/* DIWire Bender

* 3D Wire Bender by Pensa - www.PensaNYC.com

* Written by Marco Perry. Email DIWire@PensaNYC.com for questions.
* Drives on 3 Stepper Motors to bender wire in 2D space
*
* This file is part of the DIWire project.
* This file bends in 2D by reading and SVG file (vector graphics file).
*
* DIWire is a free software & hardware device: you can redistribute it and/or
modify
* it's software under the terms of the GNU General Public License as published
by
* the Free Software Foundation, version 3 of the License.
*
* The hardware portion is licenced under the Creative Commons-Attributions-Sha
re Alike License 3.0
* The CC BY SA licence can be seen here: http://creativecommons.org/licenses/b
y-sa/3.0/us/
*
*
*
*

DIWIre is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License and CC-BY-SA for more details.

*
*
*
*
*
*
*/

You should have received a copy of the GNU General Public License
along with DIWire. If not, see <http://www.gnu.org/licenses/>.
and http://creativecommons.org/licenses/by-sa/3.0/us/legalcode
No portion of this header can be removed from the code.
Now enjoy and start making something!

/* the following program uploads a svg file, draws the 2D shape, allows user to
set the print resolution,
calculates the feed and bend angles to print the 2D shape, and sends these va
lues to the arduino*/
//import these libraries from libraries folder
import processing.serial.*;
import geomerative.*;
Serial arduino;
//Declaring the objects being used to print
RShape shp;
RPoint[] points;
int maxArray = 255;
float[] angles = new float [maxArray];
float[] feeds = new float [maxArray];
float res = 10; //default resolution
int interimSteps = 1; //a counter for the preview
int steps =1;
int lastpty = 0;
boolean chngRes = false;
boolean preview = false;
void setup() {
size (400, 400); //creates window

background (255);
println(Serial.list());
arduino = new Serial(this, Serial.list() [0], 9600); //sets arduino usb port
// VERY IMPORTANT: Allways initialize the library in the setup
RG.init(this);
shp = RG.loadShape("bendMe.svg"); //loads file from folder
steps = int(shp.getCurveLength()/res);
smooth();
frameRate(24);
println ();
println ("SET THE SYSTEM TO HOME POSITION");
println ("PRESS MOUSE BUTTON TO SET RESOLUTION");
println ("PRESS:");
println ("1. PROCESS SHAPE");
println ("2. PREVIEW SHAPE");
println ("3. SEND SHAPE TO ARDUINO");
println ();
println ("RESOLUTION IS CURRENTLY = " + res);
println ("NUMBER OF STEPS = " + steps);
}
void draw() {
translate(width/4, height/4);
noFill();

// Sets draw location and scale

if (!preview) { //draws exact shape from file bendMe.svg

RG.setPolygonizer(RG.ADAPTATIVE);
stroke(0, 0, 200, 150);
shp.draw();
RG.setPolygonizer(RG.UNIFORMLENGTH);
if (chngRes) { //sets resolution if mouse is pressed
background(255);
float minDist = shp.getCurveLength()/maxArray; // minimum line distance(re
solution) based on array size
res = map(float(mouseY), 0.0, float(height), minDist, 128); //resolution b
ased on mouse location
shp.draw();
}
RG.setPolygonizerLength(res);
points = shp.getPoints(); //point resolution based on mouse location
// draw a shape of lines connecting the points
if (points != null) {
noFill();
stroke(0, 200, 0, 50);
strokeWeight (5);
beginShape();
for (int i=0; i<points.length; i++) {
vertex(points[i].x, points[i].y);
}
endShape();
strokeWeight (1);
fill(0);
stroke(0);
for (int i=0; i<points.length; i++) {
ellipse(points[i].x, points[i].y, 5, 5);
}

}
}
else { //draws preview shape based on set resolution
background (255);
stroke (random (255), random (255), random (255));
strokeWeight (5);
pushMatrix();
noFill();
beginShape();
for (int i=1; i<=steps+2; i++) { //preview bend by relative angles
line (0, 0, 0, feeds[i-1]);
translate (0, feeds [i-1]);
rotate (-radians(angles [i+1])); //bend
}
preview = !preview;
popMatrix ();
}
}
void mousePressed() { //mouse press sets resolution based on mouse location
println ("RESOLUTION SET TO = " + res + " mm");
steps = int(shp.getCurveLength()/res);
println ("NUMBER OF STEPS = " + steps);
chngRes = !chngRes;
}
void keyPressed() { //If keys are pressed run corresbonding subroutine
switch (key) {
case '1': //calculates bend angles and feed lengths
calcs();
break;
case '2': //shows a shape preview based on set resolution
preview = !preview;
break;
case '3': //sends bend angles and feed lengths to the arduino for printing
sendArd ();
break;
}
}
//this subroutine accepts feedback from the arduino. It is not necessary but som
etimes needed to establish initial serial communication
/*void serialEvent (Serial p) {
String inString = arduino.readStringUntil ('\n');
if (inString !=null) {
println(inString);
}
}*/
void calcs () {
float lastAng=0;
float lastlastAng = 0;
println ( key );
println ();

println ( "Processing shape" );

println ();
println (points.length);
//calculate relative angles between points and assign to array angles[]
angles [0] = 0; // first angle is zero
for (int i = 1; i < points.length; i++) {
feeds[i-1] = dist (points[i-1].x, points[i-1].y, points[i].x, points[i].y);
//feed legths are the distances between points
float deltaX = points[i].x - points[i-1].x;
//change in x axis between po
ints
float deltaY = points[i].y - points[i-1].y;
//change in y axis between po
ints
//the following equations calculate the bend angles between each point
//there are different equations for each coordinate quadrant
if ((deltaX >=0 && deltaY >=0)||(deltaX <=0 && deltaY >=0)) {
angles[i] =(degrees(atan(deltaX/deltaY)) - (lastAng + lastlastAng));
}
if (deltaX <= 0 && deltaY < 0) {
angles[i] = (180 + abs(degrees(atan(deltaX/deltaY)))) - (lastAng + lastlas
tAng);
}
if (deltaX >0 && deltaY <0) {
angles[i] = (180 - abs(degrees(atan(deltaX/deltaY)))) - (lastAng + lastlas
tAng);
}
if (angles[i]>720) {
angles[i] = angles[i]-360;
}
if (angles[i]<-180) {
angles[i] = 360+angles[i];
}
if (angles[i]>180) {
angles[i] = angles[i]-360;
}
//shows matrix of feeds and bend angles
println (round(1*(feeds[i-1]))+"\t"+round(angles[i])+"\t"+"0"); //change th
e 1 before feeds to change scale. z bend remains 0 because this is a 2D shape
if (abs(angles [i]) > 125) { //beacuse we are sending bytes to the arduino b
oard no angle or feed length can exceed 125
println ("WARNING - ANGLE TOO BIG");
}
lastlastAng = lastAng+lastlastAng; //sets variables to know last 2 bend angl
es needed to calculate bends
lastAng = angles[i];
}
}
void sendArd () { //sends bend angles and feed lengths to the arduino board for
printing
byte feedmotor = 126; //these byte values are markers so the arduino knows if
a value is a bend, feed, or end it's the end of the array
byte bendmotor = 125;
byte end = 127;
println
println
println
println

( key );
();
( "Sending to Arduino" );
( "Printing" );

println ();
//send commands
for (int i = 2; i < steps+233; i++) {
//sends arduino feed marker followed by feed length
delay (100);
arduino.write (feedmotor);
delay (100);
arduino.write (byte(round (feeds[i-2])));
delay (100);
println (feeds[i-2]);
//sends arduino bend marker followed by bend angle
arduino.write (bendmotor);
delay (100);
arduino.write (byte(round (-angles[i])));
println (angles[i]);
}
println (end+128); //tells arduino the array of values in complete
arduino.write(end);
}