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support for G00 command

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Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
This commit is contained in:
Stepan Usatiuk
2019-05-10 16:13:34 +03:00
parent 33e0c82364
commit c4d76632a0
3 changed files with 55 additions and 33 deletions
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1
Firmware/EggbotWireless/include/GCodeParser.h
View File

@@ -5,6 +5,7 @@
enum command {
unk,
G00,
G01,
M99,
};

12
Firmware/EggbotWireless/src/GCodeParser.cpp
View File

@@ -23,8 +23,6 @@ float* parseGCode(String gcode) {
strncpy(args, &commandString[4], 45);
if (strcmp(command, "G01") == 0 || strcmp(command, "G00") == 0) {
bytecode[0] = G01;
char split_args[3][40];
memset(split_args, 0, sizeof(split_args));
char* arg;
@@ -60,8 +58,14 @@ float* parseGCode(String gcode) {
bytecode[Z] = floatValue;
}
}
return bytecode;
if (strcmp(command, "G00") == 0) {
bytecode[0] = G00;
return bytecode;
}
if (strcmp(command, "G01") == 0) {
bytecode[0] = G01;
return bytecode;
}
}
if (strcmp(command, "M99") == 0) {

75
Firmware/EggbotWireless/src/main.cpp
View File

@@ -1,5 +1,7 @@
#include <Arduino.h>
#include <ESP8266WiFi.h>
#include <Ticker.h>
#include "EggConstants.h"
#include "GCodeParser.h"
#include "Globals.h"
@@ -9,22 +11,31 @@
int RPM = DEF_RPM;
bool needAdjust = false;
Ticker adjustTicker;
void execCommand(float *command) {
if (command[0] == G01) {
if (command[X] != -1 && command[Y] != -1) {
float distX = servoStepper.getDistMm(command[X]);
float distY = eggStepper.getDistMm(command[Y]);
int stepsX = servoStepper.mmToSteps(distX);
int stepsY = eggStepper.mmToSteps(distY);
if (stepsX != 0 && stepsY != 0) {
if (stepsX > stepsY) {
float rpm = (float)RPM * (float)stepsY / (float)stepsX;
eggStepperTimer.setRPM(rpm);
} else if (stepsY > stepsX) {
float rpm = (float)RPM * (float)stepsX / (float)stepsY;
servoStepperTimer.setRPM(rpm);
if (command[0] == G01 || command[0] == G00) {
if (command[0] == G01) {
needAdjust = true;
if (command[X] != -1 && command[Y] != -1) {
float distX = servoStepper.getDistMm(command[X]);
float distY = eggStepper.getDistMm(command[Y]);
int stepsX = servoStepper.mmToSteps(distX);
int stepsY = eggStepper.mmToSteps(distY);
if (stepsX != 0 && stepsY != 0) {
if (stepsX > stepsY) {
float rpm = (float)RPM * (float)stepsY / (float)stepsX;
eggStepperTimer.setRPM(rpm);
} else if (stepsY > stepsX) {
float rpm = (float)RPM * (float)stepsX / (float)stepsY;
servoStepperTimer.setRPM(rpm);
}
}
}
} else {
needAdjust = false;
}
if (command[X] != -1) {
@@ -57,13 +68,33 @@ void execCommand(float *command) {
}
}
void adjustRPM() {
if (needAdjust) {
cli();
int stepsX = servoStepper.getRemainingSteps();
int stepsY = eggStepper.getRemainingSteps();
if (stepsX > stepsY) {
float rpm = (float)RPM * (float)stepsY / (float)stepsX;
eggStepperTimer.setRPM(rpm);
} else if (stepsY > stepsX) {
float rpm = (float)RPM * (float)stepsX / (float)stepsY;
servoStepperTimer.setRPM(rpm);
} else {
eggStepperTimer.setRPM(RPM);
servoStepperTimer.setRPM(RPM);
}
sei();
}
}
void setup() {
WiFi.mode(WIFI_OFF);
Serial.begin(115200);
eggStepperTimer.setStepper(&eggStepper);
servoStepperTimer.setStepper(&servoStepper);
pen.init();
servoStepper.setPos(70);
WiFi.mode(WIFI_OFF);
adjustTicker.attach_ms(50, adjustRPM);
}
void loop() {
@@ -76,20 +107,6 @@ void loop() {
execCommand(parseGCode(inString));
while (!eggStepper.finished() || !servoStepper.finished()) {
delay(50);
cli();
int stepsX = servoStepper.getRemainingSteps();
int stepsY = eggStepper.getRemainingSteps();
if (stepsX > stepsY) {
float rpm = (float)RPM * (float)stepsY / (float)stepsX;
eggStepperTimer.setRPM(rpm);
} else if (stepsY > stepsX) {
float rpm = (float)RPM * (float)stepsX / (float)stepsY;
servoStepperTimer.setRPM(rpm);
} else {
eggStepperTimer.setRPM(RPM);
servoStepperTimer.setRPM(RPM);
}
sei();
}
eggStepperTimer.setRPM(RPM);
servoStepperTimer.setRPM(RPM);
@@ -97,4 +114,4 @@ void loop() {
inString = "";
}
}
}
}