tr><td>sliceLayerStartY</td><td>0</td><td>number</td><td>Y offset for slice start</td></tr>
<tr><td>sliceLineWidth</td><td>0</td><td>number</td><td>Line width for slicing (0 = auto)</td></tr>
<tr><td>sliceFillGrow</td><td>0</td><td>number</td><td>Offset to expand fill area</td></tr>
<tr><td>sliceFillAngle</td><td>45</td><td>number</td><td>Fill pattern angle (degrees)</td></tr>
<tr><td>sliceFillWidth</td><td>1</td><td>number</td><td>Width of fill lines</td></tr>
<tr><td>sliceFillOverlap</td><td>0.35</td><td>number</td><td>Overlap ratio of fill to shells</td></tr>
<tr><td>sliceFillSparse</td><td>0.25</td><td>number</td><td>Fill sparsity (density fraction)</td></tr>
<tr><td>sliceFillRepeat</td><td>1</td><td>number</td><td>Number of fill pattern repetitions</td></tr>
<tr><td>sliceFillRate</td><td>0</td><td>number</td><td>Fill print speed multiplier (0 = default)</td></tr>
<tr><td>sliceSolidRate</td><td>0</td><td>number</td><td>Solid fill print speed multiplier</td></tr>
<tr><td>sliceFillType</td><td>hex</td><td>string</td><td>Type of fill pattern</td></tr>
<tr><td>sliceSupportDensity</td><td>0.1</td><td>number</td><td>Density of support material</td></tr>
<tr><td>sliceSupportOffset</td><td>1</td><td>number</td><td>Distance between support and model</td></tr>
<tr><td>sliceSupportGap</td><td>1</td><td>number</td><td>Gap between supports</td></tr>
<tr><td>sliceSupportSize</td><td>5</td><td>number</td><td>Size of support elements</td></tr>
<tr><td>sliceSupportArea</td><td>0.1</td><td>number</td><td>Minimum area for support generation</td></tr>
<tr><td>sliceSupportSpan</td><td>5</td><td>number</td><td>Span length for supports</td></tr>
<tr><td>sliceSupportGrow</td><td>0</td><td>number</td><td>Extra growth around supports</td></tr>
<tr><td>sliceSupportExtra</td><td>0</td><td>number</td><td>Additional support material (unclear)</td></tr>
<tr><td>sliceSupportAngle</td><td>50</td><td>number</td><td>Max overhang angle for supports (degrees)</td></tr>
<tr><td>sliceSupportNozzle</td><td>0</td><td>number</td><td>Nozzle index for support extrusion</td></tr>
<tr><td>sliceSupportEnable</td><td>false</td><td>bool</td><td>Enable or disable support generation</td></tr>
<tr><td>sliceSupportOutline</td><td>true</td><td>bool</td><td>Print outline for supports</td></tr>
<tr><td>sliceZInterleave</td><td>false</td><td>bool</td><td>Interleave support layers in Z</td></tr>
<tr><td>sliceSolidMinArea</td><td>1</td><td>number</td><td>Minimum area to treat as solid</td></tr>
<tr><td>sliceBottomLayers</td><td>3</td><td>number</td><td>Number of solid bottom layers</td></tr>
<tr><td>sliceTopLayers</td><td>3</td><td>number</td><td>Number of solid top layers</td></tr>
<tr><td>firstSliceHeight</td><td>0.25</td><td>number</td><td>Height of first layer</td></tr>
<tr><td>firstLayerRate</td><td>30</td><td>number</td><td>First layer print speed</td></tr>
<tr><td>firstLayerFillRate</td><td>35</td><td>number</td><td>First layer fill print speed</td></tr>
<tr><td>firstLayerPrintMult</td><td>1</td><td>number</td><td>Multiplier for first layer print speed</td></tr>
<tr><td>firstLayerLineMult</td><td>1</td><td>number</td><td>Multiplier for first layer line width</td></tr>
<tr><td>firstLayerYOffset</td><td>0</td><td>number</td><td>Y offset for first layer</td></tr>
<tr><td>firstLayerNozzleTemp</td><td>0</td><td>number</td><td>First layer nozzle temperature (°C)</td></tr>
<tr><td>firstLayerBedTemp</td><td>0</td><td>number</td><td>First layer bed temperature (°C)</td></tr>
<tr><td>firstLayerBrim</td><td>0</td><td>number</td><td>Number of brim lines</td></tr>
<tr><td>firstLayerBrimIn</td><td>0</td><td>number</td><td>Brim inset (distance)</td></tr>
<tr><td>firstLayerBrimTrig</td><td>0</td><td>number</td><td>Brim trigger flag (unclear)</td></tr>
<tr><td>firstLayerBrimGap</td><td>0</td><td>number</td><td>Gap between brim and model</td></tr>
<tr><td>firstLayerBeltLead</td><td>3</td><td>number</td><td>Belt lead distance (unclear, likely for bed movement)</td></tr>
<tr><td>firstLayerBeltBump</td><td>0</td><td>number</td><td>Belt bump parameter (unclear)</td></tr>
<tr><td>firstLayerFanSpeed</td><td>0</td><td>number</td><td>Fan speed during first layer (0-255)</td></tr>
<tr><td>firstLayerFlatten</td><td>0</td><td>number</td><td>Flatten first layer flag (unclear)</td></tr>
<tr><td>outputRaft</td><td>false</td><td>bool</td><td>Enable raft printing</td></tr>
<tr><td>outputRaftSpacing</td><td>0.2</td><td>number</td><td>Spacing between raft lines</td></tr>
<tr><td>outputDraftShield</td><td>false</td><td>bool</td><td>Enable draft shield around print</td></tr>
<tr><td>outputTemp</td><td>200</td><td>number</td><td>Nozzle temperature (°C)</td></tr>
<tr><td>outputBedTemp</td><td>60</td><td>number</td><td>Bed temperature (°C)</td></tr>
<tr><td>outputFeedrate</td><td>50</td><td>number</td><td>Printing feedrate (mm/s)</td></tr>
<tr><td>outputFinishrate</td><td>50</td><td>number</td><td>Finishing move speed (mm/s)</td></tr>
<tr><td>outputSeekrate</td><td>80</td><td>number</td><td>Seek (travel) speed (mm/s)</td></tr>
<tr><td>outputShellMult</td><td>1.25</td><td>number</td><td>Speed multiplier for shell printing</td></tr>
<tr><td>outputFillMult</td><td>1.25</td><td>number</td><td>Speed multiplier for infill printing</td></tr>
<tr><td>outputSparseMult</td><td>1.25</td><td>number</td><td>Speed multiplier for sparse infill</td></tr>
<tr><td>outputFanLayer</td><td>1</td><td>number</td><td>Layer to start fan</td></tr>
<tr><td>outputFanSpeed</td><td>255</td><td>number</td><td>Fan speed (0-255)</td></tr>
<tr><td>outputRetractDist</td><td>1.5</td><td>number</td><td>Retraction distance (mm)</td></tr>
<tr><td>outputRetractSpeed</td><td>40</td><td>number</td><td>Retraction speed (mm/s)</td></tr>
<tr><td>outputRetractWipe</td><td>0</td><td>number</td><td>Wipe distance during retraction (unclear)</td></tr>
<tr><td>outputRetractDwell</td><td>20</td><td>number</td><td>Dwell time after retraction (ms)</td></tr>
<tr><td>outputBrimCount</td><td>2</td><td>number</td><td>Number of brim loops</td></tr>
<tr><td>outputBrimOffset</td><td>2</td><td>number</td><td>Offset distance for brim</td></tr>
<tr><td>outputShortPoly</td><td>100</td><td>number</td><td>Minimum polygon length to consider (units unclear)</td></tr>
<tr><td>outputMinSpeed</td><td>10</td><td>number</td><td>Minimum print speed (mm/s)</td></tr>
<tr><td>outputCoastDist</td><td>0</td><td>number</td><td>Coasting distance before end of extrusion</td></tr>
<tr><td>outputPurgeTower</td><td>0</td><td>number</td><td>Enable/size of purge tower (unclear)</td></tr>
<tr><td>outputBeltFirst</td><td>false</td><td>bool</td><td>Use belt before print (unclear)</td></tr>
<tr><td>outputAvoidGaps</td><td>true</td><td>bool</td><td>Avoid gaps in extrusion paths</td></tr>
<tr><td>outputAlternating</td><td>false</td><td>bool</td><td>Alternate print directions/layers</td></tr>
<tr><td>outputLayerRetract</td><td>false</td><td>bool</td><td>Retract filament at layer changes</td></tr>
<tr><td>outputLoops</td><td>0</td><td>number</td><td>Number of loops to print (unclear)</td></tr>
<tr><td>outputInvertX</td><td>false</td><td>bool</td><td>Invert X axis</td></tr>
<tr><td>outputInvertY</td><td>false</td><td>bool</td><td>Invert Y axis</td></tr>
<tr><td>sliceDetectThin</td><td>off</td><td>string</td><td>Enable thin feature detection</td></tr>
<tr><td>sliceMinHeight</td><td>0</td><td>number</td><td>Minimum slice height</td></tr>
<tr><td>sliceAdaptive</td><td>false</td><td>bool</td><td>Enable adaptive slicing</td></tr>
<tr><td>zHopDistance</td><td>0.2</td><td>number</td><td>Z-hop height during travel moves</td></tr>
<tr><td>arcTolerance</td><td>0</td><td>number</td><td>Arc approximation tolerance</td></tr>
<tr><td>antiBacklash</td><td>0</td><td>number</td><td>Compensation for backlash</td></tr>
<tr><td>ranges</td><td>[]</td><td>array</td><td>Ranges for slicing layers or regions (unclear)</td></tr>
</tbody>
</table>
</p>
</div>
<div id="cam">
<h2>CAM</h2>
<p>
"processName": "default"<br>
"camFlipAxis": "X"<br>
"camFlipOther": ""<br>
"camLaserEnable":[ "M321" ] <br>
"camLaserDisable": ["M322" ]<br>
"camLaserOn": ["M3" ]<br>
"camLaserOff": ["M5" ]<br>
"camLaserSpeed": 100<br>
"camLaserPower": 1<br>
"camLaserAdaptive": false<br>
"camLaserAdaptMod": false<br>
"camLaserFlatten": false<br>
"camLaserFlatZ": 0<br>
"camLaserPowerMin": 0<br>
"camLaserPowerMax": 1<br>
"camLaserZMin": 0<br>
"camLaserZMax": 0<br>
"camTabsWidth": 5<br>
"camTabsHeight": 5<br>
"camTabsDepth": 5<br>
"camTabsMidline": false<br>
"camDepthFirst": false<br>
"camEaseDown": false<br>
"camEaseAngle": 10<br>
"camOriginTop": true<br>
"camZAnchor": "middle"<br>
"camZOffset": 0<br>
"camZTop": 0<br>
"camZBottom": 0<br>
"camZClearance": 1<br>
"camZThru": 0<br>
"camFastFeed": 6000<br>
"camFastFeedZ": 300<br>
"camFlatness": 0.001<br>
"camContourBridge": 0<br>
"camStockX": 5<br>
"camStockY": 5<br>
"camStockZ": 5<br>
"camStockOffset": true<br>
"camStockClipTo": false<br>
"camStockIndexed": false<br>
"camStockIndexGrid": true<br>
"camIndexAxis": 0<br>
"camIndexAbs": true<br>
"camConventional": false<br>
"camOriginCenter": false<br>
"camOriginOffX": 0<br>
"camOriginOffY": 0<br>
"camOriginOffZ": 0<br>
"outputInvertX": false<br>
"outputInvertY": false<br>
"camExpertFast": false<br>
"camTrueShadow": false<br>
"camForceZMax": false<br>
"camFirstZMax": false<br>
"camToolInit": true<br>
"camFullEngage": 0.8<br>
"ops": []<br>
"op2": []<br>
</p>
<h3>CAM ops</h3>
<p> CAM operations are global functions that generate gcode based on your CAM mesh</p>
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