KODA: Knit-program Optimization by Dependency Analysis

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Digital knitting machines have the capability to reliably manufacture seamless, textured, and multi-material garments, but these capabilities are obscured by limiting CAD tools. Recent innovations in computational knitting build on emerging programming infrastructure that gives full access to the machine's capabilities but requires an extensive understanding of machine operations and execution. In this paper, we contribute a critical missing piece of the knitting-machine programming pipeline--a program optimizer. Program optimization allows programmers to focus on developing novel algorithms that produce desired fabrics while deferring concerns of efficient machine operations to the optimizer. We present KODA, the Knit-program Optimization by Dependency Analysis method. KODA re-orders and reduces machine instructions to reduce knitting time, increase knitting reliability, and manage boilerplate operations that adjust the machine state. The result is a system that enables programmers to write readable and intuitive knitting algorithms while producing efficient and verified programs.