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Avoid changing scan path when stripping segments with duplicate positions #33

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Avoid changing scan path when stripping segments with duplicate positions #33

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Avoid changing scan path when stripping segments with duplicate posit…
MattRolchigo Feb 20, 2026
62df326
typo fix in comment
MattRolchigo Feb 23, 2026
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20 changes: 18 additions & 2 deletions jun25_dwell_rook_toolpath/toolpath_writer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,9 @@ def shift_time(layer, new_start_time, eps=1e-12):
return new_layer

def add_power_off_entry(layer, eps=1e-10):
new_layer = [(layer[0][0], layer[0][1], 0.0)]
# New layer initial dwell - slightly perturb x position to ensure unique value
new_layer_position = (layer[0][1][0] + eps, layer[0][1][1], layer[0][1][2])
new_layer = [(layer[0][0], new_layer_position, 0.0)]
new_layer = new_layer + [(layer[0][0]+ eps, layer[0][1], layer[0][2])]
new_layer = new_layer + layer[1:]

Expand Down Expand Up @@ -154,12 +156,26 @@ def flatten_layer_z(layer, reference_index=0):

return new_layer

def strip_duplicate_locations(time_position_power):
def strip_duplicate_locations(time_position_power, eps=1e-10):
out = []
for entry in reversed(time_position_power):
if len(out) > 0:
# Check whether this entry is at the same position as the one after it
if entry[1] != out[-1][1]:
# This entry is at a new position - append this event
out.append(entry)
else:
# This entry is at the same position as the one after it
# If both entries are dwells, they can be combined
# Otherwise, combining entries will change the scan path itself
# To avoid this, slightly perturb the position rather than combining entries
# This is necessary as adamantine cannot handle consecutive entries with the same position
if entry[2] != 0 or out[-1][2] != 0:
# Slightly perturb x position
modified_position = (entry[1][0] + eps, entry[1][1], entry[1][2])
modified_entry = (entry[0], modified_position, entry[2])
# Append this modified event
out.append(modified_entry)
Comment on lines +167 to +178
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Copilot AI Feb 20, 2026

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Because duplicates are resolved in a single reverse pass, perturbing an entry to avoid a scan/dwell collision can prevent earlier consecutive dwells from being combined. Example pattern: dwell@P, dwell@P, scan@P will perturb the second dwell (to avoid matching the scan) and then the first dwell no longer matches it, so the two dwells are not combined and an extra micro-move is introduced during power-off time. To ensure only consecutive dwells are combined, consider collapsing adjacent dwell runs (power==0) at identical positions before applying the non-dwell perturbation rule (or do a forward pass that handles dwell/dwell first).

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@MattRolchigo MattRolchigo Feb 23, 2026

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A situation where multiple consecutive segments at the same location occur with non-zero and zero power would be rare, and whether or not the dwells are combined in such a case won't affect the overall result as the applied perturbation to the location is minor to begin with

else:
out.append(entry)

Expand Down