uint8_t NMX::moveToPosition(int32_t pos)
{
if(currentPos > pos)
{
return moveSteps(1, (uint32_t)(currentPos - pos));
}
else if(currentPos < pos)
{
return moveSteps(0, (uint32_t)(pos - currentPos));
}
else
{
return 0;
}
}
String KnitControl::run(char c) {
String res = "nop";
bool processed = false;
switch (c){
case ' ':
processed=true;
break;
case 'a': // toggle BACK servos
case 'A':
processed = true;
stepsToDo=0;
lastStepsToDo=0;
res = "Trying to ABORT!";
break;
case 'b': // toggle BACK servos
case 'B':
processed = true;
sm->setFB(false,ServoMgr::Toggle);
res = "Toggling BACK servos.";
break;
case 'c': // toggle BACK servos
case 'C':
processed = true;
stepsToDo=0;
lastStepsToDo=0;
homed = awayed = false;
curPos = 0;
awayPos = maxSteps;
res = "Settings Clearde!";
break;
case 'f': // toggle FRONT servos
case 'F':
processed = true;
sm->setFB(true,ServoMgr::Toggle);
res = "Toggling FRONT servos.";
break;
case 'G':
case 'g': // just go until we can go no more
processed = true;
if (homed && awayed){
stepsToDo=-1;
lastStepsToDo=0;
res = "Going for it!";
}
else{
res = "Better HOME and AWAY first...";
}
break;
case 'h':
case 'H': // set the current position as home
setHome();
processed = true;
res = "Homed!";
break;
case 'k': // toggle FRONT servos
case 'K':
processed = true;
sm->setServos2Knit(dir);
res = String("Servos set to knit: ") + String(dir ? "LEFT" : "RIGHT");
break;
case 'l':
case 'L': // take a step left
processed = true;
setDir(true);
res = "Direction: LEFT!";
break;
case 'n': // chang to needle mode, i.e. numbers entered refer to needles
case 'N':
processed = true;
needleMode = true;
res = "Needle Movement Mode activited!";
break;
case 'p': // display curren position
case 'P':
processed = true;
res = "Current Position: " + String(curPos); // NOTE: the string 'Current' is parsed by Processing GUI, do not remove it!
break;
case 'r': // take one step right
case 'R':
processed = true;
setDir(false);
res = "Direction: RIGHT!";
break;
case 's': // switch tostep mode: numbers entered refer to steps
case 'S':
processed = true;
needleMode = false;
res = "Step Movement Mode activited!";
break;
case 't': // toggle TOP servo
case 'T':
processed = true;
sm->toggle(ServoMgr::Top);
res = "Toggling TOP servo.";
break;
case 'v': // Visualize status
case 'V':
processed = true;
res = getStatus();
break;
case 'y':
case 'Y': // set the current position as home
processed = true;
if(homed){
setAway();
res = "Awayed!";
}
else{
res = "Please Home before setting Away!";
}
break;
case 'z': // all servos OUT
case 'Z':
processed = true;
for (int i=0;i<ServoMgr::nbServos;i++){
sm->set(i,false);
}
res = "Servos set to OUT.";
break;
}
if (!processed){
if (c >= '0' && c <= '9'){
int nbSteps = ((c -'0') * 5) + 1;
if (needleMode){
moveNeedles(nbSteps);
}
else{
moveSteps(nbSteps);
}
}
}
return res;
}
uint8_t NMX::moveBackward()
{
return moveSteps(1, stepSize);
}
uint8_t NMX::moveForward()
{
return moveSteps(0, stepSize);
}
