diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..4d26c1a
--- /dev/null
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diff --git a/BoardCAD.jar b/BoardCAD.jar
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diff --git a/WS_BOTTOM_bullnose_2.stl b/WS_BOTTOM_bullnose_2.stl
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+      vertex -10.613253 14.054218 1.963528
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+  endfacet
+endsolid Mesh
diff --git a/board/BezierBoard.java b/board/BezierBoard.java
index 644dcf7..101eea2 100644
--- a/board/BezierBoard.java
+++ b/board/BezierBoard.java
@@ -129,6 +129,10 @@ public class BezierBoard extends AbstractBoard implements Cloneable {
 
 	private Shape3D m3DModel = null;
 	
+	private int nr_of_bottom_ctrl_pts = 0;           // number of additional bottom control points for beizer patch creation of channels
+	private boolean curved_channel_iterpolation = false; // interpolate channels relative to outline (TRUE) or linearly (FALSE)
+
+	
 	public BezierBoard()
 	{
 		reset();
@@ -243,6 +247,9 @@ public void reset()
 		mAux3 = new String();
 		
 		mCenterOfMass = 0;
+		nr_of_bottom_ctrl_pts = 0;           // number of additional bottom control points for beizer patch creation of channels
+		curved_channel_iterpolation = false; // interpolate channels relative to outline (TRUE) or linearly (FALSE)
+
 	}
 	
 	
@@ -1209,6 +1216,64 @@ public BezierBoardCrossSection getInterpolatedCrossSection(double x)
 			i.scale(thickness, width);
 			
 			i.setPosition(x);
+			// Perform Concave Adjustment Here (if curved interpolation requested)
+			int NumberOfConcavePts = 0;
+
+			int lowXSInd = 0;
+			int highXSInd = 0;
+			double m_slope = 0;
+			double C_intercept = 0;
+
+			int j = 1;
+			if (!curved_channel_iterpolation){
+				NumberOfConcavePts=nr_of_bottom_ctrl_pts;
+			}
+			while (j <= NumberOfConcavePts)
+			{
+				//System.out.println("CC Pt "+j);
+				BezierSpline ConcavePtPathSpline = new BezierSpline();
+				Point2D.Double[] ConcavePtArray = new Point2D.Double[mCrossSections.size()-2];
+				//create array of points for temp bezier spline
+				//
+				//System.out.println("NumXsects "+ mCrossSections.size());
+				for(int k = 0; k < mCrossSections.size() - 2; k++)
+				{
+					ConcavePtArray[k] = new Point2D.Double();
+					ConcavePtArray[k].x = mCrossSections.get(k+1).getPosition();
+					ConcavePtArray[k].y = mCrossSections.get(k+1).getBezierSpline().getControlPoint(j).getPoints()[0].x;
+					//System.out.println(mCrossSections.get(k).getPosition()+", "+mCrossSections.get(k).getBezierSpline().getControlPoint(j).getPoints()[0].x);
+				}
+			
+			if (x <= ConcavePtArray[0].x) // cross section between tail and first cross section
+			{
+				lowXSInd = 0;
+				highXSInd = 1;
+			}
+			else if (x >= ConcavePtArray[mCrossSections.size() - 3].x) // cross section between nose and last cross section
+			{
+				lowXSInd = mCrossSections.size() - 4;
+				highXSInd = mCrossSections.size() - 3;	
+			}
+			else // cross section is within user defined cross sections
+			{
+				// determine which cross sections the interpolated point is between
+				int k = 0;
+				while (x > ConcavePtArray[k].x)
+				{
+					k++;
+				}
+				lowXSInd = k-1;
+				highXSInd = k;
+			}
+			m_slope = ((ConcavePtArray[highXSInd].y - ConcavePtArray[lowXSInd].y) / (ConcavePtArray[highXSInd].x - ConcavePtArray[lowXSInd].x));
+			C_intercept = ConcavePtArray[highXSInd].y - m_slope * ConcavePtArray[highXSInd].x;
+			if (x <= ConcavePtArray[mCrossSections.size() - 3].x)
+			{
+				i.getBezierSpline().getControlPoint(j).setControlPointLocation(m_slope*x+C_intercept, i.getBezierSpline().getControlPoint(j).getPoints()[0].y);
+			}
+			j++;
+			}
+			
 		}
 		
 		return i;
@@ -2702,5 +2767,25 @@ public String toString()
 		
 		return str;
 	}
-		
+	
+	//PW additions for channels
+	public void set_nr_of_bottom_ctrl_pts(int numPts)
+	{
+		nr_of_bottom_ctrl_pts = numPts;
+	}
+	
+	public int get_nr_of_bottom_ctrl_pts()
+	{
+		return nr_of_bottom_ctrl_pts;
+	}
+	
+	public void set_curved_channel_iterpolation(boolean curved_chan)
+	{
+		curved_channel_iterpolation = curved_chan;
+	}
+	
+	public boolean get_curved_channel_iterpolation()
+	{
+		return curved_channel_iterpolation;
+	}
 }
diff --git a/board/NurbsBoard.java b/board/NurbsBoard.java
index 49ad9f3..121f41c 100644
--- a/board/NurbsBoard.java
+++ b/board/NurbsBoard.java
@@ -2917,6 +2917,25 @@ public int create_bezier_patch(BezierBoard bezier_board)
 				for(int j=0;j<11;j++)
 					bottom.set_control_point(i,j,new NurbsPoint(0,0,0));
 		}
+		// PW Insert for Channel Correction - Typical Cross section = 5, so use standard Deck profile, but add more bottom segments?
+		// 2 midspan bottom control points makes it the same as the deck...
+		else if(spline_size >= 6)
+		{
+			System.out.println("-------------------------");
+			System.out.println("Channel Interp - Num of Additional Bottom Points = " + (spline_size - 5));
+			System.out.println("-------------------------");
+
+			deck=new NurbsSurface(segments,23);
+			for(int i=0;i<segments;i++)
+				for(int j=0;j<23;j++)
+					deck.set_control_point(i,j,new NurbsPoint(0,0,0));
+			
+			bottom=new NurbsSurface(segments,(spline_size-3)*6-1); //was 23 for ss = 7 
+			for(int i=0;i<segments;i++)
+				for(int j=0;j<(spline_size-3)*6-1;j++)
+					bottom.set_control_point(i,j,new NurbsPoint(0,0,0));
+		}
+		// PW Insert for Channel Correction 		
 		else
 		{
 			deck=new NurbsSurface(segments,17);
@@ -2978,11 +2997,20 @@ public int create_bezier_patch(BezierBoard bezier_board)
 				return -1;
 			
 			//**************tucked under
-
-			control_point=bezier_spline.getControlPoint(1);
-			control_point2=bezier_spline2.getControlPoint(1);
-			control_point3=bezier_spline3.getControlPoint(1);
-
+			// PW Insert for Channel Correction - Assumes all additional points are on bottom, no good for deck grooves etc...
+			if (spline_size > 5)
+			{
+				control_point=bezier_spline.getControlPoint(spline_size - 4);
+				control_point2=bezier_spline2.getControlPoint(spline_size - 4);
+				control_point3=bezier_spline3.getControlPoint(spline_size - 4);
+			}
+			// PW Insert for Channel Correction 
+			else
+			{
+				control_point=bezier_spline.getControlPoint(1);
+				control_point2=bezier_spline2.getControlPoint(1);
+				control_point3=bezier_spline3.getControlPoint(1);
+			}
 			//center point
 
 			p2d=control_point.getEndPoint();
@@ -3036,11 +3064,20 @@ public int create_bezier_patch(BezierBoard bezier_board)
 			deck_points[i-1][deck.get_nr_of_points()-4]=new NurbsPoint(deck_points[i-1][3].x,deck_points[i-1][3].y,-deck_points[i-1][3].z);
 			
 			//***********************rail
-
-			control_point=bezier_spline.getControlPoint(2);
-			control_point2=bezier_spline2.getControlPoint(2);
-			control_point3=bezier_spline3.getControlPoint(2);
-
+			// PW Insert for Channel Correction - Assumes all additional points are on bottom, no good for deck grooves etc...
+			if (spline_size > 5)
+			{
+				control_point=bezier_spline.getControlPoint(spline_size - 3);
+				control_point2=bezier_spline2.getControlPoint(spline_size - 3);
+				control_point3=bezier_spline3.getControlPoint(spline_size - 3);
+			}
+			// PW Insert for Channel Correction 
+			else
+			{
+				control_point=bezier_spline.getControlPoint(2);
+				control_point2=bezier_spline2.getControlPoint(2);
+				control_point3=bezier_spline3.getControlPoint(2);	
+			}
 			//center point
 
 			p2d=control_point.getEndPoint();
@@ -3114,16 +3151,25 @@ public int create_bezier_patch(BezierBoard bezier_board)
 //			deck_points[i-1][6]=new NurbsPoint(deck_points[i][6].x+deck_points[i-1][5].x-deck_points[i][5].x, deck_points[i][6].y+deck_points[i-1][5].y-deck_points[i][5].y, deck_points[i][6].z+deck_points[i-1][5].z-deck_points[i][5].z);
 			deck_points[i-1][deck.get_nr_of_points()-7]=new NurbsPoint(deck_points[i-1][6].x,deck_points[i-1][6].y,-deck_points[i-1][6].z);
 
-
-			if(spline_size==5)
+			// PW modified for Channels - Deck assumed un modified (ie same as 5 point option. >= was  ==
+			if(spline_size>=5)
 			{			
 				
 				//***************deck 1
-	
-				control_point=bezier_spline.getControlPoint(3);
-				control_point2=bezier_spline2.getControlPoint(3);
-				control_point3=bezier_spline3.getControlPoint(3);
-	
+				// PW Insert for Channel Correction 
+				if (spline_size > 5)
+				{
+					control_point=bezier_spline.getControlPoint(spline_size - 2);
+					control_point2=bezier_spline2.getControlPoint(spline_size - 2);
+					control_point3=bezier_spline3.getControlPoint(spline_size - 2);
+				}
+				// PW Insert for Channel Correction 
+				else
+				{
+					control_point=bezier_spline.getControlPoint(3);
+					control_point2=bezier_spline2.getControlPoint(3);
+					control_point3=bezier_spline3.getControlPoint(3);
+				}
 				//center point
 	
 				p2d=control_point.getEndPoint();
@@ -3199,11 +3245,20 @@ public int create_bezier_patch(BezierBoard bezier_board)
 	
 	
 				//***************deck top
-	
-				control_point=bezier_spline.getControlPoint(4);
-				control_point2=bezier_spline2.getControlPoint(4);
-				control_point3=bezier_spline3.getControlPoint(4);
-				
+				// PW Insert for Channel Correction 
+				if (spline_size > 5)
+				{
+					control_point=bezier_spline.getControlPoint(spline_size - 1);
+					control_point2=bezier_spline2.getControlPoint(spline_size - 1);
+					control_point3=bezier_spline3.getControlPoint(spline_size - 1);
+				}
+				// PW Insert for Channel Correction 
+				else
+				{
+					control_point=bezier_spline.getControlPoint(4);
+					control_point2=bezier_spline2.getControlPoint(4);
+					control_point3=bezier_spline3.getControlPoint(4);
+				}
 				//center point
 	
 				p2d=control_point.getEndPoint();
@@ -3343,10 +3398,20 @@ public int create_bezier_patch(BezierBoard bezier_board)
 			bezier_spline3=cross_section3.getBezierSpline();
 			
 			//*************************tucked under
-
-			control_point=bezier_spline.getControlPoint(1);
-			control_point2=bezier_spline2.getControlPoint(1);
-			control_point3=bezier_spline3.getControlPoint(1);
+						// PW Insert for Channel Correction - Assumes all additional points are on bottom, no good for deck grooves etc...
+			if (spline_size > 5)
+			{
+				control_point=bezier_spline.getControlPoint(spline_size - 4);
+				control_point2=bezier_spline2.getControlPoint(spline_size - 4);
+				control_point3=bezier_spline3.getControlPoint(spline_size - 4);
+			}
+			// PW Insert for Channel Correction 
+			else
+			{
+				control_point=bezier_spline.getControlPoint(1);
+				control_point2=bezier_spline2.getControlPoint(1);
+				control_point3=bezier_spline3.getControlPoint(1);
+			}
 
 			//center point
 			System.out.println("setting bottom rail point");
@@ -3398,6 +3463,93 @@ public int create_bezier_patch(BezierBoard bezier_board)
 //			bottom_points[i-1][3]=new NurbsPoint(bottom_points[i][3].x+bottom_points[i-1][2].x-bottom_points[i][2].x, bottom_points[i][3].y+bottom_points[i-1][2].y-bottom_points[i][2].y, bottom_points[i][3].z+bottom_points[i-1][2].z-bottom_points[i][2].z);
 			bottom_points[i-1][bottom.get_nr_of_points()-4]=new NurbsPoint(bottom_points[i-1][3].x,bottom_points[i-1][3].y,-bottom_points[i-1][3].z);
 
+			//PW - need to do something in here for all internal control points?
+			if (spline_size > 5)
+			{
+				for(int k = 0;k < (spline_size - 5);k++) 
+				// for each intermediate control point - generate Nurbs Pt - should reference Board Property - num bottom points
+				{
+					control_point=bezier_spline.getControlPoint(spline_size - 5 - k);
+					control_point2=bezier_spline2.getControlPoint(spline_size - 5 - k);
+					control_point3=bezier_spline3.getControlPoint(spline_size - 5 - k);
+				
+					p2d=control_point.getEndPoint();
+					p2d.setLocation(p2d.getX(),p2d.getY()+bezier_board.getRockerAtPos(xval));
+					bottom_points[i][2+((k+1)*3)]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
+					bottom_points[i][bottom.get_nr_of_points()-(3+((k+1)*3))]=new NurbsPoint(10*xval, 10*p2d.getY(), 10*p2d.getX());
+					
+					dist=distfwd;
+					p2d2=control_point2.getEndPoint();
+					p2d2.setLocation(p2d2.getX(),p2d2.getY()+bezier_board.getRockerAtPos(xval+0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d2.getY()-p2d.getY())*(p2d2.getY()-p2d.getY())+(p2d2.getX()-p2d.getX())*(p2d2.getX()-p2d.getX()));
+					tangent1=new NurbsPoint(0.1/dist2, (p2d2.getY()-p2d.getY())/dist2, (p2d2.getX()-p2d.getX())/dist2);
+					bottom_points[i+1][2+((k+1)*3)]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
+					bottom_points[i+1][bottom.get_nr_of_points()-(3+((k+1)*3))]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), 10*(p2d.getX()+tangent1.z*dist));
+								
+					dist=distbwd;
+					p2d3=control_point3.getEndPoint();
+					p2d3.setLocation(p2d3.getX(),p2d3.getY()+bezier_board.getRockerAtPos(xval-0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d3.getY()-p2d.getY())*(p2d3.getY()-p2d.getY())+(p2d3.getX()-p2d.getX())*(p2d3.getX()-p2d.getX()));
+					tangent2=new NurbsPoint(0.1/dist2, (p2d3.getY()-p2d.getY())/dist2, (p2d3.getX()-p2d.getX())/dist2);
+					bottom_points[i-1][2+((k+1)*3)]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
+					bottom_points[i-1][bottom.get_nr_of_points()-(3+((k+1)*3))]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), 10*(p2d.getX()+tangent2.z*dist));
+
+					//tangent to prev
+
+					p2d=control_point.getTangentToNext();
+					p2d.setLocation(p2d.getX(),p2d.getY()+bezier_board.getRockerAtPos(xval));
+					bottom_points[i][1+((k+1)*3)]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
+					bottom_points[i][bottom.get_nr_of_points()-(2+((k+1)*3))]=new NurbsPoint(10*xval, 10*p2d.getY(), 10*p2d.getX());
+
+					dist=distfwd;
+					p2d2=control_point2.getTangentToNext();
+					p2d2.setLocation(p2d2.getX(),p2d2.getY()+bezier_board.getRockerAtPos(xval+0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d2.getY()-p2d.getY())*(p2d2.getY()-p2d.getY())+(p2d2.getX()-p2d.getX())*(p2d2.getX()-p2d.getX()));
+					tangent1=new NurbsPoint(0.1/dist2, (p2d2.getY()-p2d.getY())/dist2, (p2d2.getX()-p2d.getX())/dist2);
+					bottom_points[i+1][1+((k+1)*3)]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
+		//			bottom_points[i+1][4]=new NurbsPoint(bottom_points[i][4].x+bottom_points[i+1][5].x-bottom_points[i][5].x, bottom_points[i][4].y+bottom_points[i+1][5].y-bottom_points[i][5].y, bottom_points[i][4].z+bottom_points[i+1][5].z-bottom_points[i][5].z);
+					bottom_points[i+1][bottom.get_nr_of_points()-(2+((k+1)*3))]=new NurbsPoint(bottom_points[i+1][1+((k+1)*3)].x,bottom_points[i+1][1+((k+1)*3)].y,-bottom_points[i+1][1+((k+1)*3)].z);
+
+					dist=distbwd;
+					p2d3=control_point3.getTangentToNext();
+					p2d3.setLocation(p2d3.getX(),p2d3.getY()+bezier_board.getRockerAtPos(xval-0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d3.getY()-p2d.getY())*(p2d3.getY()-p2d.getY())+(p2d3.getX()-p2d.getX())*(p2d3.getX()-p2d.getX()));
+					tangent2=new NurbsPoint(0.1/dist2, (p2d3.getY()-p2d.getY())/dist2, (p2d3.getX()-p2d.getX())/dist2);
+					bottom_points[i-1][1+((k+1)*3)]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
+		//			bottom_points[i-1][4]=new NurbsPoint(bottom_points[i][4].x+bottom_points[i-1][5].x-bottom_points[i][5].x, bottom_points[i][4].y+bottom_points[i-1][5].y-bottom_points[i][5].y, bottom_points[i][4].z+bottom_points[i-1][5].z-bottom_points[i][5].z);
+					bottom_points[i-1][bottom.get_nr_of_points()-(2+((k+1)*3))]=new NurbsPoint(bottom_points[i-1][1+((k+1)*3)].x,bottom_points[i-1][1+((k+1)*3)].y,-bottom_points[i-1][1+((k+1)*3)].z);
+
+					//tangent to next
+
+					p2d=control_point.getTangentToPrev();
+					p2d.setLocation(p2d.getX(),p2d.getY()+bezier_board.getRockerAtPos(xval));
+					bottom_points[i][3+((k+1)*3)]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
+					bottom_points[i][bottom.get_nr_of_points()-(4+((k+1)*3))]=new NurbsPoint(10*xval, 10*p2d.getY(), 10*p2d.getX());
+
+					dist=distfwd;
+					p2d2=control_point2.getTangentToPrev();
+					p2d2.setLocation(p2d2.getX(),p2d2.getY()+bezier_board.getRockerAtPos(xval+0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d2.getY()-p2d.getY())*(p2d2.getY()-p2d.getY())+(p2d2.getX()-p2d.getX())*(p2d2.getX()-p2d.getX()));
+					tangent1=new NurbsPoint(0.1/dist2, (p2d2.getY()-p2d.getY())/dist2, (p2d2.getX()-p2d.getX())/dist2);
+					bottom_points[i+1][3+((k+1)*3)]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
+		//			bottom_points[i+1][6]=new NurbsPoint(bottom_points[i][6].x+bottom_points[i+1][5].x-bottom_points[i][5].x, bottom_points[i][6].y+bottom_points[i+1][5].y-bottom_points[i][5].y, bottom_points[i][6].z+bottom_points[i+1][5].z-bottom_points[i][5].z);
+					bottom_points[i+1][bottom.get_nr_of_points()-(4+((k+1)*3))]=new NurbsPoint(bottom_points[i+1][3+((k+1)*3)].x,bottom_points[i+1][3+((k+1)*3)].y,-bottom_points[i+1][3+((k+1)*3)].z);
+
+					dist=distbwd;
+					p2d3=control_point3.getTangentToPrev();
+					p2d3.setLocation(p2d3.getX(),p2d3.getY()+bezier_board.getRockerAtPos(xval-0.1));
+					dist2=Math.sqrt(0.1*0.1+(p2d3.getY()-p2d.getY())*(p2d3.getY()-p2d.getY())+(p2d3.getX()-p2d.getX())*(p2d3.getX()-p2d.getX()));
+					tangent2=new NurbsPoint(0.1/dist2, (p2d3.getY()-p2d.getY())/dist2, (p2d3.getX()-p2d.getX())/dist2);
+					bottom_points[i-1][3+((k+1)*3)]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
+		//			bottom_points[i-1][6]=new NurbsPoint(bottom_points[i][6].x+bottom_points[i-1][5].x-bottom_points[i][5].x, bottom_points[i][6].y+bottom_points[i-1][5].y-bottom_points[i][5].y, bottom_points[i][6].z+bottom_points[i-1][5].z-bottom_points[i][5].z);
+					bottom_points[i-1][bottom.get_nr_of_points()-(4+((k+1)*3))]=new NurbsPoint(bottom_points[i-1][3+((k+1)*3)].x,bottom_points[i-1][3+((k+1)*3)].y,-bottom_points[i-1][3+((k+1)*3)].z);
+//_______________________________________________________________________________
+				
+				}
+			}
+			// PW Insert for Channel Correction 
+
+
 			//bottom center
 
 			//*************** bottom
@@ -3411,53 +3563,55 @@ public int create_bezier_patch(BezierBoard bezier_board)
 
 			p2d=control_point.getEndPoint();
 			p2d.setLocation(p2d.getX(),p2d.getY()+bezier_board.getRockerAtPos(xval));
-			bottom_points[i][5]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
+			bottom_points[i][(bottom.get_nr_of_points()-1)/2]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
 
 			dist=distfwd;
 			p2d2=control_point2.getEndPoint();
 			p2d2.setLocation(p2d2.getX(),p2d2.getY()+bezier_board.getRockerAtPos(xval+0.1));
 			dist2=Math.sqrt(0.1*0.1+(p2d2.getY()-p2d.getY())*(p2d2.getY()-p2d.getY())+(p2d2.getX()-p2d.getX())*(p2d2.getX()-p2d.getX()));
 			tangent1=new NurbsPoint(0.1/dist2, (p2d2.getY()-p2d.getY())/dist2, (p2d2.getX()-p2d.getX())/dist2);
-			bottom_points[i+1][5]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
+			bottom_points[i+1][(bottom.get_nr_of_points()-1)/2]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
 						
 			dist=distbwd;
 			p2d3=control_point3.getEndPoint();
 			p2d3.setLocation(p2d3.getX(),p2d3.getY()+bezier_board.getRockerAtPos(xval-0.1));
 			dist2=Math.sqrt(0.1*0.1+(p2d3.getY()-p2d.getY())*(p2d3.getY()-p2d.getY())+(p2d3.getX()-p2d.getX())*(p2d3.getX()-p2d.getX()));
 			tangent2=new NurbsPoint(0.1/dist2, (p2d3.getY()-p2d.getY())/dist2, (p2d3.getX()-p2d.getX())/dist2);
-			bottom_points[i-1][5]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
+			bottom_points[i-1][(bottom.get_nr_of_points()-1)/2]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
 
 			//tangent to next
 			System.out.println("setting bottom tangent to next");
 
 			p2d=control_point.getTangentToNext();
 			p2d.setLocation(p2d.getX(),p2d.getY()+bezier_board.getRockerAtPos(xval));
-			bottom_points[i][4]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
-			bottom_points[i][bottom.get_nr_of_points()-5]=new NurbsPoint(10*xval, 10*p2d.getY(), 10*p2d.getX());
+			bottom_points[i][(bottom.get_nr_of_points()-1)/2-1]=new NurbsPoint(10*xval, 10*p2d.getY(), -10*p2d.getX());
+			bottom_points[i][(bottom.get_nr_of_points()-1)/2+1]=new NurbsPoint(10*xval, 10*p2d.getY(), 10*p2d.getX());
 
 			dist=distfwd;
 			p2d2=control_point2.getTangentToNext();
 			p2d2.setLocation(p2d2.getX(),p2d2.getY()+bezier_board.getRockerAtPos(xval+0.1));
 			dist2=Math.sqrt(0.1*0.1+(p2d2.getY()-p2d.getY())*(p2d2.getY()-p2d.getY())+(p2d2.getX()-p2d.getX())*(p2d2.getX()-p2d.getX()));
 			tangent1=new NurbsPoint(0.1/dist2, (p2d2.getY()-p2d.getY())/dist2, (p2d2.getX()-p2d.getX())/dist2);
-			bottom_points[i+1][4]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
+			bottom_points[i+1][(bottom.get_nr_of_points()-1)/2-1]=new NurbsPoint(10*(xval+tangent1.x*dist), 10*(p2d.getY()+tangent1.y*dist), -10*(p2d.getX()+tangent1.z*dist));
 //			bottom_points[i+1][4]=new NurbsPoint(bottom_points[i][4].x+bottom_points[i+1][5].x-bottom_points[i][5].x, bottom_points[i][4].y+bottom_points[i+1][5].y-bottom_points[i][5].y, bottom_points[i][4].z+bottom_points[i+1][5].z-bottom_points[i][5].z);
-			bottom_points[i+1][bottom.get_nr_of_points()-5]=new NurbsPoint(bottom_points[i+1][4].x,bottom_points[i+1][4].y,-bottom_points[i+1][4].z);
+			bottom_points[i+1][(bottom.get_nr_of_points()-1)/2+1]=new NurbsPoint(bottom_points[i+1][(bottom.get_nr_of_points()-1)/2-1].x,bottom_points[i+1][(bottom.get_nr_of_points()-1)/2-1].y,-bottom_points[i+1][(bottom.get_nr_of_points()-1)/2-1].z);
 
 			dist=distbwd;
 			p2d3=control_point3.getTangentToNext();
 			p2d3.setLocation(p2d3.getX(),p2d3.getY()+bezier_board.getRockerAtPos(xval-0.1));
 			dist2=Math.sqrt(0.1*0.1+(p2d3.getY()-p2d.getY())*(p2d3.getY()-p2d.getY())+(p2d3.getX()-p2d.getX())*(p2d3.getX()-p2d.getX()));
 			tangent2=new NurbsPoint(0.1/dist2, (p2d3.getY()-p2d.getY())/dist2, (p2d3.getX()-p2d.getX())/dist2);
-			bottom_points[i-1][4]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
+			bottom_points[i-1][(bottom.get_nr_of_points()-1)/2-1]=new NurbsPoint(10*(xval-tangent2.x*dist), 10*(p2d.getY()+tangent2.y*dist), -10*(p2d.getX()+tangent2.z*dist));
 //			bottom_points[i-1][4]=new NurbsPoint(bottom_points[i][4].x+bottom_points[i-1][5].x-bottom_points[i][5].x, bottom_points[i][4].y+bottom_points[i-1][5].y-bottom_points[i][5].y, bottom_points[i][4].z+bottom_points[i-1][5].z-bottom_points[i][5].z);
-			bottom_points[i-1][bottom.get_nr_of_points()-5]=new NurbsPoint(bottom_points[i-1][4].x,bottom_points[i-1][4].y,-bottom_points[i-1][4].z);
-
+			//System.out.println("mirror tangent: " + ((bottom.get_nr_of_points()-1)/2+1));
+			
+			bottom_points[i-1][(bottom.get_nr_of_points()-1)/2+1]=new NurbsPoint(bottom_points[i-1][(bottom.get_nr_of_points()-1)/2-1].x,bottom_points[i-1][(bottom.get_nr_of_points()-1)/2-1].y,-bottom_points[i-1][(bottom.get_nr_of_points()-1)/2-1].z);
+			
 
 
 		}
 
-		//System.out.println("Setting control points");
+		//System.out.println("Setting control points - deck");
 
 		//create surfaces
 		
@@ -3469,11 +3623,15 @@ public int create_bezier_patch(BezierBoard bezier_board)
 			}
 		}
 		
+		//System.out.println("Setting control points - bottom: seg num total = " + bottom.get_nr_of_segments() + " point num total = " + bottom.get_nr_of_points());
 
+		
 		for(int i=2;i<bottom.get_nr_of_segments()-2;i++)
 		{
 			for(int j=2;j<bottom.get_nr_of_points()-2;j++)
 			{
+				//System.out.println("seg num = " + i + " point num = " + j);
+				//System.out.println(bottom_points[i][j]);
 				bottom.set_control_point(i,j,bottom_points[i][j]);
 			}
 		}
diff --git a/board/readers/S3dReader.java b/board/readers/S3dReader.java
index 6e1926f..0285196 100644
--- a/board/readers/S3dReader.java
+++ b/board/readers/S3dReader.java
@@ -1,7 +1,11 @@
 package board.readers;
 
 import java.awt.geom.Point2D;
-import java.io.File;
+//import java.io.*;//File.*;
+import java.nio.file.*;//File.*;
+import java.nio.charset.*;
+import java.io.StringReader;
+
 import java.io.IOException;
 import java.util.ArrayList;
 
@@ -12,7 +16,8 @@
 import org.w3c.dom.Document;
 import org.w3c.dom.Element;
 import org.w3c.dom.NodeList;
-import org.xml.sax.SAXException;
+import org.xml.sax.*;
+//import org.xml.sax.SAXException;
 
 import board.BezierBoard;
 
@@ -33,16 +38,27 @@ public class S3dReader {
 	static public int loadFile(BezierBoard brd, String aFilename)
 	{
 		System.out.printf("Loading %s\n", aFilename);
-
+		
 		int ret = 0;
 		
 		brd.reset();
 		
 		DocumentBuilderFactory factory = DocumentBuilderFactory.newInstance();
 		
-		try {		
+		try {
+			// rectify bad XML in v8 s3d file (PW - 12/04/2018)
+			// this does not modify the file, rather changes the problematic issues as read by BC.
+			Path path = Paths.get(aFilename);
+			Charset charset = StandardCharsets.UTF_8;
+		
+			String s3Dcontent = new String(Files.readAllBytes(path));//, charset);
+			s3Dcontent = s3Dcontent.replaceAll("Ref. point", "RefPoint");
+		
+			// finish rectifying bad XML
+			
 			DocumentBuilder builder = factory.newDocumentBuilder();
-			Document document = builder.parse( new File(aFilename) );
+			//Document document = builder.parse( new File(aFilename) );
+			Document document = builder.parse( new InputSource(new StringReader(s3Dcontent)) );
 			
 			Element shape3Dnode = (Element)document.getElementsByTagName("Shape3d_design").item(0);
 			Element boardNode = (Element)shape3Dnode.getElementsByTagName("Board").item(0);
diff --git a/boardcad/export/DxfExport.java b/boardcad/export/DxfExport.java
index d03d3f6..8c06a02 100644
--- a/boardcad/export/DxfExport.java
+++ b/boardcad/export/DxfExport.java
@@ -11,7 +11,7 @@
 public class DxfExport {
 	
 	static final long serialVersionUID=1L;
-	static public final double SCALE_DXF_TO_SI = 0.01;
+	static public final double SCALE_DXF_TO_SI = 10; //was metres (0.01), output to mm.
 
 	static int q = 100;
 
diff --git a/boardcad/gui/jdk/BoardCAD.java b/boardcad/gui/jdk/BoardCAD.java
index 65446e9..b2bdb50 100644
--- a/boardcad/gui/jdk/BoardCAD.java
+++ b/boardcad/gui/jdk/BoardCAD.java
@@ -4560,8 +4560,76 @@ public void actionPerformed(ActionEvent arg0) {
 			}
 
 		};
+//PW Mods here
+		final AbstractAction bezier_patch_num_bot_pts = new AbstractAction() {
+			static final long serialVersionUID=1L;
+			{
+				this.putValue(Action.NAME, "   Set Number of Control Points on Bottom Surface between Stringer and Tuck Point");
+				// this.putValue(Action.ACCELERATOR_KEY,
+				// KeyStroke.getKeyStroke(KeyEvent.VK_PLUS, 0));
+			};
+
+			public void actionPerformed(ActionEvent arg0) {
+
+			Object[] possibilities = {0,1,2,3,4};
+			int s = (int)JOptionPane.showInputDialog(
+                    mFrame,
+                    "How many additional Control Points are between the\n"
+					+ "Centre and Tuck on the Bottom of the Cross Sections?\n"
+					+ "NOTE: All Cross Sections must have the same number of control points.",
+                    "Number of Bottom Control Points",
+                    JOptionPane.PLAIN_MESSAGE,
+                    null,
+                    possibilities,
+                    0);
+			//board_handler.set_nr_of_bottom_ctrl_pts(s);
+			mCurrentBrd.set_nr_of_bottom_ctrl_pts(s);
+
+//JUNK?
+//BoardCAD.getInstance().getFrame()
+
+			}
+
+		};
+		
+		final AbstractAction bezier_patch_channel_curved = new AbstractAction() {
+			static final long serialVersionUID=1L;
+			{
+				this.putValue(Action.NAME, "   Set Channel Interpolation Behavior");
+				// this.putValue(Action.ACCELERATOR_KEY,
+				// KeyStroke.getKeyStroke(KeyEvent.VK_PLUS, 0));
+			};
+
+			public void actionPerformed(ActionEvent arg0) {
+
+				Object[] possibilities = {"Linear", "Curved"};
+				String s = (String)JOptionPane.showInputDialog(
+						mFrame,
+						"How should the channels be interpolated?\n"
+						+ "Linearly (default) = straight lines between corresponding cross section control points\n"
+						+ "Curved = channels interpolation follows board width (e.g. Go Fish)",
+						"Interpolation Algorithm",
+						JOptionPane.PLAIN_MESSAGE,
+						null,
+						possibilities,
+						"Linear");
+				if (s == "Linear"){
+					//board_handler.set_curved_channel_iterpolation(false);
+					mCurrentBrd.set_curved_channel_iterpolation(false);
+				} else {
+					//board_handler.set_curved_channel_iterpolation(true);
+					mCurrentBrd.set_curved_channel_iterpolation(true);
+				}
+			}
+
+		};
+
 		menu3D.add(bezier_patch);
-        menu3D.add(approximate);
+		menu3D.add(bezier_patch_num_bot_pts);
+		menu3D.add(bezier_patch_channel_curved);
+		menu3D.addSeparator();
+//PW Mods here		
+		menu3D.add(approximate);
         menu3D.add(approximate_open);
         menu3D.add(approximate2);
 
diff --git a/boardcam/cutters/STLCutter.java b/boardcam/cutters/STLCutter.java
index c4025e6..614b9ae 100644
--- a/boardcam/cutters/STLCutter.java
+++ b/boardcam/cutters/STLCutter.java
@@ -338,6 +338,189 @@ public double[] calcOffset(Point3d pos, Vector3d normal, AbstractBoard board)
 
 	}
 	
+	public double[] calcOffset_WS(Point3d pos, Vector3d normal, AbstractBoard board)
+	{	
+		// find the cutting point with normal pointing against the board normal
+		// if ambiguous choose cutting point closest to tool tip (0,0,0)
+		// 2016-03-04
+		// Updated for WaveShapes MachineConfig
+		// If lateral angle is less than 30 deg, then tool is offset upwards, 
+		// otherwise normal behaviour applies
+		
+		double min_normal=1000;
+		double min_distance=1000;
+		double norm;
+		double dist = 0;
+		int selected_point=-1;
+		
+		double max_lat_ang;   //10/180*3.14159; // 30 degrees in radians
+		double max_neg_distance = 0; // maximum normal interference of tool
+		
+		// calculate lateral angle
+		//System.out.println(normal.x + ", " + normal.y + ", " + normal.z);
+		//System.out.println("max_lat_ang = " + max_lat_ang);
+		//System.out.println("TAN max_lat_ang x Y = " + Math.abs(normal.y));
+		if ((Math.abs(normal.x) >= 100.577*Math.abs(normal.z)) 
+			|| (Math.abs(normal.y) >= 100.577*Math.abs(normal.z)))
+		{
+			for(int i=0;i<n-1;i++)
+			{
+				norm=Math.sqrt( (normal.x+transformed_cutting_normal[i].x)*(normal.x+transformed_cutting_normal[i].x)+
+						(normal.y+transformed_cutting_normal[i].y)*(normal.y+transformed_cutting_normal[i].y)+
+						(normal.z+transformed_cutting_normal[i].z)*(normal.z+transformed_cutting_normal[i].z));
+				
+				dist=Math.sqrt( transformed_cutting_point[i].x*transformed_cutting_point[i].x +
+						transformed_cutting_point[i].y*transformed_cutting_point[i].y +
+						transformed_cutting_point[i].z*transformed_cutting_point[i].z);
+
+				if(norm<min_normal || (norm==min_normal && dist<min_distance) )
+				{
+					min_normal=norm;
+					min_distance=dist;
+					selected_point=i;
+				}
+			}
+			
+			Point3d offsetPoint = new Point3d(pos);
+			//TODO: Add feature for mould milling? IE, sub or add...
+	//		offsetPoint.add(transformed_cutting_point[selected_point]);		
+			offsetPoint.sub(transformed_cutting_point[selected_point]);		
+			
+			double[] ret = new double[]{offsetPoint.x, offsetPoint.y, offsetPoint.z};
+			return ret;	
+		}
+		else // lateral does not exceed limit - offset tool upwards only
+		{
+			//System.out.println("Just Checking In Here");
+			for(int i=0;i<n-1;i++) // each point on tool mesh
+			{
+				//normal distance
+				//dist = ((normal.x*transformed_cutting_point[i].x 
+				//	+ normal.y*transformed_cutting_point[i].y 
+				//	+ normal.z*transformed_cutting_point[i].z)
+				//	/Math.sqrt(normal.x*normal.x + normal.y*normal.y + normal.z*normal.z));
+				
+				//vertical distance
+				dist = ((normal.x*transformed_cutting_point[i].x 
+					+ normal.y*transformed_cutting_point[i].y) / (-normal.z))
+					- transformed_cutting_point[i].z;
+				
+				if (dist > max_neg_distance)
+				{
+					max_neg_distance = dist;
+				}
+			}
+			//System.out.println("Dist = " + max_neg_distance);
+			//double[] ret = new double[]{pos.x, pos.y , pos.z + (Math.abs(normal.z)/normal.z)*max_neg_distance};
+			double[] ret = new double[]{pos.x, pos.y , pos.z + max_neg_distance};
+			
+			//double[] ret = new double[]{pos.x, pos.y , pos.z 
+			//	+ max_neg_distance};
+			return ret;	
+		}
+	}
+
+public double[] calcOffset_WS_bottom(Point3d pos, Vector3d normal, AbstractBoard board)
+	{	
+		// find the cutting point with normal pointing against the board normal
+		// if ambiguous choose cutting point closest to tool tip (0,0,0)
+		// 2016-03-04
+		// Updated for WaveShapes MachineConfig
+		// If lateral angle is less than 30 deg, then tool is offset upwards, 
+		// otherwise normal behaviour applies
+		
+		double min_normal=1000;
+		double min_distance=1000;
+		double norm;
+		double dist = 0;
+		int selected_point=-1;
+		
+		double max_lat_ang;   //10/180*3.14159; // 30 degrees in radians
+		double max_neg_distance = 0; // maximum normal interference of tool
+		
+		// calculate lateral angle
+		//System.out.println(normal.x + ", " + normal.y + ", " + normal.z);
+		//System.out.println("max_lat_ang = " + max_lat_ang);
+		//System.out.println("TAN max_lat_ang x Y = " + Math.abs(normal.y));
+		if ((Math.abs(normal.x) >= 100.577*Math.abs(normal.z)) 
+			|| (Math.abs(normal.y) >= 100.577*Math.abs(normal.z)))
+		{
+			for(int i=0;i<n-1;i++)
+			{
+				norm=Math.sqrt( (normal.x+transformed_cutting_normal[i].x)*(normal.x+transformed_cutting_normal[i].x)+
+						(normal.y+transformed_cutting_normal[i].y)*(normal.y+transformed_cutting_normal[i].y)+
+						(normal.z+transformed_cutting_normal[i].z)*(normal.z+transformed_cutting_normal[i].z));
+				
+				dist=Math.sqrt( transformed_cutting_point[i].x*transformed_cutting_point[i].x +
+						transformed_cutting_point[i].y*transformed_cutting_point[i].y +
+						transformed_cutting_point[i].z*transformed_cutting_point[i].z);
+
+				if(norm<min_normal || (norm==min_normal && dist<min_distance) )
+				{
+					min_normal=norm;
+					min_distance=dist;
+					selected_point=i;
+				}
+			}
+			
+			Point3d offsetPoint = new Point3d(pos);
+			//TODO: Add feature for mould milling? IE, sub or add...
+	//		offsetPoint.add(transformed_cutting_point[selected_point]);		
+			offsetPoint.sub(transformed_cutting_point[selected_point]);		
+			
+			double[] ret = new double[]{offsetPoint.x, offsetPoint.y, offsetPoint.z};
+			return ret;	
+		}
+		else // lateral does not exceed limit - offset tool upwards only
+		{
+			//System.out.println("Just Checking In Here");
+			for(int i=0;i<n-1;i++) // each point on tool mesh
+			{
+				//normal distance
+				//dist = ((normal.x*transformed_cutting_point[i].x 
+				//	+ normal.y*transformed_cutting_point[i].y 
+				//	+ normal.z*transformed_cutting_point[i].z)
+				//	/Math.sqrt(normal.x*normal.x + normal.y*normal.y + normal.z*normal.z));
+				
+				//vertical distance
+				dist = ((normal.x*transformed_cutting_point[i].x 
+					+ normal.y*transformed_cutting_point[i].y) / (-normal.z))
+					- transformed_cutting_point[i].z;
+				
+				if (dist < max_neg_distance)
+				{
+					max_neg_distance = dist;
+				}
+			}
+			//System.out.println("Dist = " + max_neg_distance);
+			//double[] ret = new double[]{pos.x, pos.y , pos.z + (Math.abs(normal.z)/normal.z)*max_neg_distance};
+			double[] ret = new double[]{pos.x, pos.y , pos.z + max_neg_distance};
+			
+			//double[] ret = new double[]{pos.x, pos.y , pos.z 
+			//	+ max_neg_distance};
+			return ret;	
+		}
+	}
+	
+	public NurbsPoint calcOffset_WS(NurbsPoint p1, NurbsPoint mynormal)
+	{	
+//		Vector3d mynormal2=new Vector3d(mynormal.x, mynormal.y, mynormal.z);
+		Vector3d mynormal2=new Vector3d(mynormal.x, mynormal.z, mynormal.y);
+		double[] res=new double[3];
+		res=calcOffset_WS(new Point3d(p1.x, p1.z, p1.y), mynormal2, null);
+								
+		return new NurbsPoint(res[0],res[2],res[1]);
+	}
+	
+	public NurbsPoint calcOffset_WS_bottom(NurbsPoint p1, NurbsPoint mynormal)
+	{	
+//		Vector3d mynormal2=new Vector3d(mynormal.x, mynormal.y, mynormal.z);
+		Vector3d mynormal2=new Vector3d(mynormal.x, mynormal.z, mynormal.y);
+		double[] res=new double[3];
+		res=calcOffset_WS_bottom(new Point3d(p1.x, p1.z, p1.y), mynormal2, null);
+								
+		return new NurbsPoint(res[0],res[2],res[1]);
+	}
 	
 	public NurbsPoint calcOffset(NurbsPoint p1, NurbsPoint mynormal)
 	{	
@@ -348,7 +531,6 @@ public NurbsPoint calcOffset(NurbsPoint p1, NurbsPoint mynormal)
 								
 		return new NurbsPoint(res[0],res[2],res[1]);
 	}
-	
 	public void setRotationAngle(double angle)
 	{
 	}
@@ -422,6 +604,7 @@ public boolean checkCollision(NurbsPoint cutterpos)
 	{
 		Intersect intersect=new Intersect();
 		PickSegment segment;
+		
 		Point3d start, end;
 //		Point3d[] triangle=new Point3d[3];
 		int index=0;
@@ -437,8 +620,11 @@ public boolean checkCollision(NurbsPoint cutterpos)
 		end_i=(int)((cutterpos.i+2)/step);
 		start_j=(int)((cutterpos.j-1)/step);
 		end_j=(int)((cutterpos.j+2)/step);
-			
-//		System.out.println("n=" + n);		
+		
+		System.out.println("step=" + step);
+		System.out.println("cutterpos.i=" + cutterpos.i);
+		System.out.println("cutterpos.j=" + cutterpos.j);
+		System.out.println("n=" + n);		
 		for(int k=0;k<cn-2;k=k+2)
 		{
 			//create line segment from tool
@@ -465,21 +651,25 @@ public boolean checkCollision(NurbsPoint cutterpos)
 	
 			//check intersection with each surface triangle
 				
-//			System.out.println("checking for collision");
+			System.out.println("checking for collision");
 
 
 			for(int i=start_i;i<end_i;i++)
 			{
 				for(int j=start_j;j<end_j;j++)
 				{
+					System.out.println("checking 1");
 					if(intersect.segmentAndTriangle(segment,triangle[i][j][0],index,dist))
 						collision=true;
-
+					System.out.println("checking 2");
 					if(intersect.segmentAndTriangle(segment,triangle[i][j][1],index,dist))
 						collision=true;
 				}
 			}		
-/*			
+
+			System.out.println("checked for collision");
+			
+			/*			
 			for(int i=3; i<srf.get_nr_of_segments()-5; i++)
 			{
 				for(double u=0.0; u<1.0; u=u+step)
@@ -522,7 +712,7 @@ public boolean checkCollision(NurbsPoint cutterpos)
 		
 		}
 
-
+		System.err.println("INHERE 3");	
 		if(collision)
 		{
 			System.out.println("collision detected at i=" + cutterpos.i + " j=" + cutterpos.j);
diff --git a/cachedir/packages/packages.idx b/cachedir/packages/packages.idx
new file mode 100644
index 0000000..561c87b
Binary files /dev/null and b/cachedir/packages/packages.idx differ
diff --git a/shapebot.properties b/shapebot.properties
index 8b92b19..88ced58 100644
--- a/shapebot.properties
+++ b/shapebot.properties
@@ -1,8 +1,8 @@
 # G-Code settings
 
 # Script files for toolpath generation
-toolpathGenerator.deckScript = shapebot5deck.py
-toolpathGenerator.bottomScript = shapebot5bottom.py
+toolpathGenerator.deckScript = shapebot3deck_WS_7.py
+toolpathGenerator.bottomScript = shapebot3bottom_WS_7.py
 
 # Define number of cuts
 g.deckCuts = 20
diff --git a/shapebot3bottom_WS_7.py b/shapebot3bottom_WS_7.py
new file mode 100644
index 0000000..620c416
--- /dev/null
+++ b/shapebot3bottom_WS_7.py
@@ -0,0 +1,670 @@
+"""
+PMC Code Generation for Wave Shapes Machine Gosford - BOTTOM
+     Author: Peter Weatherhead
+       Date: 09/02/2016
+   Revision: 0.90
+Description: Based on original BoardCAD 3-axis Code.
+			 Machining pattern per conversation with Graeme.
+				- Alternate sides cuts, up one side, down other side.
+					- Safe Z for traversing = plus 115mm, nose/tail +20mm, 
+					  Safety switches = plus 123mm
+			Stringer Cuts
+				1. 2 cuts per side at 2mm above the surface - up, down
+				2. 2 mm deeper, final cut stringer so tool is cutting at 20deg
+			Outline Cuts
+				Around perimeter - avoiding stringer.
+				Especially useful for boards with squared off noses or tails.
+"""
+
+import boardcad.gui.jdk.BoardCAD
+import boardcam.cutters.FlatCutter
+import boardcam.BoardMachine
+import cadcore.NurbsPoint
+from javax.swing import *
+import math
+import copy
+
+#==========================================================================
+# FUNCTION DEFINITIONS 
+def mod_p_avoid_support(p):
+#  	   Author: Peter Weatherhead
+#        Date: 30/01/2016
+#    Revision: 1.00
+# Description: Modify point position around blank supports (+/-550mm)
+# 				- point is elevated and moved outwards according to the 
+#				  global parameters below in the main code.
+#				- provides central routine for method used in multiple 
+#				  locations.
+#				Note direction of p.y inequality is modified for bottom cuts
+# 		Input: 3D point p (cadcore.NurbsPoint)
+#	   Output: A boolean is returned indicating if the point position was 
+#			   modified or not.
+	if(p.y > WS_Support_Pos_Y - WS_Support_Prox_Tol_Y):
+		if((p.x > -(WS_Support_Pos_X + WS_Support_Prox_Tol_X)) and \
+			(p.x < -(WS_Support_Pos_X - WS_Support_Prox_Tol_X))): 
+			if(abs(p.z) > WS_Support_Z_Perc_Width * WS_Support_Minus_Width):
+				p.y = WS_Support_Pos_Y - WS_Support_Prox_Tol_Y
+				p.x = p.x + p.x/abs(p.x)*WS_Support_Z_Adjust
+				return True
+		elif(p.x > (WS_Support_Pos_X - WS_Support_Prox_Tol_X) and \
+			(p.x < (WS_Support_Pos_X + WS_Support_Prox_Tol_X))):
+			if(abs(p.z) > WS_Support_Z_Perc_Width * WS_Support_Plus_Width):
+				p.y = WS_Support_Pos_Y - WS_Support_Prox_Tol_Y
+				p.x = p.x + p.x/abs(p.x)*WS_Support_Z_Adjust
+				return True
+		else:
+			return False
+	else:
+		return False
+
+#==========================================================================
+# MAIN CODE
+
+# Read machine configuration from shapebot.properties
+machine=boardcam.BoardMachine()
+machine.read_machine_data()
+filename=machine.bottomFileName
+
+width_steps=55
+rail_steps=5
+length_steps=700
+zmax=-115
+zmax_offset_stringer = 30
+min_plan_step_len = 10 	# minimum step length in plan - used to cut out short steps
+min_z_step_length = 6   # a plan move can be less than 10mm if the Z step exceeds 6mm
+
+cut_stringer = False    # determines whether outline cuts are allowed near 
+						# the stringer
+
+stringerOffsetZ=[10, 5, 0]
+stringerCutoff=machine.stringerCutoff
+
+WS_Support_Pos_X = 550
+WS_Support_Pos_Y = -32.26
+WS_Support_Prox_Tol_X = 42/2 + 12/2 + 3
+WS_Support_Prox_Tol_Y = 12/2 + 3 + 2
+WS_Support_Z_Adjust = 3
+WS_Support_Z_Perc_Width = 0.95
+
+WS_Stringer_Lat_Offsets = [-22,-17,-8]
+WS_Stringer_Depth_Offsets = [-2,-2,0]
+
+WS_Outline_Stringer_Offset = 25
+
+WS_PMC_Precision = '%.2f'
+# Note final stringer pass on bottom is only 20% speed.
+WS_PMC_Stringer_Speeds = ['CMD"%10"\n', 'CMD"%20"\n', 'CMD"%30"\n']
+WS_PMC_Stringer_Spd_Dists = [0,225,450]
+WS_PMC_Speeds = ['CMD"%30"\n', 'CMD"%40"\n', 'CMD"%50"\n', 'CMD"%60"\n', 'CMD"%70"\n', 'CMD"%80"\n', 'CMD"%90"\n', 'CMD"%100"\n', 'CMD"%110"\n', 'CMD"%120"\n']
+WS_PMC_Spd_Dists = [0,50,60,70,80,90,100,110,120,130]
+
+# FeedRate hard coded to F180
+#FeedRateString = JOptionPane.showInputDialog(None, "Input Motor Feed Rate: F{data}\n Default Value = 220", "220")
+
+#try:
+#    FeedRate = int(FeedRateString)
+#except ValueError:
+#	JOptionPane.showMessageDialog(None, "Inappropriate Feedrate - input cannot be converted to integer, Feedrate set to F220")
+#	FeedRate = 220
+#if not(isinstance(FeedRate,(int,long))):
+#	FeedRate = 220
+#	JOptionPane.showMessageDialog(None, "Inappropriate Feedrate - input is not an integer, Feedrate set to F220")
+#else:
+#	if ((FeedRate > 240) or (FeedRate < 100)):
+#		FeedRate = 220
+#		JOptionPane.showMessageDialog(None, "Feedrate too slow (<100) or fast (>240), Feedrate set to F220")
+
+FeedRate = 180
+	
+print 'TA60\nF'
+print FeedRate
+print '\nCMD"%10"\n'  
+
+# Create a cutter
+
+cutter=boardcam.cutters.STLCutter()
+#cutter.init(machine.toolName)
+cutter.init('WS_BOTTOM_bullnose_2.stl')
+cutter.scale(1.0,1.0,1.0)
+
+# Get the bottom and deck surface from BoardCAD
+boardhandler=boardcad.gui.jdk.BoardCAD.getInstance().getBoardHandler()
+board=boardhandler.getActiveBoard();
+deck=board.getDeck()
+bottom=board.getBottom()
+
+# Get board widths at supports
+WS_Support_Minus_Width = 0.0
+
+temp_s = deck.getMinS()
+p = deck.getPoint(temp_s, 0)
+while (p.x <= -WS_Support_Pos_X):
+	temp_s=temp_s+0.01
+	p = deck.getPoint(temp_s, 0)	
+
+temp_t = deck.getMinT()
+p = deck.getPoint(temp_s, temp_t)
+while (WS_Support_Minus_Width - math.fabs(p.z) <= 0):
+	temp_t=temp_t+0.01
+	p = deck.getPoint(temp_s, temp_t)	
+	if (math.fabs(p.z) > WS_Support_Minus_Width):
+		WS_Support_Minus_Width = math.fabs(p.z)
+
+WS_Support_Plus_Width = 0.0
+print 'Support Width - = %0.3f' % WS_Support_Minus_Width
+
+temp_s = deck.getMinS()
+p = deck.getPoint(temp_s, 0)
+while (p.x <= WS_Support_Pos_X):
+	temp_s=temp_s+0.01
+	p = deck.getPoint(temp_s, 0)	
+
+temp_t = deck.getMinT()
+p = deck.getPoint(WS_Support_Pos_X, temp_t)
+while (WS_Support_Plus_Width - math.fabs(p.z) <= 0):
+	temp_t=temp_t+0.01
+	p = deck.getPoint(temp_s, temp_t)	
+	if (math.fabs(p.z) > WS_Support_Plus_Width):
+		WS_Support_Plus_Width = math.fabs(p.z)
+
+print 'Support Width + = %0.3f' % WS_Support_Plus_Width
+
+# find parameter value for outline
+max_width = 0.0
+t=deck.getMinT()
+
+p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
+while (max_width - math.fabs(p.z) <= 0):
+	t=t+0.01
+	p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)	
+	if (math.fabs(p.z) > max_width):
+		max_width = math.fabs(p.z)
+
+t_outline=t
+
+t=bottom.getMinT()
+n=deck.getNormal((bottom.getMaxS()-bottom.getMinS())/2, t)
+max_width = math.fabs(p.z)+.1
+i=math.fabs(p.z)
+step=math.fabs(p.z)/width_steps
+
+# Calculate step length
+length_step=(bottom.getMaxS()-bottom.getMinS())/length_steps
+width_step=((bottom.getMaxT()-bottom.getMinT())/2)/width_steps
+if rail_steps>0:
+	rail_step=(t_outline-deck.getMinT())/rail_steps
+
+print 'width step = %0.3f' % width_step
+print 'Length step = %0.3f' % length_step
+print 'Rail step = %0.3f' % rail_step
+
+#Find uniform distances for t and their angles
+wval=[]
+tval=[]
+
+while i>0.001:
+	# Modified Right Side Up
+	wval.append(-(p.z-i))
+	i=i-step
+
+#print wval
+print '\nwidth steps = %0.3f' % width_steps
+print 'steps = %0.3f' % step
+print 'max width = %0.3f' % max_width
+print 't = %0.3f\n' % t
+
+for w in wval:
+	#JOptionPane.showMessageDialog(None, w)
+	while (max_width - math.fabs(p.z) <= math.fabs(w)):#<=
+		t=t+0.01
+		p=bottom.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
+		n=bottom.getNormal((deck.getMaxS()-deck.getMinS())/2, t)	
+	tval.append(t)
+	
+#print tval
+
+#==========================================================================
+# STRINGER CUTS
+# Obtain Tail and Nose Positions.
+# Start at Tail, offset to negative Y first
+# Z and X axes flipped from deck in PMC output
+
+stringer_cut=[]
+stringer_path=[]
+
+# New (Tidier Method)
+# Get Central Path (Tail to Nose)
+t = (bottom.getMaxT()-bottom.getMinT())/2
+s = bottom.getMinS()
+p = bottom.getPoint(s,t)
+n = bottom.getNormal(s,t)
+TailX = p.x
+p=cutter.calcOffset(p,n)
+zmax_tail = p.y - zmax_offset_stringer  # hop low over cuts
+p.y = zmax_tail
+stringer_path.append(p)
+last_p = cadcore.NurbsPoint(-3000,0,0)
+
+while (s<=bottom.getMaxS()):
+	p=bottom.getPoint(s,t)
+	n=bottom.getNormal(s,t)
+	p=cutter.calcOffset(p,n)
+	if (((p.x-last_p.x)>= min_plan_step_len) or (s > bottom.getMaxS() - 0.001)):
+		stringer_path.append(p)
+		last_p = p
+	s=s+length_step
+
+s = bottom.getMaxS()
+p = bottom.getPoint(s,t)
+NoseX = p.x
+n=bottom.getNormal(s,t)
+p=cutter.calcOffset(p,n)
+zmax_nose = p.y - zmax_offset_stringer  # hop low over cuts
+p.y = zmax_nose
+stringer_path.append(p)
+
+# Create Tool Path for multiple stringer cuts according to the arrays at the top
+# of the code.  Increase array dims for more cuts.
+for Lat_Off in WS_Stringer_Lat_Offsets:
+	for p in stringer_path:    # cut tail to nose
+		temp_p = copy.copy(p)
+		if ((temp_p.y <> zmax_tail) and (temp_p.y <> zmax_nose)): # do not modify traverse heights
+			temp_p.y = temp_p.y + \
+				WS_Stringer_Depth_Offsets[WS_Stringer_Lat_Offsets.index(Lat_Off)]
+		temp_p.z = Lat_Off
+		stringer_cut.append(temp_p)
+		
+	for p in reversed(stringer_path):  # cut nose to tail
+		temp_p = copy.copy(p)
+		if ((temp_p.y <> zmax_tail) and (temp_p.y <> zmax_nose)):         # do not modify traverse heights
+			temp_p.y = temp_p.y + \
+				WS_Stringer_Depth_Offsets[WS_Stringer_Lat_Offsets.index(Lat_Off)]
+		temp_p.z = -Lat_Off
+		stringer_cut.append(temp_p)
+	
+
+#==========================================================================
+# BOTTOM CUTS
+# calculate tool path bottom
+bottom_cut=[]
+bottom_cut_support=[]	# Array of booleans indicating whether this cut is modified around supports
+width_step_multiplier = 1  # modifiable multiplier to even out lateral steps.
+
+# Calculate safe travel heights and set the start point (at tail offset to negative side)
+s=bottom.getMinS()
+t=(bottom.getMaxT()-bottom.getMinT())/2
+centre_t=(bottom.getMaxT()-bottom.getMinT())/2
+
+# Determine Tail Travel Height
+p=bottom.getPoint(s,t) 
+n=bottom.getNormal(s,t)
+p=cutter.calcOffset_WS_bottom(p,n)
+WS_Safe_Trav_Tail = p.y - 20
+
+# Determine Nose Travel Height
+s=bottom.getMaxS()
+p=bottom.getPoint(s,t) 
+n=bottom.getNormal(s,t)
+p=cutter.calcOffset_WS_bottom(p,n)
+WS_Safe_Trav_Nose = p.y - 20
+
+s=bottom.getMinS()
+
+# NEEDS TO BE MODIFIED FOR DIFFERENT BOARDS 
+#    -6 FOR NORMAL BOARDS - maybe -2 - depends on outline.
+#    -1 FOR TOMO QUAD CONCAVE
+t=centre_t -2*width_step  # Dont Trace Stringer Again
+ 
+
+while (t>=bottom.getMinT()+2*width_step):
+	last_p = cadcore.NurbsPoint(-3000,0,0)
+	bottom_cut_moded = False
+	#print 't = %0.3f' % t
+	while (s<bottom.getMaxS()):
+		p=bottom.getPoint(s,t)
+		n=bottom.getNormal(s,t)
+		p=cutter.calcOffset_WS_bottom(p,n)		
+		#bottom_cut_moded =  mod_p_avoid_support(p) or bottom_cut_moded
+							# note order is important to ensure mod_p is always
+							# evaluated whether or not the cut has already been 
+							# modified.
+		if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+		or (abs(p.y-last_p.y) > min_z_step_length) or (p.x > NoseX-0.01)) and ((p.x-last_p.x) >= 0)):
+			#print '%0.3f, %0.3f, %0.3f' % (p.x,p.y,p.z)
+			bottom_cut.append(p)
+			last_p = p
+		s=s+length_step
+	
+	temp_p = copy.copy(p)
+	temp_p.y = WS_Safe_Trav_Nose
+	bottom_cut.append(temp_p)
+	t=centre_t-(t-centre_t)
+	#print 't = %0.3f' % t
+	p=bottom.getPoint(s,t)
+	n=bottom.getNormal(s,t)
+	p=cutter.calcOffset_WS_bottom(p,n)
+	p.y = WS_Safe_Trav_Nose
+	bottom_cut.append(p)
+	
+	if (bottom_cut_moded):
+		bottom_cut_support.append(True)
+	else:
+		bottom_cut_support.append(False)
+	bottom_cut_moded = False
+	
+	last_p = cadcore.NurbsPoint(3000,0,0)
+	while (s>=bottom.getMinS()):
+		p=bottom.getPoint(s,t) 
+		n=bottom.getNormal(s,t)
+		p=cutter.calcOffset_WS_bottom(p,n)
+		#bottom_cut_moded =  mod_p_avoid_support(p) or bottom_cut_moded
+							# note order is important to ensure mod_p is always
+							# evaluated whether or not the cut has already been 
+							# modified.
+		if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+		or (abs(p.y-last_p.y) > min_z_step_length) or (p.x < TailX+0.01)) and ((p.x-last_p.x) <= 0)):
+			#print '%0.3f, %0.3f, %0.3f,       %0.3f, %0.3f, %0.3f' % (p.x,p.y,p.z,last_p.x,last_p.y,last_p.z)
+			bottom_cut.append(p)
+			last_p = p
+		s=s-length_step
+	temp_p = copy.copy(p)
+	temp_p.y = WS_Safe_Trav_Tail
+	bottom_cut.append(temp_p)
+	t=centre_t-(t-centre_t)-width_step_multiplier*width_step
+	width_step_multiplier = width_step_multiplier * 1.07
+	p=bottom.getPoint(s,t)
+	n=bottom.getNormal(s,t)
+	p=cutter.calcOffset_WS_bottom(p,n)
+	p.y = WS_Safe_Trav_Tail
+	bottom_cut.append(p)
+
+	if (bottom_cut_moded):
+		bottom_cut_support.append(True)
+	else:
+		bottom_cut_support.append(False)
+
+#==========================================================================
+# BOTTOM RAIL CUTS
+# calculate tool path bottom
+deck_cut=[]
+
+if(rail_steps>0):
+	centre_t=(deck.getMaxT()-deck.getMinT())/2
+	s=deck.getMinS()
+	t=deck.getMinT()
+	p=deck.getPoint(s,t) 
+	n=deck.getNormal(s,t)
+	p=cutter.calcOffset(p,n)
+	p.y = WS_Safe_Trav_Tail
+	deck_cut.append(p)
+	
+	while (t<t_outline):
+		last_p = cadcore.NurbsPoint(-3000,0,0)
+		while (s<=deck.getMaxS()):
+			p=deck.getPoint(s,t) 
+			n=deck.getNormal(s,t)
+			p=cutter.calcOffset(p,n)
+			# Modify Target point around supports (+/-550mm)
+			mod_p_avoid_support(p)
+			if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+			or (abs(p.y-last_p.y) > min_z_step_length)) and ((p.x-last_p.x) >= 0)):
+				deck_cut.append(p)
+				last_p = p
+			s=s+length_step
+		
+		p.y = WS_Safe_Trav_Nose
+		deck_cut.append(p)
+		t=centre_t-(t-centre_t)
+		#print 't = %0.3f' % t
+		p=deck.getPoint(s,t)
+		n=deck.getNormal(s,t)
+		p=cutter.calcOffset(p,n)
+		p.y = WS_Safe_Trav_Nose
+		deck_cut.append(p)
+		
+		last_p = cadcore.NurbsPoint(3000,0,0)
+		while (s>=deck.getMinS()):
+			p=deck.getPoint(s,t)
+			n=deck.getNormal(s,t)
+			p=cutter.calcOffset(p,n)		
+			# Modify Target point around supports (+/-550mm)
+			mod_p_avoid_support(p)
+			if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+			or (abs(p.y-last_p.y) > min_z_step_length)) and ((p.x-last_p.x) <= 0)):
+				deck_cut.append(p)
+				last_p = p
+			s=s-length_step
+		
+		p.y = WS_Safe_Trav_Tail
+		deck_cut.append(p)
+		t=centre_t-(t-centre_t)
+		#print 't = %0.3f' % t
+		p=deck.getPoint(s,t)
+		n=deck.getNormal(s,t)
+		p=cutter.calcOffset(p,n)
+		p.y = WS_Safe_Trav_Tail
+		deck_cut.append(p)
+		
+		t=t+rail_step
+
+# Avoid stringer collision
+if(not cut_stringer):
+	for p in deck_cut:
+		if(abs(p.z)<WS_Outline_Stringer_Offset):
+			p.z = (p.z / abs(p.z)) * WS_Outline_Stringer_Offset
+	
+
+#==========================================================================
+# WRITE PMC CODE
+# Note that Coordinates are reversed on bottom (longitudinal and vertical 
+# axes relative to board).
+
+toolpath=[]
+
+f=open(filename, 'w')
+
+# WRITE CONSTANT HEADER
+f.write('CLOSE\nDEL GATHER\nOPEN ROT CLEAR\nI194=1700\nI313=146944\nI314=-146944\n')
+f.write('CMD"%50"\nTA200\nZ115\nX0Y0\nZ123\n')
+
+# WRITE GO TO TAIL HOME
+p = stringer_cut[0]
+tempString = 'X' + WS_PMC_Precision + 'Y0\n'
+f.write(tempString % -p.x)
+f.write(tempString % -p.x)
+f.write(tempString % -p.x)
+f.write(tempString % -p.x)
+
+# WRITE ACCEL and STRINGER SPEED and SIDE STEP
+f.write('TA60\n')
+#f.write(str(FeedRate))  Hard Coded Speed to F180
+f.write('F180\n')
+f.write('CMD"%10"\n')
+tempString = 'Y' + WS_PMC_Precision + '\n'
+f.write(tempString % WS_Stringer_Lat_Offsets[0])
+
+# WRITE STRINGER CUTS
+#===============================================================
+lastPoint = cadcore.NurbsPoint(-3000,0,0)
+secondLastPoint = cadcore.NurbsPoint(-3000,0,0)
+i = 1
+accel = True
+toNose = True
+StringerCutNum = 1
+print 'NoseX = %0.3f\n' % NoseX
+print 'TailX = %0.3f\n' % TailX
+
+for p in stringer_cut:
+	# Skip First Point and last points.
+	if (stringer_cut.index(p) <> 0): 
+	#and (stringer_cut.index(p) <> len(stringer_cut)-1): 
+		if (p.x <> lastPoint.x):
+			f.write('X' + WS_PMC_Precision % (-p.x))
+		if (p.z <> lastPoint.z):
+			f.write('Y' + WS_PMC_Precision % (p.z))
+		if (p.y <> lastPoint.y):
+			f.write('Z' + WS_PMC_Precision % (-p.y))
+		if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+			f.write('\n')
+		# INSERT SPEED COMMANDS
+		if toNose:
+			if accel:
+				if (p.x > (WS_PMC_Stringer_Spd_Dists[i] + TailX)):
+					f.write(WS_PMC_Stringer_Speeds[i])
+					if (StringerCutNum < 5):
+						if (i < 2):
+							i = i + 1
+						elif (i == 2):
+							accel = False
+					else:
+						if (i < 1):
+							i = i + 1
+						elif (i == 1):
+							accel = False
+			else: # Decelerating
+				if (p.x > (NoseX - WS_PMC_Stringer_Spd_Dists[i])):
+					if (i > 0):
+						f.write(WS_PMC_Stringer_Speeds[i-1])
+						i = i - 1
+		else: # towards Tail
+			if accel:
+				if (p.x < (NoseX - WS_PMC_Stringer_Spd_Dists[i])):
+					f.write(WS_PMC_Stringer_Speeds[i])
+					if (StringerCutNum < 5):
+						if (i < 2):
+							i = i + 1
+						elif (i == 2):
+							accel = False
+					else:
+						if (i < 1):
+							i = i + 1
+						elif (i == 1):
+							accel = False
+			else: # Decelerating
+				if (p.x < (TailX + WS_PMC_Stringer_Spd_Dists[i])):
+					if (i > 0):
+						f.write(WS_PMC_Stringer_Speeds[i-1])
+						i = i - 1
+		# Turn Around Routine
+		if (((lastPoint.y == zmax_tail) and (p.y == zmax_tail)) or 
+			((lastPoint.y == zmax_nose) and (p.y == zmax_nose))):
+			accel = True
+			toNose = not(toNose)
+			i = 1
+			StringerCutNum = StringerCutNum + 1
+		secondLastPoint = lastPoint
+		lastPoint = p
+		toolpath.append(cadcore.NurbsPoint(p.x,p.y,p.z))
+
+# Add Centring Coordinate before beginning foam cuts as no lift off
+toolpath.append(cadcore.NurbsPoint(lastPoint.x,lastPoint.y,0))
+f.write('Y0\n')
+
+# BOTTOM CUTS
+#===============================================================
+lastPoint = cadcore.NurbsPoint(-3000,0,0)
+secondLastPoint = cadcore.NurbsPoint(-3000,0,0)
+i = 1
+accel = True
+toNose = True
+bottom_cut_ind = 0
+
+f.write(WS_PMC_Speeds[0])
+
+print 'TailX = %0.3f' % TailX
+print 'NoseX = %0.3f' % NoseX
+#print deck_cut_support
+
+bottom_cut_ind = 0
+
+for p in bottom_cut:
+	# INSERT SPEED COMMANDS
+	#print 'Acc = %0.3f' % accel
+	#print 'i = %0.3f' % i
+	#print 'bah = %0.3f\n' % WS_PMC_Stringer_Spd_Dists[i]
+	# Skip last points.
+	if (bottom_cut.index(p) <> len(bottom_cut)-1):
+		# Speed commands modified to ensure one point between each.
+		if (not bottom_cut_support[bottom_cut_ind]):
+			if toNose:
+				if accel:
+					if (p.x > (WS_PMC_Spd_Dists[i] + TailX)):
+						f.write(WS_PMC_Speeds[i])
+						if (i < 9):
+							i = i + 1
+						elif (i == 9):
+							accel = False
+				else: # Decelerating
+					if (p.x > (NoseX - WS_PMC_Spd_Dists[i])):
+						if (i > 0):
+							f.write(WS_PMC_Speeds[i-1])
+							i = i - 1
+			else: # towards Tail
+				if accel:
+					if (p.x < (NoseX - WS_PMC_Spd_Dists[i])):
+						f.write(WS_PMC_Speeds[i])
+						if (i < 9):
+							i = i + 1
+						elif (i == 9):
+								accel = False
+				else: # Decelerating
+					if (p.x < (TailX + WS_PMC_Spd_Dists[i])):
+						if (i > 0):
+							f.write(WS_PMC_Speeds[i-1])
+							i = i - 1
+		# Turn Around Routine
+		if (((lastPoint.y == WS_Safe_Trav_Tail) and (p.y == WS_Safe_Trav_Tail)) or \
+			((lastPoint.y == WS_Safe_Trav_Nose) and (p.y == WS_Safe_Trav_Nose))):
+			accel = True
+			toNose = not(toNose)
+			i = 1
+			bottom_cut_ind = bottom_cut_ind + 1
+			#print toNose
+			#print bottom_cut_ind
+		
+		# WRITE COORDS
+		if (p.x <> lastPoint.x):
+			f.write('X' + WS_PMC_Precision % (-p.x))
+		if (p.z <> lastPoint.z):
+			f.write('Y' + WS_PMC_Precision % (p.z))
+		if (p.y <> lastPoint.y):
+			f.write('Z' + WS_PMC_Precision % (-p.y))
+		if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+			f.write('\n')
+		secondLastPoint = lastPoint
+		lastPoint = p
+		toolpath.append(cadcore.NurbsPoint(p.x,p.y,p.z))
+
+
+# RAIL CUTS
+# Constant Speed for Rails at this stage.
+f.write('CMD"%30"\n')
+for p in deck_cut:
+	if (deck_cut.index(p) <> len(deck_cut)-1):
+		if (p.x <> lastPoint.x):
+			f.write('X' + WS_PMC_Precision % (-p.x))
+		if (p.z <> lastPoint.z):
+			f.write('Y' + WS_PMC_Precision % (-p.z))
+		if (p.y <> lastPoint.y):
+			f.write('Z' + WS_PMC_Precision % (-p.y))
+		if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+			f.write('\n')
+		toolpath.append(cadcore.NurbsPoint(p.x, p.y, p.z))
+		lastPoint = p
+
+# WRITE CONSTANT FOOTER
+f.write('TA200\nCMD"%50"\nZ115\nX0Y270\nCLOSE\n')
+
+# CLOSE AND SAVE FILE
+f.close()
+
+# Visualize toolpath in BoardCAD
+i=0
+for p in toolpath:
+	machine.bottom_cut[i]=p;
+	i=i+1
+
+machine.nr_of_cuts_bottom=i
+JOptionPane.showMessageDialog(None, "Finished g-code generation")
+
+
diff --git a/shapebot3deck_WS_7.py b/shapebot3deck_WS_7.py
new file mode 100644
index 0000000..82f9417
--- /dev/null
+++ b/shapebot3deck_WS_7.py
@@ -0,0 +1,659 @@
+"""
+PMC Code Generation for Wave Shapes Machine Gosford - DECK
+     Author: Peter Weatherhead
+       Date: 20/01/2016
+   Revision: 0.90
+Description: Based on original BoardCAD 3-axis Code.
+			 Machining pattern per conversation with Graeme.
+				- Alternate sides cuts, up one side, down other side.
+					- Safe Z for traversing = plus 115mm, nose/tail +20mm, 
+					  Safety switches = plus 123mm
+			Stringer Cuts
+				1. 2 cuts per side at 2mm above the surface - up, down
+				2. 2 mm deeper, final cut stringer so tool is cutting at 20deg
+			Outline Cuts
+				Around perimeter - avoiding stringer.
+				Especially useful for boards with squared off noses or tails.
+"""
+
+import boardcad.gui.jdk.BoardCAD
+import boardcam.cutters.FlatCutter
+import boardcam.cutters.STLCutter
+import boardcam.BoardMachine
+import cadcore.NurbsPoint
+from javax.swing import *
+import math
+import copy
+
+
+#==========================================================================
+# FUNCTION DEFINITIONS 
+def mod_p_avoid_support(p):
+#  	   Author: Peter Weatherhead
+#        Date: 16/01/2016
+#    Revision: 1.00
+# Description: Modify point position around blank supports (+/-550mm)
+# 				- point is elevated and moved outwards according to the 
+#				  global parameters below in the main code.
+#				- provides central routine for method used in multiple 
+#				  locations.
+# 		Input: 3D point p (cadcore.NurbsPoint)
+#	   Output: A boolean is returned indicating if the point position was 
+#			   modified or not.
+	if(p.y < WS_Support_Pos_Y + WS_Support_Prox_Tol_Y):
+		if((p.x > -(WS_Support_Pos_X + WS_Support_Prox_Tol_X)) and \
+			(p.x < -(WS_Support_Pos_X - WS_Support_Prox_Tol_X))): 
+			if(abs(p.z) > WS_Support_Z_Perc_Width * WS_Support_Minus_Width):
+				p.y = WS_Support_Pos_Y + WS_Support_Prox_Tol_Y
+				p.x = p.x + p.x/abs(p.x)*WS_Support_Z_Adjust
+				return True
+		elif(p.x > (WS_Support_Pos_X - WS_Support_Prox_Tol_X) and \
+			(p.x < (WS_Support_Pos_X + WS_Support_Prox_Tol_X))):
+			if(abs(p.z) > WS_Support_Z_Perc_Width * WS_Support_Plus_Width):
+				p.y = WS_Support_Pos_Y + WS_Support_Prox_Tol_Y
+				p.x = p.x + p.x/abs(p.x)*WS_Support_Z_Adjust
+				return True
+		else:
+			return False
+	else:
+		return False
+
+#==========================================================================
+# MAIN CODE
+
+# Read machine configuration from shapebot.properties
+machine=boardcam.BoardMachine()
+machine.read_machine_data()
+filename=machine.deckFileName
+
+width_steps=40
+length_steps=400
+zmax=123
+zmax_offset = 20
+min_plan_step_len = 10 	# minimum step length in plan - used to cut out short steps
+min_z_step_length = 6   # a plan move can be less than 10mm if the Z step exceeds 6mm
+
+cut_stringer = False    # determines whether outline cuts are allowed near 
+						# the stringer
+					
+WS_Support_Pos_X = 550
+WS_Support_Pos_Y = -32.26
+WS_Support_Prox_Tol_X = 42/2 + 12/2 + 3
+WS_Support_Prox_Tol_Y = 12/2 + 3 + 2
+WS_Support_Z_Adjust = 3
+WS_Support_Z_Perc_Width = 0.95
+
+WS_Stringer_Lat_Offsets = [17,8]
+WS_Stringer_Depth_Offsets = [2,0]
+
+WS_Outline_Stringer_Offset = 25
+
+WS_PMC_Precision = '%.2f'
+# 5% jumps
+#WS_PMC_Stringer_Speeds = ['CMD"%10"\n','CMD"%15"\n','CMD"%20"\n','CMD"%25"\n','CMD"%30"\n']
+#WS_PMC_Stringer_Spd_Dists = [0,112.5,225,337.5,450]
+# 10% jumps
+WS_PMC_Stringer_Speeds = ['CMD"%10"\n','CMD"%20"\n','CMD"%30"\n']
+WS_PMC_Stringer_Spd_Dists = [0,225,450]
+
+WS_PMC_Speeds = ['CMD"%30"\n', 'CMD"%40"\n', 'CMD"%50"\n', 'CMD"%60"\n', 'CMD"%70"\n', 'CMD"%80"\n', 'CMD"%90"\n', 'CMD"%100"\n', 'CMD"%110"\n', 'CMD"%120"\n']
+WS_PMC_Spd_Dists = [0,60,80,100,120,140,160,180,200,220]
+
+# Create a cutter
+cutter=boardcam.cutters.STLCutter()
+cutter.init('WS_DECK_bullnose_2.stl')
+cutter.scale(machine.toolScaleX,machine.toolScaleY,machine.toolScaleZ);
+#cutter.scale(1.0,1.0,1.0)
+
+# Get the deck surface from BoardCAD
+boardhandler=boardcad.gui.jdk.BoardCAD.getInstance().getBoardHandler()
+board=boardhandler.getActiveBoard();
+deck=board.getDeck()
+
+# find parameter value for outline
+max_width = 0.0
+t=deck.getMinT()
+
+p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)
+
+while (max_width - math.fabs(p.z) <= 0):
+	t=t+0.01
+	p = deck.getPoint((deck.getMaxS()-deck.getMinS())/2, t)	
+	if (math.fabs(p.z) > max_width):
+		max_width = math.fabs(p.z)
+
+t_outline=t
+#DEBUG
+#print 'max width = %0.3f' % max_width
+#print 't = %0.3f\n' % t
+
+# Get board widths at supports
+WS_Support_Minus_Width = 0.0
+
+temp_s = deck.getMinS()
+p = deck.getPoint(temp_s, 0)
+
+while (p.x <= -WS_Support_Pos_X):
+	temp_s=temp_s+0.01
+	p = deck.getPoint(temp_s, 0)	
+
+temp_t = deck.getMinT()
+p = deck.getPoint(temp_s, temp_t)
+
+while (WS_Support_Minus_Width - math.fabs(p.z) <= 0):
+	temp_t=temp_t+0.01
+	p = deck.getPoint(temp_s, temp_t)	
+	if (math.fabs(p.z) > WS_Support_Minus_Width):
+		WS_Support_Minus_Width = math.fabs(p.z)
+
+WS_Support_Plus_Width = 0.0
+
+temp_s = deck.getMinS()
+p = deck.getPoint(temp_s, 0)
+
+while (p.x <= WS_Support_Pos_X):
+	temp_s=temp_s+0.01
+	p = deck.getPoint(temp_s, 0)	
+
+temp_t = deck.getMinT()
+p = deck.getPoint(WS_Support_Pos_X, t)
+
+while (WS_Support_Plus_Width - math.fabs(p.z) <= 0):
+	temp_t=temp_t+0.01
+	p = deck.getPoint(temp_s, temp_t)	
+	if (math.fabs(p.z) > WS_Support_Plus_Width):
+		WS_Support_Plus_Width = math.fabs(p.z)
+
+# Calculate step length
+width_step=((deck.getMaxT()-deck.getMinT())/2-t_outline-0.01)/width_steps
+length_step=(deck.getMaxS()-deck.getMinS())/length_steps
+
+#==========================================================================
+# STRINGER CUTS
+# Obtain Tail and Nose Positions.
+# Start at Tail, offset to positive Y first
+# Cuts past nose and tail for clean up.
+stringer_cut=[]
+stringer_path=[]
+
+# New (Tidier Method)
+
+# Get Central Path (Tail to Nose)
+t = (deck.getMaxT()-deck.getMinT())/2
+s = deck.getMinS()
+p = deck.getPoint(s,t)
+TailX = p.x #- 21     # accounts for tool offset on normal runs.
+zmax_tail = p.y + zmax_offset  # hop low over cuts
+p.x = p.x - 21
+p.y = p.y + 3
+temp_p = copy.copy(p)
+temp_p.x = temp_p.x - 10
+temp_p1 = copy.copy(temp_p)
+temp_p1.y = zmax_tail
+stringer_path.append(temp_p1)
+stringer_path.append(temp_p)
+stringer_path.append(p)
+last_p = cadcore.NurbsPoint(-3000,0,0)
+
+while (s<=deck.getMaxS()):
+	p=deck.getPoint(s,t)
+	n=deck.getNormal(s,t)
+	p=cutter.calcOffset(p,n)
+	if ((p.x-last_p.x)>= min_plan_step_len):
+		stringer_path.append(p)
+		last_p = p
+	s=s+length_step
+s = deck.getMaxS()
+p = deck.getPoint(s,t)
+NoseX = p.x
+zmax_nose = p.y + zmax_offset  # hop low over cuts
+p.x = p.x + 0
+p.y = p.y + 3
+temp_p = copy.copy(p)
+temp_p.x = temp_p.x + 21
+temp_p1 = copy.copy(temp_p)
+temp_p1.y = zmax_nose
+stringer_path.append(p)
+stringer_path.append(temp_p)
+stringer_path.append(temp_p1)
+
+# Create Tool Path for multiple stringer cuts according to the arrays at the top
+# of the code.  Increase array dims for more cuts.
+for Lat_Off in WS_Stringer_Lat_Offsets:
+	for p in stringer_path:    # cut tail to nose
+		temp_p = copy.copy(p)
+		if ((temp_p.y <> zmax_nose) and (temp_p.y <> zmax_tail)): # do not modify traverse heights
+			temp_p.y = temp_p.y + \
+				WS_Stringer_Depth_Offsets[WS_Stringer_Lat_Offsets.index(Lat_Off)]
+		temp_p.z = Lat_Off
+		stringer_cut.append(temp_p)
+		
+	for p in reversed(stringer_path):  # cut nose to tail
+		temp_p = copy.copy(p)
+		if ((temp_p.y <> zmax_nose) and (temp_p.y <> zmax_tail)):         # do not modify traverse heights
+			temp_p.y = temp_p.y + \
+				WS_Stringer_Depth_Offsets[WS_Stringer_Lat_Offsets.index(Lat_Off)]
+		temp_p.z = -Lat_Off
+		stringer_cut.append(temp_p)
+		
+
+# DEBUG - prints stringer cut path coordinates to console.
+"""
+for p in stringer_cut:
+	print str(round(p.x,1)) + ", " + str(round(p.y,1)) + ", " + str(round(p.z,1))
+"""
+
+#==========================================================================
+# OUTLINE CUTS
+# Requires symmetric model
+# calculate tool path outline
+outline_cut=[]
+
+centre_t=(deck.getMaxT()-deck.getMinT())/2
+S_Min_Stop = deck.getMinS()
+S_Max_Stop = deck.getMaxS()
+S_Min_Stop_Set = False
+S_Max_Stop_Set = False
+S_Min_WS_Stop = deck.getMinS()
+S_Max_WS_Stop = deck.getMaxS()
+S_Min_WS_Stop_Set = False
+S_Max_WS_Stop_Set = False
+
+
+p=deck.getPoint(deck.getMinS(),centre_t)
+n=cadcore.NurbsPoint(-1,0,0)
+p=cutter.calcOffset(p,n)
+p.z = WS_Outline_Stringer_Offset
+# This is necessary because p is a pointer, not a parameter, so modifying p
+# later also effects the value appended to the array
+outline_cut.append(cadcore.NurbsPoint(p.x,zmax_tail,p.z))
+outline_cut.append(p)
+
+t=t_outline
+s=deck.getMinS()
+
+p=deck.getPoint(s,t)
+n=cadcore.NurbsPoint(-1,0,0)
+p=cutter.calcOffset(p,n)
+outline_cut.append(p)
+last_p = cadcore.NurbsPoint(-3000,0,0)
+
+while (s<deck.getMaxS()):
+	p=deck.getPoint(s,t)
+	n=deck.getNormal(s,t)
+	# Determine if Deck Cuts need to be stopped short at nose and tail
+	if ((p.z < 30) and (not S_Min_Stop_Set)):
+		S_Min_Stop = s
+	elif ((p.z >= 30) and (not S_Min_Stop_Set)):
+		S_Min_Stop_Set = True
+	if ((p.z < 20) and (S_Min_Stop_Set) and (not S_Max_Stop_Set)):
+		S_Max_Stop = s
+		S_Max_Stop_Set = True
+	p=cutter.calcOffset(p,n)
+	mod_p_avoid_support(p)
+	if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len/2) \
+		or (abs(p.y-last_p.y) > min_z_step_length)) and (p.x-last_p.x) >= 0) :
+		outline_cut.append(p)
+		last_p = p
+	s=s+length_step
+
+s=deck.getMaxS()
+
+p=deck.getPoint(s,t)
+n=cadcore.NurbsPoint(1,0,0)
+p=cutter.calcOffset(p,n)
+outline_cut.append(p)
+	
+p=deck.getPoint(deck.getMaxS(),centre_t)
+n=cadcore.NurbsPoint(1,0,0)
+p=cutter.calcOffset(p,n)
+p.z = WS_Outline_Stringer_Offset
+outline_cut.append(p)
+outline_cut.append(cadcore.NurbsPoint(p.x,zmax_nose,p.z))
+
+# Get stops for WS Cutter 
+s=deck.getMinS()
+while (s<deck.getMaxS()):
+	p=deck.getPoint(s,t)
+	n=deck.getNormal(s,t)
+	# Determine if Deck Cuts need to be stopped short at nose and tail
+	if ((p.z < 30+21) and (not S_Min_WS_Stop_Set)):
+		S_Min_WS_Stop = s
+	elif ((p.z >= 30+21) and (not S_Min_WS_Stop_Set)):
+		S_Min_WS_Stop_Set = True
+	if ((p.z < 20+21) and (S_Min_WS_Stop_Set) and (not S_Max_WS_Stop_Set)):
+		S_Max_WS_Stop = s
+		S_Max_WS_Stop_Set = True
+	s=s+length_step
+	
+#==========================================================================
+# DECK CUTS
+# calculate tool path deck starting at tail.
+deck_cut=[]
+deck_cut_support=[]
+loop_num = 0
+loop_num_offset = width_steps/2
+HasStepLenHalved = False	
+# Array of booleans indicating whether this cut is modified around supports
+
+# Determine Nose Travel Height
+s=deck.getMaxS();
+t=(deck.getMaxT()-deck.getMinT())/2 
+p=deck.getPoint(s,t) 
+n=deck.getNormal(s,t)
+p=cutter.calcOffset(p,n)
+WS_Safe_Trav_Nose = p.y + 20
+
+# Determine Tail Travel Height
+s=deck.getMinS();
+p=deck.getPoint(s,t) 
+n=deck.getNormal(s,t)
+p=cutter.calcOffset(p,n)
+WS_Safe_Trav_Tail = p.y + 20
+
+t = centre_t-width_step*1 # Dont Trace Stringer Again
+s = S_Min_Stop			  # Dont Start at tail if this area is to be skipped
+p=deck.getPoint(s,t) 
+n=deck.getNormal(s,t)
+p=cutter.calcOffset_WS(p,n)
+p.y = WS_Safe_Trav_Tail
+#deck_cut.append(p)		 # Swing cut doesnt need to step up
+
+S_Max_Stop_Var = S_Max_WS_Stop
+S_Min_Stop_Var = S_Min_WS_Stop
+step_Multiplier = 1
+
+while (t>t_outline):
+	last_p = cadcore.NurbsPoint(-3000,0,0)
+	deck_cut_moded = False
+	while (s<=S_Max_Stop_Var): # Cut towards Nose
+		p=deck.getPoint(s,t)
+		n=deck.getNormal(s,t)
+		if (loop_num < loop_num_offset):
+			#dummy = "dummy"
+			p=cutter.calcOffset_WS(p,n)
+		else:
+			p=cutter.calcOffset(p,n)		
+		deck_cut_moded =  mod_p_avoid_support(p) or deck_cut_moded
+							# note order is important to ensure mod_p is always
+							# evaluated whether or not the cut has already been 
+							# modified.
+		if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+		or (abs(p.y-last_p.y) > min_z_step_length)) and ((p.x-last_p.x) >= 0)):
+			deck_cut.append(p)
+			last_p = p
+		s=s+length_step
+	
+	temp_p = copy.copy(last_p) # Step up for traverse, ensure not modifying last p by 
+						  # copying variable reference
+	temp_p.y = WS_Safe_Trav_Nose
+	deck_cut.append(temp_p)
+
+	if (deck_cut_moded):  # Determine if cut was modified to avoid supports
+		deck_cut_support.append(True)
+		if (not HasStepLenHalved):
+			#min_plan_step_len = min_plan_step_len/2-t_outline
+			HasStepLenHalved = True
+			loop_num = loop_num_offset
+			step_Multiplier = 2
+	else:
+		deck_cut_support.append(False)
+
+	# Step to other side of board
+	deck_cut_moded = False	
+	t=centre_t-(t-centre_t)
+	p=deck.getPoint(s,t)
+	n=deck.getNormal(s,t)
+	if (loop_num < loop_num_offset):
+		p=cutter.calcOffset_WS(p,n)
+	else:
+			p=cutter.calcOffset(p,n)
+	p.y = WS_Safe_Trav_Nose
+	deck_cut.append(p)
+	last_p = cadcore.NurbsPoint(3000,0,0)
+	
+	while (s>=S_Min_Stop_Var): # Cut towards Tail
+		p=deck.getPoint(s,t) 
+		n=deck.getNormal(s,t)
+		if (loop_num < loop_num_offset):
+			p=cutter.calcOffset_WS(p,n)
+		else:
+			p=cutter.calcOffset(p,n)
+		deck_cut_moded =  mod_p_avoid_support(p) or deck_cut_moded
+		if (((math.sqrt((p.x-last_p.x)*(p.x-last_p.x)+(p.z-last_p.z)*(p.z-last_p.z)) >= min_plan_step_len) \
+		or (abs(p.y-last_p.y) > min_z_step_length)) and ((p.x-last_p.x) <= 0)):
+			deck_cut.append(p)
+			last_p = p
+		s=s-length_step
+	#
+	# Swing Cut does not step across at tail.
+	#
+	#temp_p = copy.copy(last_p) # Step up for traverse, ensure not modifying last p by 
+						  # copying variable reference
+	#temp_p.y = WS_Safe_Trav_Tail
+	#deck_cut.append(temp_p)
+	if (deck_cut_moded):
+		deck_cut_support.append(True)
+	else:
+		deck_cut_support.append(False)
+	
+	# Step to other side of board (and increase cut width)
+	if(loop_num <> loop_num_offset-1):
+		#t=centre_t-(t-centre_t)-width_step
+		t = t + abs(t-centre_t)/(t-centre_t)*width_step*step_Multiplier # Swing Cut - step over at nose only.
+	else:
+		#t=centre_t-(t-centre_t)
+		t = t # Swing Cut - step over at nose.
+		S_Max_Stop_Var = S_Max_Stop
+		S_Min_Stop_Var = S_Min_Stop
+		step_Multiplier = 1.2
+	p=deck.getPoint(s,t)
+	n=deck.getNormal(s,t)
+	if (loop_num < loop_num_offset):
+		p=cutter.calcOffset_WS(p,n)
+	else:
+		p=cutter.calcOffset(p,n)
+	#
+	# Swing Cut does not step across at tail.
+	#
+	#p.y = WS_Safe_Trav_Tail
+	#deck_cut.append(p)
+	loop_num = loop_num + 1
+
+#==========================================================================
+# MODIFY OUTLINE PATH TO AVOID STRINGER
+# Avoid stringer collision - only at nose and tail
+if(not cut_stringer):
+	for p in outline_cut:
+		if(p.z<WS_Outline_Stringer_Offset):
+			p.z=WS_Outline_Stringer_Offset
+
+#==========================================================================
+# WRITE PMC CODE
+# 
+toolpath=[]
+
+f=open(filename, 'w')
+
+# WRITE CONSTANT HEADER
+f.write('CLOSE\nDEL GATHER\nOPEN ROT CLEAR\nI194=1700\nI313=146944\nI314=-146944\n')
+f.write('CMD"%50"\nTA200\nZ115\nX0Y0\nZ123\n')
+
+# WRITE GO TO TAIL HOME
+p = stringer_cut[0]
+tempString = 'X' + WS_PMC_Precision + 'Y0\n'
+f.write(tempString % p.x)
+f.write(tempString % p.x)
+f.write(tempString % p.x)
+f.write(tempString % p.x)
+
+# WRITE ACCEL and STRINGER SPEED
+f.write('TA60\nF180\nCMD"%10"\n')
+
+# WRITE STRINGER CUTS
+lastPoint = cadcore.NurbsPoint(-3000,0,0)
+secondLastPoint = cadcore.NurbsPoint(-3000,0,0)
+i = 1
+accel = True
+
+for p in stringer_cut:
+	# Skip First Point and last.
+	if (stringer_cut.index(p) <> 0) and (stringer_cut.index(p) <> len(stringer_cut)-1):
+		if (p.x <> lastPoint.x):
+			f.write('X' + WS_PMC_Precision % (p.x))
+		if (p.z <> lastPoint.z):
+			f.write('Y' + WS_PMC_Precision % (p.z))
+		if (p.y <> lastPoint.y):
+			f.write('Z' + WS_PMC_Precision % (p.y))
+		if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+			f.write('\n')
+		# Quadruple plunge coordinate for machine speed compensation.
+		if (stringer_cut.index(p) == 1):
+			for dummy_i in range(3):
+				f.write('X' + WS_PMC_Precision % (p.x))
+				f.write('Y' + WS_PMC_Precision % (p.z))
+				f.write('Z' + WS_PMC_Precision % (p.y))
+				f.write('\n')
+		# INSERT SPEED COMMANDS
+		if (accel and ((p.x - lastPoint.x) > 0) and (p.x > (WS_PMC_Stringer_Spd_Dists[i] + TailX))):
+			f.write(WS_PMC_Stringer_Speeds[i])
+			if (i < len(WS_PMC_Stringer_Speeds)-1):
+				i = i + 1
+			elif (i == len(WS_PMC_Stringer_Speeds)-1):
+				accel = False
+		if ((not accel) and ((p.x - lastPoint.x) > 0) and (p.x > (NoseX - WS_PMC_Stringer_Spd_Dists[i]))):
+			if (i > 0):
+				f.write(WS_PMC_Stringer_Speeds[i-1])
+				i = i - 1
+		if (accel and ((p.x - lastPoint.x) < 0) and (p.x < (NoseX - WS_PMC_Stringer_Spd_Dists[i]))):
+			f.write(WS_PMC_Stringer_Speeds[i])
+			if (i < len(WS_PMC_Stringer_Speeds)-1):
+				i = i + 1
+			elif (i == len(WS_PMC_Stringer_Speeds)-1):
+				accel = False
+		if ((not accel) and ((p.x - lastPoint.x) < 0) and (p.x < (TailX + WS_PMC_Stringer_Spd_Dists[i]))):
+			if (i > 0):
+				f.write(WS_PMC_Stringer_Speeds[i-1])
+				i = i - 1
+		if (((not accel) and (lastPoint.y == zmax_tail) and (secondLastPoint.y == zmax_tail)) \
+			or ((not accel) and (lastPoint.y == zmax_nose) and (secondLastPoint.y == zmax_nose))):
+			accel = True
+			i = 1
+		secondLastPoint = lastPoint
+		lastPoint = p
+		toolpath.append(cadcore.NurbsPoint(p.x,p.y,p.z))
+
+# DECK CUTS
+lastPoint = cadcore.NurbsPoint(3000,0,0)
+secondLastPoint = cadcore.NurbsPoint(3000,0,0)
+i = 1
+accel = True
+f.write(WS_PMC_Speeds[0])
+
+print 'TailX = %0.3f' % TailX
+print 'NoseX = %0.3f' % NoseX
+print deck_cut_support
+
+deck_cut_ind = 0
+
+for p in deck_cut:
+	# INSERT SPEED COMMANDS - Modified for One Step
+	if (not deck_cut_support[deck_cut_ind]):
+		if (accel and ((p.x - lastPoint.x) > 0) and (p.x > (WS_PMC_Spd_Dists[1] + TailX)) and (p.x < (WS_PMC_Spd_Dists[9] + TailX + 50))):
+			f.write(WS_PMC_Speeds[i])
+			if (i < 9):
+				i = i + 1
+			elif (i == 9):
+				accel = False
+		if ((not accel) and ((p.x - lastPoint.x) > 0) and (p.x > (NoseX - WS_PMC_Spd_Dists[9])) and (p.x > (NoseX - WS_PMC_Spd_Dists[9] - 50))):
+			if (i > 0):
+				f.write(WS_PMC_Speeds[i-1])
+				i = i - 1
+			elif (i == 0):
+				accel = True
+				i = 1
+		if (accel and ((p.x - lastPoint.x) < 0) and (p.x < (NoseX - WS_PMC_Spd_Dists[1])) and (p.x > (NoseX - WS_PMC_Spd_Dists[9] - 50))):
+			f.write(WS_PMC_Speeds[i])
+			if (i < 9):
+				i = i + 1
+			elif (i == 9):
+				accel = False
+		if ((not accel) and ((p.x - lastPoint.x) < 0) and (p.x < (TailX + WS_PMC_Spd_Dists[9])) and (p.x < (WS_PMC_Spd_Dists[9] + TailX + 50))):
+			if (i > 0):
+				f.write(WS_PMC_Speeds[i-1])
+				i = i - 1
+			elif (i == 0):
+				accel = True
+				i = 1
+		if ((not accel) and ((lastPoint.y == WS_Safe_Trav_Nose) or (lastPoint.y == WS_Safe_Trav_Tail))):
+			accel = True
+			i = 1
+		if (((lastPoint.y == WS_Safe_Trav_Nose) and (secondLastPoint.y == WS_Safe_Trav_Nose)) or \
+			(((p.x - lastPoint.x) > 0) and ((lastPoint.x - secondLastPoint.x) <= 0))):	
+			deck_cut_ind = deck_cut_ind + 1
+	# WRITE COORDS
+	if (p.x <> lastPoint.x):
+		f.write('X' + WS_PMC_Precision % (p.x))
+	if (p.z <> lastPoint.z):
+		f.write('Y' + WS_PMC_Precision % (-p.z))	# Reverse Direction for Swing Cutting
+	if (p.y <> lastPoint.y):
+		f.write('Z' + WS_PMC_Precision % (p.y))
+	if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+		f.write('\n')
+	if ((abs(p.z) > (abs(lastPoint.z) + 11)) or (abs(p.z) < (abs(lastPoint.z) - 11))):
+		JOptionPane.showMessageDialog(None, "Large Lateral Step Detected, Check Tool Path Carefully! (X,Y,Z = [%0.3f, %0.3f, %0.3f]  [%0.3f, %0.3f, %0.3f])" \
+			% (p.x,p.y,p.z,lastPoint.x,lastPoint.y,lastPoint.z))
+
+	secondLastPoint = lastPoint
+	lastPoint = p
+	toolpath.append(cadcore.NurbsPoint(p.x, p.y, -p.z))
+
+# OUTLINE CUTS
+f.write(WS_PMC_Speeds[0])	# Cut outline at minimum speed
+f.write('Z' + WS_PMC_Precision % (WS_Safe_Trav_Tail))   # Jump up to avoid wiping tail
+f.write('\n')
+toolpath.append(cadcore.NurbsPoint(p.x, WS_Safe_Trav_Tail, -p.z))
+
+for p in outline_cut:
+	if (p.x <> lastPoint.x):
+		f.write('X' + WS_PMC_Precision % (p.x))
+	if (p.z <> lastPoint.z):
+		f.write('Y' + WS_PMC_Precision % (-p.z))
+	if (p.y <> lastPoint.y):
+		f.write('Z' + WS_PMC_Precision % (p.y))
+	if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+		f.write('\n')
+	lastPoint = p
+	toolpath.append(cadcore.NurbsPoint(p.x,p.y,-p.z))
+
+lastPoint = cadcore.NurbsPoint(p.x,p.y,-p.z)
+	
+for p in reversed(outline_cut):
+	if (p.x <> lastPoint.x):
+		f.write('X' + WS_PMC_Precision % (p.x))
+	if (p.z <> lastPoint.z):
+		f.write('Y' + WS_PMC_Precision % (p.z))
+	if (p.y <> lastPoint.y):
+		f.write('Z' + WS_PMC_Precision % (p.y))
+	if ((p.x <> lastPoint.x) or (p.z <> lastPoint.z) or (p.y <> lastPoint.y)):
+		f.write('\n')
+	lastPoint = cadcore.NurbsPoint(p.x,p.y,p.z)
+	toolpath.append(cadcore.NurbsPoint(p.x,p.y,p.z))
+
+# WRITE CONSTANT FOOTER
+f.write('TA200\nCMD"%50"\nZ115\nX0Y270\nCLOSE\n')
+
+# CLOSE AND SAVE FILE
+f.close()
+
+# Visualize toolpath in BoardCAD
+i=0
+for p in toolpath:
+	machine.deck_cut[i]=p;
+	i=i+1
+
+machine.nr_of_cuts_deck=i
+
+JOptionPane.showMessageDialog(None, "Finished g-code generation")
+
+