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basic gcode sender thing

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This commit is contained in:
Stepan Usatiuk
2019-08-03 14:27:13 +03:00
parent 73af651ac4
commit 17891a2a64
13 changed files with 223 additions and 49 deletions
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36
Firmware/MotorControl/src/main.cpp
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@@ -35,10 +35,8 @@ void adjustRPM() {
calculateDelay(eggStepperRPM, STEPS_PER_REVOLUTION);
int newServoStepperDelay =
calculateDelay(servoStepperRPM, STEPS_PER_REVOLUTION);
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
eggStepperDelay = newEggStepperDelay;
servoStepperDelay = newServoStepperDelay;
}
eggStepperDelay = newEggStepperDelay;
servoStepperDelay = newServoStepperDelay;
}
Command command;
@@ -67,36 +65,36 @@ byte txBuffer[i2cStsBytes];
Status sts;
void requestEvent() { Wire.write(txBuffer, i2cStsBytes); }
void execCommand() {
void execCommand(Command cmd) {
executing = true;
newCommand = false;
if (command.type == CommandType::G01 || command.type == CommandType::G00) {
newCommand = false;
if (command.type == CommandType::G01) {
if (cmd.type == CommandType::G01 || cmd.type == CommandType::G00) {
if (cmd.type == CommandType::G01) {
needAdjust = true;
} else {
needAdjust = false;
}
if (!isnan(command.arg1)) {
servoStepper.moveTo(command.arg1);
if (!isnan(cmd.arg1)) {
servoStepper.moveTo(cmd.arg1);
}
if (!isnan(command.arg2)) {
eggStepper.moveTo(command.arg2);
if (!isnan(cmd.arg2)) {
eggStepper.moveTo(cmd.arg2);
}
if (!isnan(command.arg3)) {
if (command.arg3 < 0) {
if (!isnan(cmd.arg3)) {
if (cmd.arg3 < 0) {
pen.engage();
}
if (command.arg3 >= 0) {
if (cmd.arg3 >= 0) {
pen.disengage();
}
}
if (!isnan(command.arg4)) {
curRPM = command.arg4;
if (!isnan(cmd.arg4)) {
curRPM = cmd.arg4;
}
adjustRPM();
@@ -157,6 +155,8 @@ void steppersRoutine() {
sts.mmS = servoStepper.getPosMm();
sts.mmE = eggStepper.getPosMm();
sts.feedrate = curRPM;
sts.pEng = (float)pen.getEngaged();
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { sts.toBytes(txBuffer); }
@@ -171,7 +171,7 @@ void steppersRoutine() {
void loop() {
if (newCommand) {
execCommand();
execCommand(command);
}
steppersRoutine();
}