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Declare std::offsetPlane in KCL (#6344)

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* Declare std::offsetPlane in KCL

Signed-off-by: Nick Cameron <nrc@ncameron.org>

* Use two axes to define planes in KCL

Signed-off-by: Nick Cameron <nrc@ncameron.org>

---------

Signed-off-by: Nick Cameron <nrc@ncameron.org>
This commit is contained in:
Nick Cameron
2025-04-24 22:01:27 +12:00
committed by GitHub
parent 20c2ce3bac
commit 83a87b046f
187 changed files with 115960 additions and 133737 deletions
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25
public/kcl-samples/multi-axis-robot/globals.kcl
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@ -4,10 +4,10 @@
@settings(defaultLengthUnit = in)
// Axis Angles
export axisJ4 = 25
export axisJ3 = 60
export axisJ2 = 110
export axisJ1 = 80
export axisJ4 = 25deg
export axisJ3 = 60deg
export axisJ2 = 110deg
export axisJ1 = 80deg
// Robot Arm Base
export basePlateRadius = 5
@ -30,29 +30,26 @@ export axisJ3CArmThickness = 2.5
export plane001 = {
origin = [0.0, 0.0, baseHeight - 1.5 + 0.1],
xAxis = [1.0, 0.0, 0.0],
yAxis = [0.0, 1.0, 0.0],
zAxis = [0.0, 0.0, 1.0]
yAxis = [0.0, 1.0, 0.0]
}
export plane002 = {
origin = [0.0, 0.0, 0.0],
xAxis = [
sin(toRadians(axisJ1)),
cos(toRadians(axisJ1)),
sin(axisJ1): number(in),
cos(axisJ1): number(in),
0.0
],
yAxis = [0.0, 0.0, 1.0],
zAxis = [1.0, 0.0, 0.0]
yAxis = [0.0, 0.0, 1.0]
}
// Define Plane to Move J2 Axis Robot Arm
export plane003 = {
origin = [-0.1, 0.0, 0.0],
xAxis = [
sin(toRadians(axisJ1)),
cos(toRadians(axisJ1)),
sin(axisJ1): number(in),
cos(axisJ1): number(in),
0.0
],
yAxis = [0.0, 0.0, 1.0],
zAxis = [1.0, 0.0, 0.0]
yAxis = [0.0, 0.0, 1.0]
}