tested KRL template, src changes

InitGui.py

@@ -17,7 +17,7 @@ class LaserCladding (Workbench):
         It is executed once in a FreeCAD session followed by the Activated function.
         """
         import lasercladding
-        
+
         self.list = ["CreateCladdingJob", "SelectBaseReference", "CreatePad"] # A list of command names created in the line above
         self.appendToolbar("My Commands",self.list) # creates a new toolbar with your commands
         self.appendMenu("LaserCladding",self.list) # creates a new menu
@@ -38,7 +38,7 @@ class LaserCladding (Workbench):
         # "recipient" will be either "view" or "tree"
         self.appendContextMenu("My commands",self.list) # add commands to the context menu
 
-    def GetClassName(self): 
+    def GetClassName(self):
         # This function is mandatory if this is a full Python workbench
         # This is not a template, the returned string should be exactly "Gui::PythonWorkbench"
         return "Gui::PythonWorkbench"

lasercladding/kuka.py

@@ -11,7 +11,7 @@ $BWDSTART = FALSE
 LDAT_ACT=LCPDAT1
 FDAT_ACT=FP4
 BAS(#CP_PARAMS,0.2)
-LIN XP4 
+LIN XP4
 ;ENDFOLD
 """
 
@@ -24,7 +24,7 @@ DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
 header_src = """&ACCESS RVP
 &REL 1
 &PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
-&PARAM EDITMASK = * 
+&PARAM EDITMASK = *
 """
 
 
@@ -65,23 +65,25 @@ class Kuka_Prog:
     def save_prog(self, filename):
         srcfile = open(filename+'.src','w')
         srcfile.write(header_src)
-        # subroutine definition

+        # subroutine definition
         srcfile.write("DEF "+filename+"( )\n\n")
         srcfile.write(";- Kuka src file, generated by KVT\n")
         srcfile.write(";- "+ time.asctime()+"\n\n")
         # defining world and base
+        srcfile.write("E6POS startp\n")
         srcfile.write(";------------- definitions ------------\n")
         srcfile.write("EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World\n")
         srcfile.write("BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on \n\n")
-
-        srcfile.write("$BASE = BASE_DATA[6] ; SET BASE to WORKPLACE\n\n")
-        srcfile.write("\n;------------- main part ------------\n")
-
+        srcfile.write("BAS (#TOOL,6) ;Initialicing the defaults for Vel and so on \n\n")
+        srcfile.write("BAS (#BASE,2) ;Initialicing the defaults for Vel and so on \n\n")
+        srcfile.write("PTP {A1 -1.9, A2 -105.76, A3 79.97, A4 178.83, A5 -20.3, A6 -4.37, E1 -90, E2 0}\n")
+        srcfile.write(";------------- main part ------------\n")
+        srcfile.write("startp=$POS_ACT\n")
         #V = w.Velocity / 1000.0 # from mm/s to m/s
         V = 0.05
         srcfile.write("$VEL.CP = %f ; m/s ; m/s \n"%V)
         for pose in self.pose_list:
-            srcfile.write("LIN {} ; GENERATED\n".format(pose.to_string()))
+            srcfile.write("LIN startp:{} C_VEL; GENERATED\n".format(pose.to_string()))
         # end of subroutine
         srcfile.write("\n;------------- end ------------\n")
         srcfile.write("END \n\n")