Stitch & Multipass Welding

Built stitch welding (alternating weld beads and gaps along a path) and multipass welding (multiple passes over the same joint for thick materials) — two advanced welding modes requiring C++ trajectory segmentation, arc path linearization, and a configurable work-angle and push-angle system.

Implemented stitch welding — alternating weld beads and gaps along a trajectory path. Built a trajectory-segmentation service in the real-time layer that takes a continuous weld trajectory and segments it into equal-length beads with configurable gap spacing. The Python executive enables the torch for bead segments and disables it for gaps, producing evenly spaced stitch patterns.

Built a multipass welding system for thick materials that require multiple weld passes to fill a joint. Each pass supports independent work-angle and push-angle adjustments, allowing successive beads at different orientations within the groove. Pass direction handling ensures correct bead ordering. Multipass configurations can be saved and reloaded as reusable templates across programs and workpieces.

Both features required integration across the stack: the tablet UI provides operator controls for bead/gap length, pass count, and per-pass configuration; the executive manages the welding state machine across passes; and the real-time control layer executes the segmented trajectories.