microPAD_Toolpath_Generator.Rmd

---
Title: "microPAD Toolpath Generator"
Author: Albert Hernandez (alb3rthernandez@gmail.com)
date: 3/23/2022 Edited by:
Input file: .txt file
Output: html_document, .txt file
Dependencies:
---

# Check Working Directory (Change if Needed)
```{r}

# Currently, all files are shared in a google drive with the following path:

# G:/Shared drives/Medical Device Projects/microPAD Toolpath

getwd()

setwd("G:/Shared drives/Medical Device Projects/microPAD Toolpath")

# Currently only Daniel and I can access the directory, but once it is uploaded on Github, you can download and put the files anywhere you want

# You can change the directory here using setwd() or change in "Files -> More -> set as working directory" in Bottom Right box 

```
# User Defined Inputs
```{r}

# This tells us our Matrix Size

set_matrix = readline(prompt = "Enter microPAD Matrix as #x#: ");
```


```{r}

# This sets our movement speed

set_feed = readline("Set Feedrate as F#.0: ")  # Max of F4000.0
```

```{r}

# This sets our height from the paper, this is where we will deposit our droplet

set_heightdeposit = readline("Set Height Deposit as Z#.#: ") # units in mm
```

```{r}

# This sets our height from the paper, this is where we will move from one well to another

set_heightrest = readline("Set Height Rest as R#.#: ") # units in mm
```

# Read in Data
```{r}

# Read in coordinate data from text file (exported from excel sheet)

data <- read.table("sampleTable.txt", header=TRUE)

```

# Toolpath Generator (Setup)
```{r}

title_ <- paste("(UCCNC 100: Toolpath Generator for ", set_matrix," microPAD)", sep = ""); 
  
a <- "\n;
(Material Size);
(X = NA; Y = NA; Z = NA);
;
(Program Units: millimeters, mm);
;
(Toolpaths used in this File);
(NA);
;
(Tools used in this file);
(NA);
;
(Under Configuration -> General Settings: On tool change code (06M) do the following: Set to Stop spindle and wait for cycle START)
;
#######(GCODE)#######;
;
(Initializing and Zero Everything);
;
G00 G17 G90 G40 G49 G54 G80 X0.0 Y0.0; 
;
(NO TOOLS - USE M6 for buffer to do Tool Change);
(I will manually adjust height but if capillary is at constant secure distance, we can program offset as if it were a tool using 43G);
;
(Setting Dwell time or Tool Change);
;
M06;
;
(Move up 25mm from the Zero Position);
;
G00 Z25.0; 
;
(Setting Feedrate: the movement speed)
;\n"

feedrate_ <- paste("G94 ",set_feed, sep = ""); 

a1 = "\n;
(If issues, cancel the cycle (CYCLE STOP) from here, otherwise start the cycle (CYCLE START))
;
M06;
;
(Determine how much distance above the well plate or vial you want to be positioned, this will be our default height to return to); 
;\n"

heightdeposit_ <- paste("G00 ",set_heightdeposit, sep = ""); 

a2 = "\n;
(If incorrect height, cancel the cycle (CYCLE STOP) from here, otherwise start the cycle (CYCLE START));
;
M06;
;
(Now we can confidently program our canned cycle);
;
(Move to first vial position);
;\n"

first_coord <- paste(as.character(data$Ycoord[1]),as.character(data$Xcoord[1]))

a3 = "\n;
(Reposition capillary if needed); 
;
M06;
;\n"

can_cycle <- paste("G86 G99",set_heightrest,set_heightdeposit,set_feed)

a4 <- "\n;
(R imples R plane: give it previous Z value; new Z value is how deep into vial/well plate it will go);
;\n"

intro_ <- paste(title_,a,feedrate_,a1,heightdeposit_,a2,first_coord,a3,can_cycle,a4)

a5 = "\nG80;
M0;"

```

# For every other y use the Reverse X-coordinates
```{r}

# don't want length of x_index where it is 0
x_red <- which(data$X_index != 0)
x_red_ind <- data$Xcoord[x_red]
a <- length(data$Y_index)*length(x_red_ind) # vector size

# DON'T WANT THE FIRST VALUE SINCE YCOORD ALREADY MOVES TO FIRST X COORD
temp <- 1:(length(x_red_ind)-1)
v <- 0

for (i in 1:(length(data$Y_index))) {
  
  if (data$Y_index[i]%% 2 == 1) {
    
    for (j in 1:(length(x_red_ind)-1)) {
    
      temp[j] = data$Xcoord[j+1]
      # DON'T WANT THE FIRST VALUE SINCE YCOORD ALREADY MOVES TO FIRST X COORD
    }
    
  }
  
  else if (data$Y_index[i]%% 2 == 0) {
    
    for (j in 1:(length(x_red_ind)-1)) {
    
      temp[j] = data$Rev_Xcoord[j+1]
      # DON'T WANT THE FIRST VALUE SINCE YCOORD ALREADY MOVES TO FIRST X COORD
    }
    
  }
  
  v= c(v,data$Ycoord[i],temp) # concatenate after each loop
  
}
temp
v <- v[-1] # removing the zero (0) that we initialized with
v <- v[-1] # removing the first y coordinate because we already positioned it to the first well
v <- t(v)
```

# Create Toolpath
```{r}
toolpath_ <- c(intro_,v,a5) # combine characters to make tool path

write.table(toolpath_, file = "samplePath.txt", row.names = FALSE, col.names = FALSE) # export toolpath as text file
```