Winder v5-rc2 - update some parts & gcode generator v4

2025-01-31 16:56:42 +00:00 · 2025-01-31 16:56:42 +00:00 · e2ccef90fc
commit e2ccef90fc
parent 4c6d2c1dca
96 changed files with 553352 additions and 291 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,8 +1,13 @@
-# Pascal err out logs
+# Pascal & err out logs, binaries

+*.exe
+*.o
+*.compiled
 *.err
 *.out

+# Solidworks
+
 ~$*.SLDPRT
 ~$*.SLDASM

--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -4,6 +4,15 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

+## [v5-rc...] Намотчик - 2025-01-05
+### Добавлено
+
+### Изменено
+-Изменены некоторые названия файлов
+-Обьединил детали каретки и упора для концевика оси Х
+
+### Исправлено
+
 ## [v5-rc2] Намотчик - 2025-01-05

 ### Добавлено
@ -18,9 +27,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Также изменена высота каретки, чтобы можно было менять высоту иглы.
 - Небольшие изменения в раме станка. (Удалил лишние построения, для старого держателя катушки)

-### Исправлено
- 
-
 ## [v5-rc1] Намотчик - 2024-11-11

 ### Добавлено
--- a/README.md
+++ b/README.md
@ -1,43 +1,51 @@
 # Намотчик Робосборщика

-![](img/2024-08-20_22-46-04.png)
+![](img/winder-5-rc2.jpg)

-Станок предназначен для автоматической намотки  катушек индуктивности статоров [outrunner-сервоприводов](https://gitlab.com/robossembler/servo) робота-манипулятора [Robossembler Arm](https://gitlab.com/robossembler/roboarm-diy-version) и других агрегатов экосистемы Робосборщика.
+Станок предназначен для автоматической намотки  катушек индуктивности статоров/роторов. На данный момент станок поддерживает намотку статоров сервоприводов Robossembler Servo ([gitlab](https://gitlab.com/robossembler/servo), [radicle](https://git.robossembler.org/nodes/seed.robossembler.org/rad:z2kN57BanxaiTZq3dWZ1Ej3oT8eD5)) диаметром 50 и 70 мм., однако, благодаря генератору gcode, станок может быть адаптирован для намотки более широкой номенклатуры статоров/роторов диаметром от 30 до 100 мм.

 ## Текущее состояние разработки

-Первая работоспособная версия v4 в состоянии публичной альфы. Работоспособность зафиксирована в видео - [VK](https://vk.com/video717161_456239257), [Youtube](https://youtu.be/5glGYkbpT6w). Пока нет документации по сборке, возможны незначительные недочёты в конструкции.  Промышленная эксплуатация не производилась, поэтому предельный ресурс 3D-печатной версии станка неизвестен.
+Первая работоспособная версия v4 в состоянии публичной альфы. Работоспособность зафиксирована в видео - [VK](https://vk.com/video717161_456239257), [Youtube](https://youtu.be/5glGYkbpT6w). Пока нет документации по сборке, возможны незначительные недочёты в конструкции. Предельный ресурс 3D-печатной версии станка пока неизвестен. В настоящее время проходит испытания 5-я версия станка. Подробная информация о дате выпуска новых версий и содержании изменений приведена в файле `CHANGELOG.md`. Информация о ходе разработки также публикуется в Telegram-канале [@robossembler_ru](https://t.me/robossembler_ru).

 ## Особенности

-1. Управление с помощью G-Code (см. директорию `gcode`). Загрузка программы осуществляется по USB с персонального компьютера с помощью [OctoPrint](https://github.com/OctoPrint/OctoPrint).
-2. В качестве платы управления используется недорогой одноплатный контроллер от 3D-принтера Creality 4.2.7. Планируется переход на Open Source версии контроллеров - RAMPS и т.п. В качестве встроенного ПО контроллера используется [Marlin](https://github.com/MarlinFirmware/Marlin). Чтобы избежать возможных расхождений в версиях, исходные файлы Marlin размещены в директории `firmware`; собрать прошивку можно, используя [официальную документацию](https://marlinfw.org/docs/basics/install_platformio.html) Marlin.
-3. В базовом варианте станок умеет мотать только статоры из сервоприводов Robossembler Servo (зеркала: [Gitlab](https://gitlab.com/robossembler/servo), [Radicle](https://git.robossembler.org/nodes/seed.robossembler.org/rad:z2kN57BanxaiTZq3dWZ1Ej3oT8eD5)) - диаметром 50 и 70 мм. Планируется реализовать генератор GCode под более широкую номенклатуру статоров.
-4. Перечень комплектующих станка для закупки приведён в BoM-листе `bom.xlsx`. Некоторые ссылки с маркетплейсов могут быть недоступны.
+1. Управление с помощью G-Code. Загрузка программы осуществляется по USB с помощью [OctoPrint](https://github.com/OctoPrint/OctoPrint) или другой подобной программы.
+2. На данный момент поддерживаются два типа контроллеров: RAMPS (Arduino Mega) и Creality 4.2.7. В качестве встроенного ПО контроллера используется [Marlin](https://github.com/MarlinFirmware/Marlin). Чтобы избежать возможных расхождений в версиях, исходные файлы Marlin размещены в директории `firmware`; собрать прошивку можно, используя [официальную документацию](https://marlinfw.org/docs/basics/install_platformio.html) Marlin.
+3. Перечень комплектующих станка для закупки приведён в BoM-листе `bom.xlsx`. Некоторые ссылки с маркетплейсов могут быть недоступны.
+
+## Генератор gcode
+
+Управляющая программа для станка представляет собой `gcode` (применяется для управления ЧПУ-станками или 3D-принтерами), который генерируется с помощью разработанной в рамках проекта утилиты `gcodegenerator`. Исходный код утилиты на написан на языке Pascal с использованием открытой среды разработки [Lazarus IDE](https://www.lazarus-ide.org) и размещён в директории `gcodegenerator`. Для сборки утилиты из исходных файлов необходимо установить Lazarus IDE и запустить команду `lazbuild gcodegenerator.lpi` (в случае с Windows - `lazbuild.exe gcodegenerator.lpi`).
+
+Утилита не имеет графического интерфейса и запускается в командной строке следующей командой:
+```bash
+gcodegenerator stator_input.txt output.gcode coils_input.txt
+```
+где
+- `stator_input.txt` - файл, содержащий, параметры статора; описание параметров см. в файле `gcodegenerator/input.txt`
+- `output.gcode` - наименование генерируемого файла gcode;
+- `coils_input.txt` -  файл, содержащий параметры катушек: количество слоёв намотки на каждый луч статора и количество витков на каждом слое. Если в конфигурационном файле `stator_input.txt` задан автоматический режим работы (`Operation_Mode=auto`, рекомендуется), то данный файл формируется автоматически или перезаписывает имеющийся файл. В ручном режиме для более тонкой настройки и отладки файл `stator_coil.txt` не перезаписывается.

 ## Конструкция

-Исходные файлы модели размещены в директории `src` в формате Solidworks. Активно ищутся желающие перечертить всё в FreeCAD. Для просмотра моделей в любом CAD подготовлены файлы в формате STEP в директории `step`. Последняя версия станка - `step/_main_asm_config_3.STEP`.
-
-![](img/2024-08-24_19-58-01.png)
-
-| Вид сбоку | Вид снизу |
-| ----------- | ----------- |
-| ![](img/2024-08-20_22-46-38.png) | ![](img/2024-08-20_22-45-36.png) |
-
-| Держатель статора | Держатель в сборе со статором |
-| ----------- | ----------- |
-| ![](img/2024-08-18_17-57-20.png) | ![](img/2024-08-20_22-47-22.png) |
+Исходные файлы модели размещены в директории `src` в формате Solidworks. Для просмотра моделей в любом CAD подготовлены файлы в формате STEP в директории `step`.

 ## Фото испытательных образцов

-![](img/msk_1.jpg)
-![](img/msk_2.jpg)
-![](img/robonomics_1.jpg)
-![](img/robonomics_2.jpg)
+| Версия №4 |  |
+| ----------- | ----------- |
+| ![](img/msk_1.jpg) | ![](img/msk_2.jpg) |
+| ![](img/robonomics_1.jpg) | ![](img/robonomics_2.jpg) |
+
+| Версия №5 |  |
+| ----------- | ----------- |
+| ![](img/winder-5-rc2-1.jpg) | ![](img/winder-5-rc2-2.jpg) |

 ## Сотрудничество

-Станок разрабатывается силами энтузиастов из числа команды Robossembler при поддержке [robonomics.network](https://robonomics.network). Спасибо вам всем!
+Станок разрабатывается силами энтузиастов из числа команды Robossembler при поддержке [Robonomics](https://robonomics.network). Спасибо вам всем!

-Мы будем рады любой форме участия в проекте: делитесь своими идеями, пожеланиями и предложениями в [issues](https://gitlab.com/robossembler/cnc/motor-wire-winder/-/issues) и комментариях канала [robossembler_ru](https://t.me/robossembler_ru) в Telegram.
+Мы будем рады любой форме участия в проекте: делитесь своими идеями, пожеланиями и предложениями в [issues](https://gitlab.com/robossembler/cnc/motor-wire-winder/-/issues) и комментариях канала [robossembler_ru](https://t.me/robossembler_ru) в Telegram.
+
+По вопросам дальнейшего развития проекта и иным формам сотрудничества пишите в Telegram по адресу [@brylev](https://t.me/brylev).
--- a/gcodegenerator/gcodegenerator.lpi
+++ b/gcodegenerator/gcodegenerator.lpi
@ -10,7 +10,7 @@
        <MainUnitHasScaledStatement Value="False"/>
      </Flags>
      <SessionStorage Value="InProjectDir"/>
-      <Title Value="gcodegenerator"/>
+      <Title Value="gcodegenerator_v5"/>
      <UseAppBundle Value="False"/>
      <ResourceType Value="res"/>
    </General>
@ -26,7 +26,7 @@
    </RunParams>
    <Units>
      <Unit>
-        <Filename Value="gcodegenerator.pas"/>
+        <Filename Value="gcodegenerator_v5.pas"/>
        <IsPartOfProject Value="True"/>
      </Unit>
    </Units>
@ -35,7 +35,7 @@
    <Version Value="11"/>
    <PathDelim Value="\"/>
    <Target>
-      <Filename Value="gcodegenerator"/>
+      <Filename Value="gcodegenerator_v5"/>
    </Target>
    <SearchPaths>
      <UnitOutputDirectory Value="lib\$(TargetCPU)-$(TargetOS)"/>
--- a/gcodegenerator/gcodegenerator.lps
+++ b/gcodegenerator/gcodegenerator.lps
@ -6,136 +6,96 @@
    <BuildModes Active="Default"/>
    <Units>
      <Unit>
-        <Filename Value="gcodegenerator.pas"/>
+        <Filename Value="gcodegenerator_v5.pas"/>
        <IsPartOfProject Value="True"/>
        <IsVisibleTab Value="True"/>
-        <TopLine Value="615"/>
-        <CursorPos X="7" Y="639"/>
-        <FoldState Value=" TC6B21 PMUB T3iN2{r5 piZm92L]NiejM2 T0tN4U0"/>
+        <TopLine Value="648"/>
+        <CursorPos X="25" Y="668"/>
+        <FoldState Value=" TC6B22 PPTB T3iV2{#5 piZmf2L1123]Rl3pQ2 T0yU4U0"/>
        <UsageCount Value="220"/>
        <Loaded Value="True"/>
      </Unit>
    </Units>
-    <JumpHistory HistoryIndex="29">
+    <JumpHistory HistoryIndex="19">
      <Position>
-        <Filename Value="gcodegenerator.pas"/>
-        <Caret Line="419" Column="18" TopLine="281"/>
+        <Filename Value="gcodegenerator_v5.pas"/>
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      </Position>
      <Position>
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+        <Filename Value="gcodegenerator_v5.pas"/>
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      </Position>
      <Position>
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+        <Filename Value="gcodegenerator_v5.pas"/>
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      </Position>
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-      </Position>
-      <Position>
-        <Filename Value="gcodegenerator.pas"/>
-        <Caret Line="582" Column="3" TopLine="621"/>
+        <Filename Value="gcodegenerator_v5.pas"/>
+        <Caret Line="668" Column="25" TopLine="636"/>
      </Position>
    </JumpHistory>
    <RunParams>
--- a/gcodegenerator/gcodegenerator.pas
+++ b/gcodegenerator/gcodegenerator.pas
@ -1,4 +1,4 @@
-program gcodegenerator;
+program gcodegenerator_v5;

 uses
  SysUtils, StrUtils, Math;
@ -28,16 +28,15 @@ type
    RayCenterOffset: Double;
    WireDiameter: Double;
    NeedleDiameter: Double;
-    PathClearance: Double;
-
+    NeedleRigidity: Double;
    WorkSpeed :integer;
  end;

 type
  TLayer = record
-    Turns: Integer;    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    StartZ: double;      // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    EndZ: double;        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Turns: Integer;    // Êîëè÷åñòâî âèòêîâ
+    StartZ: double;      // Íà÷àëüíàÿ êîîðäèíàòà
+    EndZ: double;        // Êîíå÷íàÿ êîîðäèíàòà
  end;

 var
@ -47,6 +46,11 @@ var
  InFile, OutFile, CoilGeometryFile: TextFile;
  Line: string;
  CoilRadius,CoilWidth,CoilHeight :double;
+  StartX: double;
+  StartY: double;
+  StartZ: double;
+  CurrentX: double;
+  CurrentY: double;
  CurrentZ: double;
  coords: TPoint;
  normalizecoords: TPoint;
@ -61,8 +65,12 @@ var
  angle :double;
  MaxDepth,MaxPath :double;
  MoveForward:boolean;
+  WindDirection:integer;
  OperationMode:string;
-
+  xclearance,yclearance,zclearance: Double;
+  FixtureOffset: Double;
+  FixtureDiameter: Double;
+  FixtureTurns:integer;

  function ParseLine(Line: string): Boolean;
    var
@ -70,20 +78,20 @@ var
      Value: string;
      TrimmedLine: string;
    begin
-      TrimmedLine := Trim(Line);  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+      TrimmedLine := Trim(Line);  // Óäàëÿåì ïðîáåëû â íà÷àëå è êîíöå ñòðîêè
      if Length(TrimmedLine) = 0 then
      begin
-        exit(true); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        exit(true); // Ïóñòàÿ ñòðîêà - ïðîïóñêàåì
      end
      else if TrimmedLine[1] in [';','#'] then
      begin
-        exit(true); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        exit(true); // Ñòðîêà êîììåíòàðèÿ - ïðîïóñêàåì
      end;
-      Parts := SplitString(TrimmedLine, '='); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> TrimmedLine
+      Parts := SplitString(TrimmedLine, '='); // Èñïîëüçóåì TrimmedLine
      Result := Length(Parts) = 2;
    if Result then
    begin
-      Value := LowerCase(Trim(Parts[1])); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+      Value := LowerCase(Trim(Parts[1])); // Ïðèâîäèì ê íèæíåìó ðåãèñòðó
      case Trim(Parts[0]) of
        'stator_name': begin
                      StatorParams.StatorName := Value;
@ -177,18 +185,50 @@ var
                        writeln('Needle Diameter: ', StatorParams.NeedleDiameter:8:2);
                        writeln();
                      end;
-        'path_clearance': begin
-                        StatorParams.PathClearance := StrToFloat(Value);
-                        writeln('Path Clearance: ', StatorParams.PathClearance:8:2);
+        'needle_rigidity': begin
+                        StatorParams.NeedleRigidity := StrToFloat(Value);
+                        StatorParams.NeedleRigidity := StatorParams.NeedleRigidity/100;
+                        writeln('Needle Rigidity: ', StatorParams.NeedleRigidity:8:2);
                        writeln();
                      end;
+
+        'x_clearance': begin
+                        xclearance := StrToFloat(Value);
+                        writeln('X Clearance: ', xclearance:8:2);
+                        writeln();
+                      end;
+        'y_clearance': begin
+                        yclearance := StrToFloat(Value);
+                        writeln('Y Clearance: ', yclearance:8:2);
+                        writeln();
+                      end;
+        'z_clearance': begin
+                        zclearance := StrToFloat(Value);
+                        writeln('Z Clearance: ', zclearance:8:2);
+                        writeln();
+                      end;
+        'fixture_offset': begin
+                        FixtureOffset := StrToFloat(Value);
+                        writeln('Fixture Offset: ', FixtureOffset:8:2);
+                        writeln();
+                      end;
+        'fixture_dia': begin
+                        FixtureDiameter := StrToFloat(Value);
+                        writeln('Fixture Diameter: ', FixtureDiameter:8:2);
+                        writeln();
+                      end;
+        'fixture_turns': begin
+                        FixtureTurns := StrToInt(Value);
+                        writeln('Fixture Turns: ', FixtureTurns);
+                        writeln();
+                      end;
+
+
        'work_speed': begin
                        StatorParams.WorkSpeed := StrToInt(Value);
                        writeln('Work Speed: ', StatorParams.WorkSpeed);
                        writeln();
                      end;
-
-
      else
        Result := False;
      end;
@ -229,7 +269,7 @@ var
     angleRadians: Double;
  begin
       radius := diameter / 2;
-//       angleRadians := -1*angleDegrees * PI / 180; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//       angleRadians := -1*angleDegrees * PI / 180; // Ïåðåâîä ãðàäóñîâ â ðàäèàíû
       angleRadians := -1 * DegToRad(angleDegrees);

       Result.X := radius * Cos(angleRadians);
@ -248,28 +288,28 @@ end;
 var
  thetaRad, alphaRad, xKas, yKas, mTang, bTang: Real;
 begin
-    // 1. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
+    // 1. Ïðåîáðàçîâàíèå óãëà èç ãðàäóñîâ â ðàäèàíû.
    thetaRad := DegToRad(thetaDeg);

-    // 2. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0,0).
+    // 2. Âû÷èñëåíèå êîîðäèíàò òî÷êè êàñàíèÿ íà îêðóæíîñòè (îòíîñèòåëüíî öåíòðà 0,0).
    xKas := radius * Cos(thetaRad);
    yKas := radius * Sin(thetaRad);

-    // 3. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>).
+    // 3. Âû÷èñëåíèå óãëà, ïåðïåíäèêóëÿðíîãî ðàäèóñ-âåêòîðó (êàñàòåëüíîé).
    alphaRad := thetaRad + PI / 2;

-    // 4. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
+    // 4. Âû÷èñëåíèå óãëîâîãî êîýôôèöèåíòà êàñàòåëüíîé.
    mTang := Tan(alphaRad);

-    // 5. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (y = mTang * x + bTang).
+    // 5. Âû÷èñëåíèå ñâîáîäíîãî ÷ëåíà óðàâíåíèÿ êàñàòåëüíîé (y = mTang * x + bTang).
    bTang := yKas - mTang * xKas;

-    // 6. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> X <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> X (y = 0).
+    // 6. Âû÷èñëåíèå êîîðäèíàòû X òî÷êè ïåðåñå÷åíèÿ êàñàòåëüíîé ñ îñüþ X (y = 0).
    //    0 = mTang * x + bTang
    //    x = -bTang / mTang
    if mTang = 0 then
    begin
-        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD> X - <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> NaN.
+        // Êàñàòåëüíàÿ ïàðàëëåëüíà îñè X - íåò òî÷êè ïåðåñå÷åíèÿ. Âîçâðàùàåì NaN.
        NormalizeZ := NaN;
    end
    else
@ -289,25 +329,25 @@ begin
 end;

  function CalculateMaxPath(length, width, angleDegrees: double): double;
-  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>
+  //ôóíêöèÿ âû÷èñëÿåò ìàêñèìàëüíîå ðàññòîÿíèå ìåæäó ëó÷àìè. Äëÿ ýòîãî îò öåíòðà ñòàòîðà äî
  var
  topLeftX, topLeftY, rotatedX, rotatedY, angleRadians, distance: double;
 begin
-  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  // Âû÷èñëÿåì êîîðäèíàòû âåðõíåãî ëåâîãî óãëà ïðÿìîóãîëüíèêà
  topLeftX := -length;
  topLeftY := width / 2;

-  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (<EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+  // Ïðåîáðàçóåì óãîë â ðàäèàíû (ñ ó÷åòîì âðàùåíèÿ ïî ÷àñîâîé ñòðåëêå)
  angleRadians := degToRad(-angleDegrees);

-  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  // Âû÷èñëÿåì êîîðäèíàòû ïîâåðíóòîãî íèæíåãî ëåâîãî óãëà âòîðîãî ïðÿìîóãîëüíèêà
  rotatedX := -length * cos(angleRadians) - (-width / 2) * sin(angleRadians);
  rotatedY := -length * sin(angleRadians) + (-width / 2) * cos(angleRadians);

-  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  // Âû÷èñëÿåì ðàññòîÿíèå ìåæäó òî÷êàìè
  distance := sqrt(sqr(rotatedX - topLeftX) + sqr(rotatedY - topLeftY));

-  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  // Âîçâðàùàåì ðåçóëüòàò
  MaxPath := distance;
 end;

@ -319,47 +359,47 @@ end;
    AssignFile(CoilGeometryFile, CoilGeometryFileName);
    try
      Rewrite(CoilGeometryFile);
-      //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
+      //Ñ÷èòàåì, ñêîëüêî ñëî¸â ìîæåì íàìîòàòü.
      MaxPath:=CalculateMaxPath((StatorParams.RayLength+StatorParams.BaseRadius), StatorParams.RayWidth, AngleBetweenRays);
      //writeln(CoilGeometryFile, ';MaxPath:', MaxPath);
      //MaxLayers :=trunc(((MaxPath-RequiredSpacing)/2/StatorParams.WireDiameter));
      MaxLayers :=round((MaxPath-StatorParams.NeedleDiameter)/2/(StatorParams.WireDiameter+RequiredSpacing));
-      if (MaxLayers mod 2 <> 0) then writeln(CoilGeometryFile, ';MaxLayers ', MaxLayers) else
+      if (MaxLayers mod 2 = 0) then writeln(CoilGeometryFile, ';MaxLayers ', MaxLayers) else
      begin
        dec(MaxLayers);
-        writeln(CoilGeometryFile, ';<EFBFBD>alculations resulted in MaxLayers=', MaxLayers+1, ' because it is even, MaxLayers=MaxLayers-1 and equal ',MaxLayers);
+        writeln(CoilGeometryFile, ';Ñalculations resulted in MaxLayers=', MaxLayers+1, ' because it is even, MaxLayers=MaxLayers-1 and equal ',MaxLayers);
      end;

      MoveForward:=true;
      for i := 1 to MaxLayers do
      begin
        write(CoilGeometryFile, ';Lair:', i, ' have ');
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-        //<EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> + <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> + 2 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-        RequiredSpacing:=StatorParams.PathClearance*2+(i-1)*StatorParams.WireDiameter*2+StatorParams.NeedleDiameter;
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. (<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+        //Ñ÷èòàåì äëèíó êàòóøêè è êîëè÷åñòâî âèòêîâ
+        //Äëÿ ýòîãî ñ÷èòàåì íåîáõîäèìîå ðàññòîÿíèå ìåæäó ëó÷àìè. 2 äèàìåòðà ïðîâîäà + äèàìåòð èãëû + 2 çàçîðà áåçîïàñíîñòè
+        RequiredSpacing:=yclearance*2+(i-1)*StatorParams.WireDiameter*2+StatorParams.NeedleDiameter;
+        //Èñïîëüçóÿ íåîáõîäèìîå ðàññòîÿíèå, ðàññ÷èòûâàåì íà êàêóþ, ìàêñèìàëüíóþ ãëóáèíó ìîæåò ïîãðóçèòüñÿ èãîëêà. (ðàññòîÿíèå îò öåíòðà ñòàòîðà)
        MaxDepth:=DepthCheck(StatorParams.RayWidth, RequiredSpacing, AngleBetweenRays);
        //writeln(OutFile, ';RayWidth ', StatorParams.RayWidth:0:5);
        //writeln(OutFile, ';RequiredSpacing ', RequiredSpacing:0:5);
        //writeln(OutFile, ';AngleBetweenRays ', AngleBetweenRays:0:5);
        //writeln(CoilGeometryFile, ';MaxDepth ', MaxDepth:0:5);
        //writeln(OutFile);
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> + <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> + <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+        //Åñëè äîïóñòèìàÿ ãëóáèíà ìåíüøå, ÷åì äèàìåòð îñíîâàíèÿ, òîãäà äëèíà êàòóøêè ðàâíà äëèíå ëó÷à.
+        //Åñëè äîïóñòèìàÿ ãëóáèíà áîëüøå, ÷åì äèàìåòð + äëèíà ëó÷à, ïðåêðàùàåì äâèæ.
+        //Èíà÷å äëèíà êàòóøêè ðàâíà "ðàäèóñ_îñíîâàíèÿ + äëèíà_ëó÷à - ãëóáèíà)
        If (MaxDepth < (StatorParams.BaseRadius)) then CoilLength:=StatorParams.RayLength else if (MaxDepth > (StatorParams.RayLength+StatorParams.BaseRadius)) then break
        else CoilLength:=StatorParams.RayLength+StatorParams.BaseRadius-MaxDepth;
        //writeln(CoilGeometryFile, '!!!');

        write(CoilGeometryFile, CoilLength:0:5, 'mm ');
        //CurrentCoilTurns := ceil(CoilLength/StatorParams.WireDiameter);
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
+        //Èñõîäÿ èç äëèíû êàòóøêè ñ÷èòàåì êîëè÷åñòâî âèòêîâ. È ñêëàäûâàåì ñêîëüêî âñåãî âèòêîâ íà êàòóøêå.
        CurrentCoilTurns := round(CoilLength/StatorParams.WireDiameter);
        write(CoilGeometryFile, CurrentCoilTurns, ' Turns');
        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;


-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Z
+        //Ïåðåä êàæäûì ñëîåì íóæíî ïåðåñ÷èòàòü êîîðäèíàòó Z
        //writeln(CoilGeometryFile,' StartZ=',CurrentZ:0:5);
 //        if (MoveForward = false) then CurrentZ:=StatorParams.RayLength+StatorParams.BaseRadius-StatorParams.WireDiameter/2
 //          else CurrentZ:=StatorParams.RayLength+StatorParams.BaseRadius-StatorParams.WireDiameter*(CurrentCoilTurns-0.5);
@ -419,9 +459,10 @@ end;
           ReadLn(CoilGeometryFile, Line);
           if Length(Line) > 0 then
             begin
-               TrimmedLine := Trim(Line);  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-               if (Length(TrimmedLine) = 0) then continue //exit() // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-               else if TrimmedLine[1] in [';','#'] then continue; // exit(); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+               TrimmedLine := Trim(Line);  // Óäàëÿåì ïðîáåëû â íà÷àëå è êîíöå ñòðîêè
+               if (Length(TrimmedLine) = 0) then continue //exit() // Ïóñòàÿ ñòðîêà - ïðîïóñêàåì
+               else if TrimmedLine[1] in [';','#'] then continue; // exit(); // Ñòðîêà êîììåíòàðèÿ - ïðîïóñêàåì
+               StringReplace(TrimmedLine, ',', '.', [rfReplaceAll]);
               inc(i);
               spacePos := Pos(' ', TrimmedLine);
             //writeln(spacePos);
@ -468,7 +509,211 @@ end;
       CloseFile(CoilGeometryFile);
  end;

+  procedure StartSequence();
 begin
+    writeln(OutFile, ';Generate G-code file for ',StatorParams.StatorName,' stator. At ',FormatDateTime('dd.mm.yyyy hh:nn:ss.zzz', StartTime));
+    writeln(OutFile, '; G-code for stator winding');
+    writeln(OutFile, 'G90 ; Absolute coordinate system');
+    //writeln(OutFile, 'G1 Y-10');
+    writeln(OutFile, 'G28 X Y Z');
+    writeln(OutFile, 'G1 X0 Y0');
+    writeln(OutFile);
+    // Move to center of ray along Y axis and reset coordinate
+    writeln(OutFile, 'G1 X', StatorParams.RayCenterOffset:0:2, ' Y0.0');
+    writeln(OutFile, 'G92 X0 Y0');
+
+    //îòâîäèì èãëó ëåâåå è âûøå âåðøèíû ëó÷à
+    CoilRadius:=(StatorParams.RayTopHeight/2+StatorParams.NeedleDiameter/2+yclearance);
+    CoilWidth:=(StatorParams.RayTopWidth+StatorParams.NeedleDiameter+yclearance*2);
+    CoilHeight:=(StatorParams.RayTopHeight+StatorParams.NeedleDiameter+xclearance*2);
+    writeln(OutFile, ';CoilRadius = ', CoilRadius:0:3);
+    writeln(OutFile, ';CoilWidth = ', CoilWidth:0:3);
+    writeln(OutFile, ';CoilHeight = ', CoilHeight:0:3);
+    StartX:=-1*CoilHeight/2;
+    StartY:=-1*AngleBetweenRays/2;
+    writeln(OutFile, 'G1 X', StartX:0:3, ' Y', StartY:0:3);
+
+    //ïðèáëèæàåìñÿ ê îñíîâàíèþ ñòàòîðà.
+    CurrentZ:=(StatorParams.BaseDiameter/2)+zclearance;
+    writeln(OutFile, 'G1 Z', CurrentZ:0:2, ' F', StatorParams.WorkSpeed);
+    //Âñòà¸ì íà ïàóçó äëÿ òîãî, ÷òîáû ïðèâÿçàòü êîíåö ïðîâîëîêè
+    writeln(OutFile, 'M0');
+    //Äâèæåíèå "ââåðõ" ïåðâîé êàòóøêè. Äåëàåòñÿ îäèí ðàç, ÷òîáû îáðàçîâàòü ïåòëþ îò êðþ÷êà.
+    writeln(OutFile, 'G1 X', StartX:0:3, ' Y', -1*StartY:0:3);
+end;
+
+  procedure MakeCoil();
+begin
+    for j := 1 to CurrentCoilTurns do
+    begin
+      writeln(OutFile,';Coil¹ = ',j);
+      writeln(OutFile,'M117 L',LayerNumber,'/C',j,'/S',CoilTurnsSum-CurrentCoilTurns+j);
+
+      //Move from -X,Y to X,Y
+      angle := WindDirection*AngleBetweenRays/2;
+      CurrentX :=CoilHeight/2+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity);
+      writeln(OutFile, 'G1 X', CurrentX:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5,' F',StatorParams.WorkSpeed, ' ;Point 1 CurrentZ= ',CurrentZ:0:5, ' 2x_clear= ',+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity):0:3); // Top Right Corner
+      if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
+
+      //Divide the path into 100 points
+      //Move from X,Y to X,-Y
+      for k := 1 to 100 do
+      begin
+        angle := AngleBetweenRays/2;
+        angle := WindDirection*(angle-(2*(angle/100*k)));
+        CurrentX :=CoilHeight/2+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity);
+        writeln(OutFile, 'G1 X', CurrentX:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5,' F',round(1.2*StatorParams.WorkSpeed/StatorParams.BaseRadius*CurrentZ), ' ;Point 2 CurrentZ= ',CurrentZ:0:5, ' 3x_clear= ',+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity):0:3); // Bottom Right Corner
+      end;
+      if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
+
+      //Move from X,-Y to -X,-Y
+      angle := -1*WindDirection*AngleBetweenRays/2;
+      CurrentX :=CoilHeight/2+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity);
+      writeln(OutFile, 'G1 X', -1*CurrentX:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5,' F',StatorParams.WorkSpeed, ' ;Point 3 CurrentZ= ',CurrentZ:0:5, ' 4x_clear= ',+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity):0:3); // Bottom Left Corner
+      if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
+
+      //Move from -X,-Y to -X,Y
+       //Divide the path into 100 points
+       for k := 1 to 100 do
+       begin
+         angle := AngleBetweenRays/2;
+         angle := -1*WindDirection*(angle-(2*(angle/100*k)));
+         CurrentX :=CoilHeight/2+((CurrentZ-StatorParams.BaseRadius)*xclearance*StatorParams.NeedleRigidity);
+         writeln(OutFile, 'G1 X', -1*CurrentX:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5,' F',round(1.2*StatorParams.WorkSpeed/StatorParams.BaseRadius*CurrentZ) , ' ;Point 4 CurrentZ= ',CurrentZ:0:5, ' 1x_clear= ',+((CurrentZ-StatorParams.BaseRadius*xclearance*StatorParams.NeedleRigidity)):0:3); // Top Left Corner
+       end;
+       if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
+
+    end;
+
+end;
+
+  procedure PairCoilWind(mode: string);
+  begin
+    if ((mode = 'Aa') or (mode = 'Bb') or (mode = 'Cc')) then
+    begin
+      WindDirection:=1;
+    end
+    else if ((mode = 'aA') or (mode = 'bB') or (mode = 'cC')) then
+    begin
+      WindDirection:=-1;
+    end
+    else
+    begin
+      Writeln('Wrong Pair Coil Pattern. (Aa, aA, Bb, bB, Cc, cC');
+      Readln;
+      Halt(1);
+    end;
+
+    for LayerNumber := 1 to MaxLayers do
+      begin
+        writeln(OutFile, ';Layer ', LayerNumber);
+        if (Layers[LayerNumber].StartZ > Layers[LayerNumber].EndZ) then CoilLength:=Layers[LayerNumber].StartZ-Layers[LayerNumber].EndZ
+        else CoilLength:=Layers[LayerNumber].EndZ-Layers[LayerNumber].StartZ;
+        writeln(OutFile, ';CoilLength ', CoilLength:0:5);
+        CurrentCoilTurns:=Layers[LayerNumber].Turns;
+        //writeln(OutFile, ';CurrentCoilTurns ', CurrentCoilTurns);
+        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;
+        writeln(OutFile, ';CoilTurnsSum ', CoilTurnsSum);
+        CurrentZ:=Layers[LayerNumber].StartZ;
+        writeln(OutFile,'; NewZ=',CurrentZ:0:5);
+        //Íà÷èíàåì ìîòàòü.
+        writeln(OutFile, ';We make ',CurrentCoilTurns, ' turns on ', LayerNumber, ' layer.' );
+        writeln(OutFile);
+
+        WindDirection := 1;
+        MakeCoil();
+        writeln(OutFile, 'M300 S2500 P100');
+
+        CoilWidth:=CoilWidth+StatorParams.WireDiameter*2;
+        MoveForward:= not MoveForward;
+        writeln(OutFile,';MoveForward: ', MoveForward);
+      end;
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, 'G4 P100');
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, 'G4 P100');
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, ';Coil Complete.');
+      writeln(OutFile, ';Changing coords.');
+      writeln(OutFile, 'G92 Y', -1*angle:0:5);
+      writeln(OutFile, ';Second coil');
+
+      for LayerNumber := 1 to MaxLayers do
+      begin
+        writeln(OutFile, ';Layer ', LayerNumber);
+        if (Layers[LayerNumber].StartZ > Layers[LayerNumber].EndZ) then CoilLength:=Layers[LayerNumber].StartZ-Layers[LayerNumber].EndZ
+        else CoilLength:=Layers[LayerNumber].EndZ-Layers[LayerNumber].StartZ;
+        writeln(OutFile, ';CoilLength ', CoilLength:0:5);
+        CurrentCoilTurns:=Layers[LayerNumber].Turns;
+        //writeln(OutFile, ';CurrentCoilTurns ', CurrentCoilTurns);
+        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;
+        writeln(OutFile, ';CoilTurnsSum ', CoilTurnsSum);
+        CurrentZ:=Layers[LayerNumber].StartZ;
+        writeln(OutFile,'; NewZ=',CurrentZ:0:5);
+        //Íà÷èíàåì ìîòàòü.
+        writeln(OutFile, ';We make ',CurrentCoilTurns, ' turns on ', LayerNumber, ' layer.' );
+        writeln(OutFile);
+
+        WindDirection := -1;
+        MakeCoil();
+        writeln(OutFile, 'M300 S2500 P100');
+
+        CoilWidth:=CoilWidth+StatorParams.WireDiameter*2;
+        MoveForward:= not MoveForward;
+        writeln(OutFile,';MoveForward: ', MoveForward);
+      end;
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, 'G4 P50');
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, 'G4 P50');
+      writeln(OutFile, 'M300 S2500 P100');
+      writeln(OutFile, ';Coil Complete.');
+
+  end;
+
+  procedure MoveToNextPair();
+  begin
+    writeln(OutFile, ';Move To Next Pair');
+    writeln(OutFile, 'G92 Y0');
+    writeln(OutFile, 'G1 Y', 360/(StatorParams.NumberOfRays/3/2):0:5 ); // Top Left Corner
+    writeln(OutFile, ';Turn to next pair with ',360/(StatorParams.NumberOfRays/3/2):0:5,'°.' );
+    writeln(OutFile, 'G92 Y',StartY:0:5);
+  end;
+
+  procedure CreateMotorPhase(pattern:string);
+  begin
+    PairCoilWind(pattern);
+    MoveToNextPair();
+    PairCoilWind(pattern);
+    MoveToNextPair();
+    PairCoilWind(pattern);
+    MoveToNextPair();
+    PairCoilWind(pattern);
+  end;
+
+  procedure MoveToFixture();
+  begin
+    writeln(OutFile, ';Move To Fixture');
+    writeln(OutFile, 'G1 X', FixtureOffset:0:3);
+    writeln(OutFile, 'M0'); //Ïàóçà
+  end;
+
+  procedure AttachToFixture();
+  begin
+    writeln(OutFile, ';Attach To Fixture');
+    for j := 0 to FixtureTurns do
+    begin
+      for i := 0 to 360 do
+      begin
+        coords := CircleCoordinates(FixtureDiameter/2+xclearance, i+180);
+        angle := CalculateAngle(coords.Y, CurrentZ);
+        writeln(OutFile, 'G1 X', coords.X:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5);
+        CurrentZ:=CurrentZ+StatorParams.WireDiameter/360;
+      end;
+    end;
+  end;
+
+begin  //Start Programm
   // Command line argument handling
  StartTime := Now;
  if ParamCount < 3 then
@ -486,33 +731,8 @@ begin
  AssignFile(OutFile, OutputFileName);
  try
    Rewrite(OutFile);
+    StartSequence();
    // *** Your G-code generation logic here ***
-    writeln(OutFile, ';Generate G-code file for ',StatorParams.StatorName,' stator. At ',FormatDateTime('dd.mm.yyyy hh:nn:ss.zzz', StartTime));
-    writeln(OutFile, '; G-code for stator winding');
-    writeln(OutFile, 'G90 ; Absolute coordinate system');
-    writeln(OutFile, 'G1 Y-10');
-    writeln(OutFile, 'G28 X Y Z');
-    writeln(OutFile, 'G1 X0 Y0');
-    //writeln(OutFile, 'G28 O');  //Home all "untrusted" axes
-    writeln(OutFile);
-    // Move to center of ray along Y axis and reset coordinate
-    writeln(OutFile, 'G1 X', StatorParams.RayCenterOffset:0:2);
-    writeln(OutFile, 'G92 X0');
-
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    CoilRadius:=(StatorParams.RayTopHeight/2+StatorParams.NeedleDiameter/2+StatorParams.PathClearance);
-    CoilWidth:=(StatorParams.RayTopWidth+StatorParams.NeedleDiameter+StatorParams.PathClearance*2);
-    CoilHeight:=(StatorParams.RayTopHeight+StatorParams.NeedleDiameter+StatorParams.PathClearance*2);
-    writeln(OutFile, ';CoilRadius = ', CoilRadius:0:3);
-    writeln(OutFile, ';CoilWidth = ', CoilWidth:0:3);
-    writeln(OutFile, ';CoilHeight = ', CoilHeight:0:3);
-    writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y',-1*AngleBetweenRays/2:0:3);
-
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
-    CurrentZ:=(StatorParams.BaseDiameter/2)+StatorParams.PathClearance;
-    writeln(OutFile, 'G1 Z', CurrentZ:0:2, ' F', StatorParams.WorkSpeed);
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    writeln(OutFile, 'M0');

    if (OperationMode = 'auto') then CalculateCoilGeometry() else
        if (OperationMode = 'manual') then ReadCoilGeometry() else
@ -530,12 +750,14 @@ begin
    begin
      writeln(OutFile, ';', i, ' ',Layers[i].Turns,' ',Layers[i].StartZ:0:5,' ',Layers[i].EndZ:0:5);
    end;
+
    Inc(LayerNumber);
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
+    //Íà÷èíàåì ìîòàòü êàòóøêó.
    writeln(OutFile);
    writeln(OutFile, ';Start winding');
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    //Äâèãàåìñÿ îò öåíòðà ê êðàþ
    MoveForward:=true;
+
    if (StatorParams.RayShape = 'circle') then
    begin
      for j := 0 to CurrentCoilTurns do
@ -562,7 +784,7 @@ begin
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);
      RequiredSpacing:=RequiredSpacing+StatorParams.NeedleDiameter;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);
-      RequiredSpacing:=RequiredSpacing+StatorParams.PathClearance*2+LayerNumber*StatorParams.WireDiameter*2;
+      RequiredSpacing:=RequiredSpacing+yclearance*2+LayerNumber*StatorParams.WireDiameter*2;
      writeln(OutFile, ';RequiredSpacing = ',RequiredSpacing:0:5);

      CurrentZ:=RequiredSpacing/(2 * tan(AngleBetweenRays*PI/180/2));
@ -572,70 +794,10 @@ begin
    begin
 //      writeln(OutFile, ';Rect? ');

-      for LayerNumber := 1 to MaxLayers do
-      begin
-        writeln(OutFile, ';Layer ', LayerNumber);
-        if (Layers[LayerNumber].StartZ > Layers[LayerNumber].EndZ) then CoilLength:=Layers[LayerNumber].StartZ-Layers[LayerNumber].EndZ
-        else CoilLength:=Layers[LayerNumber].EndZ-Layers[LayerNumber].StartZ;
-        writeln(OutFile, ';CoilLength ', CoilLength:0:5);
-        CurrentCoilTurns:=Layers[LayerNumber].Turns;
-        //writeln(OutFile, ';CurrentCoilTurns ', CurrentCoilTurns);
-        CoilTurnsSum := CoilTurnsSum+CurrentCoilTurns;
-        writeln(OutFile, ';CoilTurnsSum ', CoilTurnsSum);
-        CurrentZ:=Layers[LayerNumber].StartZ;
-        writeln(OutFile,'; NewZ=',CurrentZ:0:5);
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
-        writeln(OutFile, ';We make ',CurrentCoilTurns, ' turns on ', LayerNumber, ' layer.' );
-        writeln(OutFile);
-        for j := 1 to CurrentCoilTurns do
-        begin
-          writeln(OutFile,';Coil<69> = ',j);
-          writeln(OutFile,'M117 ',j);
-          //angle := CalculateAngle(CoilWidth/2, CurrentZ);
-          angle := AngleBetweenRays/2;
+      CreateMotorPhase('Aa');
+      MoveToFixture();
+      AttachToFixture();

-          //Divide the path into 100 points
-          //Move from left-down to left-up
-          for k := 1 to 100 do
-          begin
-            angle := AngleBetweenRays/2;
-            angle := ((-1*angle)+2*(angle/100*k));
-            writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Top Left Corner
-          end;
-          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
-
-  //        angle := CalculateAngle(CoilWidth/2, CurrentZ);
-          angle := AngleBetweenRays/2;
-          writeln(OutFile, 'G1 X', CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Top Right Corner
-          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
-          //writeln(OutFile, 'M0');
-
-          //Divide the path into 100 points
-          //Move from left-down to rt-up
-          for k := 1 to 100 do
-          begin
-            angle := AngleBetweenRays/2;
-            angle := (angle-(2*(angle/100*k)));
-            writeln(OutFile, 'G1 X', CoilHeight/2:0:3, ' Y', angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Bottom Right Corner
-          end;
-          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
-          //writeln(OutFile, 'M0');
-
-  //        angle := CalculateAngle(CoilWidth/2, CurrentZ);
-          angle := AngleBetweenRays/2;
-          writeln(OutFile, 'G1 X', -1*CoilHeight/2:0:3, ' Y', -angle:0:5,' Z', NormalizeZ(CurrentZ, angle):0:5, ' ;CurrentZ= ',CurrentZ:0:5); // Bottom Left Corner
-          if MoveForward then CurrentZ:=CurrentZ+StatorParams.WireDiameter/4 else CurrentZ:=CurrentZ-StatorParams.WireDiameter/4;
-          //writeln(OutFile, 'M0');
-        end;
-
-        writeln(OutFile, 'M0');
-//        writeln(OutFile, 'G91');
-//        writeln(OutFile, 'G1 Y50');
-//        writeln(OutFile, 'G90');
-        CoilWidth:=CoilWidth+StatorParams.WireDiameter*2;
-        MoveForward:= not MoveForward;
-        writeln(OutFile,';MoveForward: ', MoveForward);
-      end;
    end;

  except
--- a/gcodegenerator/input.txt
+++ b/gcodegenerator/input.txt
@ -1,36 +0,0 @@
-# диаметр основания статора
-base_dia=37,8
-# количество лучей статора
-num_rays=1
-
-# форма луча статора (circle, rect, superellipse)
-ray_shape=rect
-# диаметр луча статора
-# ray_dia=5,0
-# ширина луча статора
-ray_w=2,4
-# высота луча статора
-ray_h=5
-# длина луча статора
-ray_len=9,0
-
-# форма вершины луча
-raytop_shape=circle
-# диаметр вершины луча
-raytop_dia=8,9
-# ширина вершины луча
-raytop_w=5,6
-# высота вершины луча
-raytop_h=14,0
-
-# смещение центра луча
-ray_offset=14,7
-# диаметр провода
-wire_diameter=0,25
-# диаметр иглы
-needle_diameter=1,25
-# зазор пути
-path_clearance=0,2
-
-# скорость намотки
-work_speed=2000
--- a/gcodegenerator/trident_input.txt
+++ b/gcodegenerator/trident_input.txt
--- a/gcodegenerator/trident_run.bat
+++ b/gcodegenerator/trident_run.bat
@ -1 +0,0 @@
-gcodegenerator_v4.exe trident_input.txt trident_output.gcode trident_coil.txt
--- a/img/winder-5-rc2-1.jpg
+++ b/img/winder-5-rc2-1.jpg
--- a/img/winder-5-rc2-2.jpg
+++ b/img/winder-5-rc2-2.jpg
--- a/img/winder-5-rc2.jpg
+++ b/img/winder-5-rc2.jpg
--- a/src/3d_printed_parts/Electronics_cover.SLDPRT
+++ b/src/3d_printed_parts/Electronics_cover.SLDPRT
--- a/src/3d_printed_parts/Electronics_cover.STL
+++ b/src/3d_printed_parts/Electronics_cover.STL
--- a/src/3d_printed_parts/Old_to_sort/_main_asm.SLDASM
+++ b/src/3d_printed_parts/Old_to_sort/_main_asm.SLDASM
--- a/src/3d_printed_parts/Old_to_sort/main_platform.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/main_platform.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/main_platform_tmp.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/main_platform_tmp.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/main_platform_tmp2.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/main_platform_tmp2.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/main_platform_tmp3.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/main_platform_tmp3.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/organizer.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/organizer.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/organizer_my.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/organizer_my.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/organizer_my_2.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/organizer_my_2.SLDPRT
--- a/src/3d_printed_parts/Old_to_sort/organizer_tmp.SLDPRT
+++ b/src/3d_printed_parts/Old_to_sort/organizer_tmp.SLDPRT
--- a/src/3d_printed_parts/Rotary_spacer_1.8mm.SLDPRT
+++ b/src/3d_printed_parts/Rotary_spacer_1.8mm.SLDPRT
--- a/src/3d_printed_parts/Rotary_spacer_1.8mm.STL
+++ b/src/3d_printed_parts/Rotary_spacer_1.8mm.STL
--- a/src/3d_printed_parts/Rotary_spacer_for_72mm_plastic_stator.SLDPRT
+++ b/src/3d_printed_parts/Rotary_spacer_for_72mm_plastic_stator.SLDPRT
--- a/src/3d_printed_parts/Rotary_spacer_for_72mm_plastic_stator.STL
+++ b/src/3d_printed_parts/Rotary_spacer_for_72mm_plastic_stator.STL
--- a/src/3d_printed_parts/Stl/Complete/Display_stand.STL
+++ b/src/3d_printed_parts/Stl/Complete/Display_stand.STL
--- a/src/3d_printed_parts/Stl/Complete/brake_equipment.STL
+++ b/src/3d_printed_parts/Stl/Complete/brake_equipment.STL
--- a/src/3d_printed_parts/Stl/Complete/brake_handle.STL
+++ b/src/3d_printed_parts/Stl/Complete/brake_handle.STL
--- a/src/3d_printed_parts/Stl/Complete/carrying_handle.STL
+++ b/src/3d_printed_parts/Stl/Complete/carrying_handle.STL
--- a/src/3d_printed_parts/Stl/Complete/chelnok_organizer.STL
+++ b/src/3d_printed_parts/Stl/Complete/chelnok_organizer.STL
--- a/src/3d_printed_parts/Stl/Complete/e-stop_mount.STL
+++ b/src/3d_printed_parts/Stl/Complete/e-stop_mount.STL
--- a/src/3d_printed_parts/Stl/Complete/main_carriage.STL
+++ b/src/3d_printed_parts/Stl/Complete/main_carriage.STL
--- a/src/3d_printed_parts/Stl/Complete/nut_holder.STL
+++ b/src/3d_printed_parts/Stl/Complete/nut_holder.STL
--- a/src/3d_printed_parts/Stl/Complete/opto_endstop_holder.STL
+++ b/src/3d_printed_parts/Stl/Complete/opto_endstop_holder.STL
--- a/src/3d_printed_parts/Stl/Complete/pully.STL
+++ b/src/3d_printed_parts/Stl/Complete/pully.STL
--- a/src/3d_printed_parts/Stl/Complete/rail_spacer.STL
+++ b/src/3d_printed_parts/Stl/Complete/rail_spacer.STL
--- a/src/3d_printed_parts/Stl/Complete/rotary
+++ b/src/3d_printed_parts/Stl/Complete/rotary
--- a/src/3d_printed_parts/Stl/Complete/spring_cap.STL
+++ b/src/3d_printed_parts/Stl/Complete/spring_cap.STL
--- a/src/3d_printed_parts/Stl/Complete/tension_knob.STL
+++ b/src/3d_printed_parts/Stl/Complete/tension_knob.STL
--- a/src/3d_printed_parts/Stl/Complete/tension_roller.STL
+++ b/src/3d_printed_parts/Stl/Complete/tension_roller.STL
--- a/src/3d_printed_parts/Stl/Complete/tension_roller_cheek.STL
+++ b/src/3d_printed_parts/Stl/Complete/tension_roller_cheek.STL
--- a/src/3d_printed_parts/Stl/Complete/tension_system_base.STL
+++ b/src/3d_printed_parts/Stl/Complete/tension_system_base.STL
--- a/src/3d_printed_parts/Stl/Complete/weldroller_holder.STL
+++ b/src/3d_printed_parts/Stl/Complete/weldroller_holder.STL
--- a/src/3d_printed_parts/Stl/Complete/x_axis_cariage.STL
+++ b/src/3d_printed_parts/Stl/Complete/x_axis_cariage.STL
--- a/src/3d_printed_parts/Stl/Electronics_cover.STL
+++ b/src/3d_printed_parts/Stl/Electronics_cover.STL
--- a/src/3d_printed_parts/Stl/PCB_spacer.STL
+++ b/src/3d_printed_parts/Stl/PCB_spacer.STL
--- a/src/3d_printed_parts/Stl/main_platform.STL
+++ b/src/3d_printed_parts/Stl/main_platform.STL
--- a/src/3d_printed_parts/Stl/needle_holder_top.STL
+++ b/src/3d_printed_parts/Stl/needle_holder_top.STL
--- a/src/3d_printed_parts/Stl/rotary
+++ b/src/3d_printed_parts/Stl/rotary
--- a/src/3d_printed_parts/Test_piptik.STL
+++ b/src/3d_printed_parts/Test_piptik.STL
--- a/src/3d_printed_parts/chelnok_organizer.SLDPRT
+++ b/src/3d_printed_parts/chelnok_organizer.SLDPRT
--- a/src/3d_printed_parts/e-stop_mount.SLDPRT
+++ b/src/3d_printed_parts/e-stop_mount.SLDPRT
--- a/src/3d_printed_parts/holder_for_injector_needle.SLDPRT
+++ b/src/3d_printed_parts/holder_for_injector_needle.SLDPRT
--- a/src/3d_printed_parts/holder_for_injector_needle.STL
+++ b/src/3d_printed_parts/holder_for_injector_needle.STL
--- a/src/3d_printed_parts/main_carriage.SLDPRT
+++ b/src/3d_printed_parts/main_carriage.SLDPRT
--- a/src/3d_printed_parts/main_carriage.STL
+++ b/src/3d_printed_parts/main_carriage.STL
--- a/src/3d_printed_parts/main_platform.SLDPRT
+++ b/src/3d_printed_parts/main_platform.SLDPRT
--- a/src/3d_printed_parts/main_platform.STL
+++ b/src/3d_printed_parts/main_platform.STL
--- a/src/3d_printed_parts/needle_holder_bottom.STL.SLDPRT
+++ b/src/3d_printed_parts/needle_holder_bottom.STL.SLDPRT
--- a/src/3d_printed_parts/needle_holder_for_075mm_tube_tmp.SLDPRT
+++ b/src/3d_printed_parts/needle_holder_for_075mm_tube_tmp.SLDPRT
--- a/src/3d_printed_parts/needle_holder_for_075mm_tube_tmp.STL
+++ b/src/3d_printed_parts/needle_holder_for_075mm_tube_tmp.STL
--- a/src/3d_printed_parts/needle_holder_spacer.STL
+++ b/src/3d_printed_parts/needle_holder_spacer.STL
--- a/src/3d_printed_parts/opto_endstop_holder.SLDPRT
+++ b/src/3d_printed_parts/opto_endstop_holder.SLDPRT
--- a/src/3d_printed_parts/pully.SLDPRT
+++ b/src/3d_printed_parts/pully.SLDPRT
--- a/src/3d_printed_parts/pully1.SLDPRT
+++ b/src/3d_printed_parts/pully1.SLDPRT
--- a/src/3d_printed_parts/pully1_my.SLDPRT
+++ b/src/3d_printed_parts/pully1_my.SLDPRT
--- a/src/3d_printed_parts/rail_spacer.SLDPRT
+++ b/src/3d_printed_parts/rail_spacer.SLDPRT
--- a/src/3d_printed_parts/rotary
+++ b/src/3d_printed_parts/rotary
--- a/src/3d_printed_parts/rotary
+++ b/src/3d_printed_parts/rotary
--- a/src/3d_printed_parts/rotary
+++ b/src/3d_printed_parts/rotary
--- a/src/3d_printed_parts/rotary
+++ b/src/3d_printed_parts/rotary
--- a/src/3d_printed_parts/sensorPin240705.SLDPRT
+++ b/src/3d_printed_parts/sensorPin240705.SLDPRT
--- a/src/3d_printed_parts/x_axis_cariage.SLDPRT
+++ b/src/3d_printed_parts/x_axis_cariage.SLDPRT
--- a/src/3d_printed_parts/x_axis_cariage.STL
+++ b/src/3d_printed_parts/x_axis_cariage.STL
--- a/src/3d_printed_parts/x_axis_sensor_pin.SLDPRT
+++ b/src/3d_printed_parts/x_axis_sensor_pin.SLDPRT
--- a/src/3d_printed_parts/Еще
+++ b/src/3d_printed_parts/Еще
--- a/src/3d_printed_parts/Катушка_для_резинок.STL
+++ b/src/3d_printed_parts/Катушка_для_резинок.STL
--- a/src/3d_printed_parts/Крепеж
+++ b/src/3d_printed_parts/Крепеж
--- a/src/3d_printed_parts/Рычаг.STL
+++ b/src/3d_printed_parts/Рычаг.STL
--- a/src/3d_printed_parts/Часть
+++ b/src/3d_printed_parts/Часть
--- a/src/3d_printed_parts/Часть
+++ b/src/3d_printed_parts/Часть
--- a/src/Electronic_and_linear_parts/Ramps/Assembly
+++ b/src/Electronic_and_linear_parts/Ramps/Assembly
--- a/src/Electronic_and_linear_parts/Ramps/Assembly
+++ b/src/Electronic_and_linear_parts/Ramps/Assembly
--- a/src/Electronic_and_linear_parts/rail_spacer.SLDPRT
+++ b/src/Electronic_and_linear_parts/rail_spacer.SLDPRT
--- a/src/Electronic_and_linear_parts/rail_spacer.STL
+++ b/src/Electronic_and_linear_parts/rail_spacer.STL
--- a/src/Other/wire_spool_2.SLDPRT
+++ b/src/Other/wire_spool_2.SLDPRT
--- a/src/Secondary_asms/Display_asm_main_001.SLDASM
+++ b/src/Secondary_asms/Display_asm_main_001.SLDASM
--- a/src/Secondary_asms/_asm_chelnok.SLDASM
+++ b/src/Secondary_asms/_asm_chelnok.SLDASM
--- a/src/Secondary_asms/_asm_support.SLDASM
+++ b/src/Secondary_asms/_asm_support.SLDASM
--- a/src/Secondary_asms/asm_electronics_and_z-axis.SLDASM
+++ b/src/Secondary_asms/asm_electronics_and_z-axis.SLDASM
--- a/src/Secondary_asms/asm_holder.SLDASM
+++ b/src/Secondary_asms/asm_holder.SLDASM
--- a/src/Secondary_asms/asm_small_stator.SLDASM
+++ b/src/Secondary_asms/asm_small_stator.SLDASM
--- a/src/Secondary_asms/tension_mechanism_asm.SLDASM
+++ b/src/Secondary_asms/tension_mechanism_asm.SLDASM
--- a/src/_main_asm_with_new_tension_mechanism.SLDASM
+++ b/src/_main_asm_with_new_tension_mechanism.SLDASM
				`@ -1 +0,0 @@`
				`gcodegenerator_v4.exe trident_input.txt trident_output.gcode trident_coil.txt`