make command a struct

Firmware/EggbotWireless/include/Config.h

@@ -0,0 +1,6 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+constexpr int pin12v {5};
+
+#endif // CONFIG_H

Firmware/EggbotWireless/include/GCodeParser.h

@@ -1,9 +1,9 @@
-#include <Arduino.h>
-#include "common/Commands.h"
-
 #ifndef PARSER_H
 #define PARSER_H
 
-float *parseGCode(String gcode);
+#include <Arduino.h>
+#include "common/Commands.h"
 
-#endif
+Command parseGCode(String gcode);
+
+#endif // PARSER_H

Firmware/EggbotWireless/include/Power.h

@@ -0,0 +1,15 @@
+#ifndef POWER_H
+#define POWER_H
+
+#include <Arduino.h>
+
+#include "Config.h"
+
+class Power {
+    public:
+    Power();
+    void disable12v();
+    void enable12v();
+};
+
+#endif // POWER_H

Firmware/EggbotWireless/src/GCodeParser.cpp

@@ -1,13 +1,10 @@
-#include "GCodeParser.h"
 #include <Arduino.h>
 
-float bytecode[4] = {-1, -1, -1, -1};
+#include "GCodeParser.h"
 
-float* parseGCode(String gcode) {
+Command bufcmd;
-    for (int i = 0; i < 4; i++) {
-        bytecode[i] = nanf("");
-    }
 
+Command parseGCode(String gcode) {
     char commandStringIn[50];
     char commandString[50];
 
@@ -55,28 +52,28 @@ float* parseGCode(String gcode) {
             floatValue = atof(value);
 
             if (strcmp(axis, "X") == 0) {
-                bytecode[X] = floatValue;
+                bufcmd.arg1 = floatValue;
             } else if (strcmp(axis, "Y") == 0) {
-                bytecode[Y] = floatValue;
+                bufcmd.arg2 = floatValue;
             } else if (strcmp(axis, "Z") == 0) {
-                bytecode[Z] = floatValue;
+                bufcmd.arg3 = floatValue;
             }
         }
         if (strcmp(command, "G00") == 0) {
-            bytecode[0] = G00;
+            bufcmd.type = CommandType::G00;
-            return bytecode;
+            return bufcmd;
         }
         if (strcmp(command, "G01") == 0) {
-            bytecode[0] = G01;
+            bufcmd.type = CommandType::G01;
-            return bytecode;
+            return bufcmd;
         }
     }
 
     if (strcmp(command, "M99") == 0) {
-        bytecode[0] = M99;
+        bufcmd.type = CommandType::M99;
-        return bytecode;
+        return bufcmd;
     }
 
-    bytecode[0] = unk;
+    bufcmd.type = CommandType::unk;
-    return bytecode;
+    return bufcmd;
 }

Firmware/EggbotWireless/src/Power.cpp

@@ -0,0 +1,10 @@
+#include "Power.h"
+
+Power::Power() {
+    pinMode(pin12v, OUTPUT);
+    enable12v();
+}
+
+void Power::disable12v() { digitalWrite(pin12v, false); }
+
+void Power::enable12v() { digitalWrite(pin12v, true); }

Firmware/EggbotWireless/src/main.cpp

@@ -8,13 +8,18 @@
 String inString;
 bool waitingForNext = false;
 
-void sendCommand(float *command) {
+void execCommand(Command command) {
-    if (command[0] != unk) {
+    if (command.type != CommandType::unk) {
         Wire.beginTransmission(8);
-        byte txBuffer[4];
+        byte buffer[7][sizeof(float)];
-        for (int i = 0; i < 4; i++) {
+        command.toBytes(buffer[0]);
-            floatToBytes(txBuffer, command[i]);
+        for (int i = 0; i < 7; i++) {
-            Wire.write(txBuffer, 4);
+            /*
+            float dbg;
+            bytesToFloat(&dbg, buffer[i]);
+            Serial.println(dbg);
+             */
+            Wire.write(buffer[i], sizeof(float));
         }
         Wire.endTransmission();
     } else {
@@ -22,24 +27,23 @@ void sendCommand(float *command) {
         return;
     }
 
-    if (command[0] == G01 || command[0] == G00) {
+    if (command.type == CommandType::G01 || command.type == CommandType::G00) {
         Wire.requestFrom(8, 1);
         waitingForNext = true;
         return;
     }
 
-    if (command[0] == M99) {
+    if (command.type == CommandType::M99) {
         Wire.requestFrom(8, 5 * sizeof(float));
 
         float resp[5];
-        byte buffer[4];
+        byte buffer[sizeof(float)];
 
         for (int i = 0; i < 5; i++) {
-            for (int j = 0; j < 4; j++) {
+            for (int j = 0; j < sizeof(float); j++) {
                 while (!Wire.available()) {
                 }
-                char read = Wire.read();
+                buffer[j] = Wire.read();
-                buffer[j] = read;
             }
             bytesToFloat(&resp[i], buffer);
         }
@@ -69,7 +73,7 @@ void loop() {
 
         if (inChar == '\n') {
             inString.trim();
-            sendCommand(parseGCode(inString));
+            execCommand(parseGCode(inString));
             unsigned long reqTime = millis();
             while (waitingForNext) {
                 while (!Wire.available()) {

Firmware/MotorControl/src/main.cpp

@@ -34,44 +34,44 @@ void adjustRPM() {
     sei();
 }
 
-int curFloat = 0;
+Command command;
-float command[4];
 
 bool newCommand = false;
 bool executing = false;
 
 int curByte = 0;
-byte rxBuffer[4];
+int curFloat = 0;
+byte rxBuffer[7][sizeof(float)];
 void receiveEvent(int howMany) {
     while (Wire.available() > 0) {
         if (!newCommand) {
             char c = Wire.read();
-            rxBuffer[curByte] = c;
+            rxBuffer[curFloat][curByte] = c;
             curByte++;
             if (curByte == 4) {
                 curByte = 0;
-                bytesToFloat(&command[curFloat], rxBuffer);
                 curFloat++;
             }
-            if (curFloat == 4) {
+            if (curFloat == 7) {
                 curFloat = 0;
+                command.fromBytes(rxBuffer[0]);
                 newCommand = true;
             }
         }
     }
 }
 
-byte txBuffer[5 * sizeof(float)];
+byte txBuffer[5][sizeof(float)];
 void requestEvent() {
-    if (command[0] == M99) {
+    if (command.type == CommandType::M99) {
-        floatToBytes(&txBuffer[0], servoStepper.getPos());
+        floatToBytes(txBuffer[0], servoStepper.getPos());
-        floatToBytes(&txBuffer[sizeof(float)], eggStepper.getPos());
+        floatToBytes(txBuffer[1], eggStepper.getPos());
 
-        floatToBytes(&txBuffer[sizeof(float) * 2], servoStepper.getPosMm());
+        floatToBytes(txBuffer[2], servoStepper.getPosMm());
-        floatToBytes(&txBuffer[sizeof(float) * 3], eggStepper.getPosMm());
+        floatToBytes(txBuffer[3], eggStepper.getPosMm());
 
-        floatToBytes(&txBuffer[sizeof(float) * 4], (float)pen.getEngaged());
+        floatToBytes(txBuffer[4], (float)pen.getEngaged());
-        Wire.write(txBuffer, 5 * sizeof(float));
+        Wire.write(txBuffer[0], 5 * sizeof(float));
     } else if (executing || newCommand) {
         Wire.write(WAIT);
     } else {
@@ -81,26 +81,27 @@ void requestEvent() {
 
 void execCommand() {
     executing = true;
-    if (command[0] == G01 || command[0] == G00) {
+
-        if (command[0] == G01) {
+    if (command.type == CommandType::G01 || command.type == CommandType::G00) {
+        if (command.type == CommandType::G01) {
             needAdjust = true;
         } else {
             needAdjust = false;
         }
 
-        if (!isnan(command[X])) {
+        if (!isnan(command.arg1)) {
-            servoStepper.moveTo(command[X]);
+            servoStepper.moveTo(command.arg1);
         }
 
-        if (!isnan(command[Y])) {
+        if (!isnan(command.arg2)) {
-            eggStepper.moveTo(command[Y]);
+            eggStepper.moveTo(command.arg2);
         }
 
-        if (!isnan(command[Z])) {
+        if (!isnan(command.arg3)) {
-            if (command[Z] < 0) {
+            if (command.arg3 < 0) {
                 pen.engage();
             }
-            if (command[Z] >= 0) {
+            if (command.arg3 >= 0) {
                 pen.disengage();
             }
         }
@@ -127,7 +128,7 @@ void setup() {
     pen.init();
 }
 
-unsigned int ms = 0;
+volatile unsigned int ms = 0;
 
 ISR(TIMER0_COMPA_vect) {
     ms++;

Firmware/common/Commands.h

@@ -1,13 +1,6 @@
 #ifndef COMMANDS_H
 #define COMMANDS_H
 
-enum command{
-    unk,
-    G00,
-    G01,
-    M99,
-};
-
 enum bcAxis {
     X = 1,
     Y = 2,
@@ -27,6 +20,42 @@ enum StatusMSG {
     penPos,
 };
 
+enum class CommandType {
+    unk = 0,
+    G00,
+    G01,
+    M99,
+};
+
+struct Command {
+    CommandType type = CommandType::unk;
+    float arg1 = NAN;
+    float arg2 = NAN;
+    float arg3 = NAN;
+    float arg4 = NAN;
+    float arg5 = NAN;
+    float arg6 = NAN;
+
+    Command(CommandType type = CommandType::unk, float arg1 = NAN,
+            float arg2 = NAN, float arg3 = NAN, float arg4 = NAN,
+            float arg5 = NAN, float arg6 = NAN)
+        : type(type),
+          arg1(arg1),
+          arg2(arg2),
+          arg3(arg3),
+          arg4(arg4),
+          arg5(arg5),
+          arg6(arg6){};
+
+    Command(float *floats);
+    int fromFloats(float *floats);
+    int toFloats(float *floats);
+
+    Command(byte *bytes);
+    int fromBytes(byte *bytes);
+    int toBytes(byte *bytes);
+};
+
 void bytesToFloat(float *target, byte *val);
 void floatToBytes(byte *target, float val);
 

Firmware/commonSrc/Commands.cpp

@@ -1,11 +1,53 @@
 #include <Arduino.h>
 
+#include "common/Commands.h"
+
+Command::Command(float *floats) { fromFloats(floats); }
+
+int Command::fromFloats(float *floats) {
+    type = static_cast<CommandType>(floats[0]);
+    arg1 = floats[1];
+    arg2 = floats[2];
+    arg3 = floats[3];
+    arg4 = floats[4];
+    arg5 = floats[5];
+    arg6 = floats[6];
+}
+
+int Command::toFloats(float *floats) {
+    floats[0] = static_cast<float>(type);
+    floats[1] = arg1;
+    floats[2] = arg2;
+    floats[3] = arg3;
+    floats[4] = arg4;
+    floats[5] = arg5;
+    floats[6] = arg6;
+}
+
+Command::Command(byte *bytes) { fromBytes(bytes); }
+
+int Command::fromBytes(byte *bytes) {
+    float floats[7];
+    for (int i = 0; i < 7; i++) {
+        bytesToFloat(&floats[i], &bytes[i * sizeof(float)]);
+    }
+    fromFloats(floats);
+}
+
+int Command::toBytes(byte *bytes) {
+    float floats[7];
+    toFloats(floats);
+    for (int i = 0; i < 7; i++) {
+        floatToBytes(&bytes[i * sizeof(float)], floats[i]);
+    }
+}
+
 void bytesToFloat(float *target, byte *val) {
-    memcpy(target, val, 4);
+    memcpy(target, val, sizeof(float));
     return;
 }
 
 void floatToBytes(byte *target, float val) {
-    memcpy(target, &val, 4);
+    memcpy(target, &val, sizeof(float));
     return;
 }