/**
* Default Constructor
*/
DCMotorBot::DCMotorBot() {
setEnablePins(1, 2);
setControlPins(3, 4, 5, 6);
setDelay(10);
setSpeed(255);
}
void GCode::do_m_code()
{
#ifdef USE_MARLIN
// Marlin's only method of synchronizing these sorts of commands is to wait 'till it's cleared out.
if(!Marlin::isBufferEmpty())
return;
#endif
switch(cps[M].getInt())
{
case 0: // Finish up and shut down.
case 18: // 18 used by RepG.
case 84: // "Stop Idle Hold" == shut down motors.
SETOBJ(disableAllMotors());
state = DONE;
break;
case 104: // Set Extruder Temperature (Fast)
SKIPEXTRUDE;
if(cps[S].isUnused() || TEMPERATURE.setHotend(cps[S].getInt()))
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#endif
state = DONE;
}
break;
case 105: // Get Extruder Temperature
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
state = DONE;
state = DONE;
break;
#ifndef USE_MBIEC
case 106: // Fan on
if(!fanpin.isNull())
{
fanpin.setValue(true);
}
state = DONE;
break;
case 107: // Fan off
if(!fanpin.isNull())
{
fanpin.setValue(false);
}
state = DONE;
break;
#else
case 106: // Fan on
if(TEMPERATURE.setFan(true))
state = DONE;
break;
case 107: // Fan off
if(TEMPERATURE.setFan(false))
state = DONE;
break;
#endif
case 109: // Set Extruder Temperature
SKIPEXTRUDE;
if(state != ACTIVE && (cps[S].isUnused() || TEMPERATURE.setHotend(cps[S].getInt())))
state = ACTIVE;
if(state == ACTIVE && TEMPERATURE.getHotend() >= TEMPERATURE.getHotendST())
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
write_temps_to_host(source);
#endif
state = DONE;
}
if(millis() - lastms > 1000)
{
lastms = millis();
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
}
break;
case 110: // Set Current Line Number
GCODES.setLineNumber(cps[S].isUnused() ? 1 : cps[S].getInt());
state = DONE;
break;
case 114: // Get Current Position
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(' ');
#endif
Host::Instance(source).write("C: ");
SETOBJ(writePositionToHost(*this));
// TODO
Host::Instance(source).endl();
state = DONE;
break;
case 115: // Get Firmware Version and Capabilities
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write_P(PSTR(" VERSION:" SJFW_VERSION " FREE_RAM:"));
Host::Instance(source).write(getFreeRam(),10);
Host::Instance(source).write_P(PSTR(" FEATURES:0/crc-v2"));
Host::Instance(source).endl();
state = DONE;
break;
case 116: // Wait on temperatures
SKIPEXTRUDE;
if(TEMPERATURE.getHotend() >= TEMPERATURE.getHotendST() && TEMPERATURE.getPlatform() >= TEMPERATURE.getPlatformST())
state = DONE;
if(millis() - lastms > 1000)
{
lastms = millis();
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#else
write_temps_to_host(source);
#endif
}
break;
case 118: // Choose optional features TODO: implement properly when we have > 1 option
if(!cps[P].isUnused())
{
if(cps[P].getInt() == 1)
GCODES.enableADVANCED_CRC(source);
else
GCODES.disableADVANCED_CRC(source);
}
case 140: // Bed Temperature (Fast)
SKIPEXTRUDE;
if(cps[S].isUnused() || TEMPERATURE.setPlatform(cps[S].getInt()))
{
#ifndef REPG_COMPAT
Host::Instance(source).labelnum("prog ", linenum, false); Host::Instance(source).write(' '); write_temps_to_host(source);
#endif
state = DONE;
}
break;
case 200: // NOT STANDARD - set Steps Per Unit
SETOBJ(setStepsPerUnit(*this));
state = DONE;
break;
case 201: // NOT STANDARD - set Feedrates
SETOBJ(setMinimumFeedrate(*this));
state = DONE;
break;
case 202: // NOT STANDARD - set Feedrates
SETOBJ(setMaximumFeedrate(*this));
state = DONE;
break;
case 203: // NOT STANDARD - set Feedrates
SETOBJ(setAverageFeedrate(*this));
state = DONE;
break;
#ifdef HAS_SD
case 204: // NOT STANDARD - get next filename from SD
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(' ');
Host::Instance(source).write(sdcard::getNextfile());
Host::Instance(source).endl();
state = DONE;
break;
case 205: // NOT STANDARD - print file from last 204
Host::Instance(source).labelnum("prog ", linenum, false);
Host::Instance(source).write(sdcard::getCurrentfile());
if(sdcard::printcurrent())
Host::Instance(source).write_P(PSTR(" BEGUN"));
else
Host::Instance(source).write_P(PSTR(" FAIL"));
Host::Instance(source).endl();
state = DONE;
break;
#endif
case 206: // NOT STANDARD - set accel rate
SETOBJ(setAccel(*this));
state = DONE;
break;
case 207: // NOT STANDARD - set hotend thermistor pin
if(!cps[P].isUnused())
TEMPERATURE.changePinHotend(cps[P].getInt());
if(!cps[S].isUnused())
TEMPERATURE.changeOutputPinHotend(cps[S].getInt());
state = DONE;
break;
case 208: // NOT STANDARD - set platform thermistor pin
if(!cps[P].isUnused())
TEMPERATURE.changePinPlatform(cps[P].getInt());
if(!cps[S].isUnused())
TEMPERATURE.changeOutputPinPlatform(cps[S].getInt());
state = DONE;
break;
case 211: // NOT STANDARD - request temp reports at regular interval
if(cps[P].isUnused())
TEMPERATURE.changeReporting(0, Host::Instance(source));
else
TEMPERATURE.changeReporting(cps[P].getInt(), Host::Instance(source));
state = DONE;
break;
case 215: // NOT STANDARD - set arbitrary digital pin
if(!cps[P].isUnused() && !cps[S].isUnused())
{
doPinSet(cps[P].getInt(), cps[S].getInt());
}
state = DONE;
break;
case 216: // NOT STANDARD - set fan pin
if(!cps[P].isUnused())
{
fanpin = Pin(ArduinoMap::getPort(cps[P].getInt()), ArduinoMap::getPinnum(cps[P].getInt()));
fanpin.setDirection(true);
fanpin.setValue(false);
}
state = DONE;
break;
case 220: // NOT STANDARD - set endstop minimum positions
SETOBJ(setMinStopPos(*this));
state = DONE;
break;
case 221: // NOT STANDARD - set endstop minimum positions
SETOBJ(setMaxStopPos(*this));
state = DONE;
break;
#ifdef HAS_LCD
case 250: // NOT STANDARD - LCD RS pin
if(!cps[P].isUnused())
LCDKEYPAD.setRS(cps[P].getInt());
state = DONE;
break;
case 251: // NOT STANDARD - LCD RW pin
if(!cps[P].isUnused())
LCDKEYPAD.setRW(cps[P].getInt());
state = DONE;
break;
case 252: // NOT STANDARD - LCD E pin
if(!cps[P].isUnused())
LCDKEYPAD.setE(cps[P].getInt());
state = DONE;
break;
case 253: // NOT STANDARD - LCD D pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setD(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 254: // NOT STANDARD - Keypad Row Pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setRowPin(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 255: // NOT STANDARD - Keypad Col Pins
if(!cps[P].isUnused() && !cps[S].isUnused())
LCDKEYPAD.setColPin(cps[S].getInt(), cps[P].getInt());
state = DONE;
break;
case 256: // NOT STANDARD - reinit LCD. This is a temporary 'fix' for the init timing errors
LCDKEYPAD.reinit();
state = DONE;
break;
#endif
case 300: // NOT STANDARD - set axis STEP pin
SETOBJ(setStepPins(*this));
state = DONE;
break;
case 301: // NOT STANDARD - set axis DIR pin
SETOBJ(setDirPins(*this));
state = DONE;
break;
case 302: // NOT STANDARD - set axis ENABLE pin
SETOBJ(setEnablePins(*this));
state = DONE;
break;
case 304: // NOT STANDARD - set axis MIN pin
SETOBJ(setMinPins(*this));
state = DONE;
break;
case 305: // NOT STANDARD - set axis MAX pin
SETOBJ(setMaxPins(*this));
state = DONE;
break;
case 307: // NOT STANDARD - set axis invert
SETOBJ(setAxisInvert(*this));
state = DONE;
break;
case 308: // NOT STANDARD - set axis disable
SETOBJ(setAxisDisable(*this));
state = DONE;
break;
case 309: // NOT STANDARD - set global endstop invert, endstop pullups.
SETOBJ(setEndstopGlobals(cps[P].getInt() == 1 ? true: false, cps[S].getInt() == 1 ? true: false));
state = DONE;
break;
case 310: // NOT STANDARD - report axis configuration status
SETOBJ(reportConfigStatus(Host::Instance(source)));
state = DONE;
break;
case 350: // NOT STANDARD - change gcode optimization
if(!cps[P].isUnused() && cps[P].getInt() == 1)
GCODES.enableOptimize();
else
GCODES.disableOptimize();
state = DONE;
break;
case 351: // NOT STANDARD - disable extruder commands (test print option)
if(!cps[P].isUnused() && cps[P].getInt() == 1)
DONTRUNEXTRUDER = true;
else
DONTRUNEXTRUDER = false;
state = DONE;
break;
// case 400,402 handled by GcodeQueue immediately, not queued.
case 401: // Execute stored eeprom code.
Host::Instance(source).write_P(PSTR("EEPROM READ: "));
if(eeprom::beginRead())
Host::Instance(source).write_P(PSTR("BEGUN"));
else
Host::Instance(source).write_P(PSTR("FAIL"));
Host::Instance(source).endl();
state = DONE;
break;
// NOT STANDARD - set thermistor table
case 501: case 502: case 503: case 504: case 505: case 506: case 507: case 508: case 509: case 510:
case 511: case 512: case 513: case 514: case 515: case 516: case 517: case 518: case 519: case 520:
if(!cps[P].isUnused() && !cps[S].isUnused())
{
TEMPERATURE.changeTempTable(cps[P].getInt(), cps[S].getInt(), cps[M].getInt() - 501);
}
state = DONE;
break;
default:
Host::Instance(source).labelnum("warn ", linenum, false);
Host::Instance(source).write_P(PSTR(" MCODE ")); Host::Instance(source).write(cps[M].getInt(), 10); Host::Instance(source).write_P(PSTR(" NOT SUPPORTED\n"));
state = DONE;
break;
}
#ifndef REPRAP_COMPAT
if(state == DONE)
{
if(linenum != -1)
Host::Instance(source).labelnum("done ", linenum, false);
else
Host::Instance(source).write_P(PSTR("done "));
Host::Instance(source).labelnum(" M", cps[M].getInt(), true);
}
#endif
}
/**
* Full Constructor
*/
DCMotorBot::DCMotorBot(byte e1, byte e2, byte I1, byte I2, byte I3, byte I4, int delay) {
setEnablePins(e1, e2);
setControlPins(I1, I2, I3, I4);
setDelay(delay);
}