void umcwriter_user_pause() { umcwriter_planner_sync(); umcwriter_print_time += 2; //2 seconds for processing UP3D_BLK blks[2]; UP3D_PROG_BLK_MoveF( blks,150,0,150,0,10000,30,10000,0 ); _umcwriter_write_file(blks, 2); umcwriter_beep(500); UP3D_BLK blk; UP3D_PROG_BLK_SetParameter(&blk,PARA_PAUSE_PROGRAM,1); _umcwriter_write_file(&blk, 1); UP3D_PROG_BLK_SetParameter(&blk,PARA_PRINT_STATUS,3); _umcwriter_write_file(&blk, 1); umcwriter_beep(500); UP3D_PROG_BLK_MoveF( blks,150,0,150,0,10000,-30,10000,0 ); _umcwriter_write_file(blks, 2); }
void umcwriter_virtual_home(double speedX, double speedY, double speedZ) { umcwriter_planner_sync(); umcwriter_print_time += 5; //apx. 5 seconds for virtual homeing double speed[2]; speed[settings.x_axes] = min(speedX,settings.max_rate[settings.x_axes]*60.0 ); speed[settings.y_axes] = min(speedY,settings.max_rate[settings.y_axes]*60.0 ); speedZ = min( speedZ, 50.0*60.0 ); UP3D_BLK blks[2]; UP3D_PROG_BLK_MoveF( blks, -speed[0],0, -speed[1],0, -speedZ,0, 0,0); _umcwriter_write_file( blks, 2); umcwriter_planner_set_position(0,0,0); }
void umcwriter_move_direct(double X, double Y, double Z, double A, double F) { umcwriter_planner_sync(); double feedX = F; double feedY = F; double feedZ = F; double feedA = F; double pos[3]; plan_get_position(pos); double relA = A-pos[A_AXIS]; double tX = fabs(X+pos[1])/feedX; double tY = fabs(Y-pos[0])/feedY; double tZ = fabs(umcwriter_Z_height-Z-umcwriter_Z)/feedZ; //double tA = fabs(relA)/feedA; double t=0; if(tX>t) t=tX; if(tY>t) t=tY; if(tZ>t) t=tZ; umcwriter_print_time += t; double topos[2]; topos[settings.x_axes] = X * settings.x_dir; topos[settings.y_axes] = Y * settings.y_dir; double feed[2]; feed[settings.x_axes] = feedX; feed[settings.y_axes] = feedY; UP3D_BLK blks[2]; UP3D_PROG_BLK_MoveF( blks,-feed[0],topos[0],-feed[1],topos[1],-feedZ,-(umcwriter_Z_height-Z),feedA,relA ); _umcwriter_write_file(blks, 2); umcwriter_planner_set_position(X,Y,A); umcwriter_Z = Z; }
int main(int argc, char *argv[]) { if( !UP3D_Open() ) return -1; signal(SIGINT, sigfinish); // set sigint handler #ifdef SIGWINCH signal(SIGWINCH, sigwinch); // set sigint handler #endif initscr(); // initialize the curses library raw(); // line buffering disabled keypad(stdscr, TRUE); // enable keyboard mapping nonl(); // tell curses not to do NL->CR/NL on output cbreak(); // take input chars one at a time, no wait for \n noecho(); // getch no echo nodelay(stdscr, TRUE); // getch nonblocking curs_set(0); // no visible cursor if( has_colors() ) { start_color(); use_default_colors(); init_pair(1, -1, -1); init_pair(2, COLOR_RED, -1); init_pair(3, COLOR_GREEN, -1); init_pair(4, COLOR_YELLOW, -1); init_pair(5, COLOR_BLUE, -1); init_pair(6, COLOR_CYAN, -1); init_pair(7, COLOR_MAGENTA, -1); init_pair(8, COLOR_WHITE, COLOR_BLACK); bkgd(COLOR_PAIR(1)); } //initial draw update_state(true); //the loop for(;;) { int c = getch(); switch( c ) { case 0x12: update_state(true); break; // CTRL-R case 'p': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Power(&blk,true);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); UP3D_SetParameter(0x94,999); //set best accuracy for reporting position } break; case 'q': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Power(&blk,false);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); sigfinish(0); } break; case '0': { UP3D_ClearProgramBuf(); UP3D_InsertRomProgram(0); UP3D_StartResumeProgram(); } break; case 'b': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Beeper(&blk,true);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Pause(&blk,100);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Beeper(&blk,false);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Pause(&blk,100);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Beeper(&blk,true);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Pause(&blk,100);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Beeper(&blk,false);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case 'h': { UP3D_BLK blk; UP3D_BLK blksHome[2]; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_Z ); UP3D_WriteBlocks(blksHome,2); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_Y ); UP3D_WriteBlocks(blksHome,2); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_X ); UP3D_WriteBlocks(blksHome,2); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '1': { UP3D_BLK blk; UP3D_BLK blksMoveF[2]; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_MoveF( blksMoveF,-150,-60.0,-150,60.0,0,0,0,0); UP3D_WriteBlocks(blksMoveF,2); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '2': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '3': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_MoveL(&blk,21,23809,-7,0,0,-495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,-10924,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,-10403,0,0,495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,7,0,0,495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,10924,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,10403,0,0,-495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '4': { UP3D_BLK blk; UP3D_ClearProgramBuf(); /* UP3D_PROG_BLK_MoveL(&blk,21,23809,-7,0,0,-495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,-10924,0,0,0,0,0);UP3D_WriteBlock(&blk); //UP3D_PROG_BLK_MoveL(&blk,21,23809,-10403,0,0,495,0,0);UP3D_WriteBlock(&blk); //UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,-10403+24,0,0,495,0,0);UP3D_WriteBlock(&blk); */ UP3D_PROG_BLK_MoveL(&blk,21,23809,5,0,0,-495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,-10924,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,-10391,0,0,495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '5': { UP3D_BLK blk; UP3D_ClearProgramBuf(); /* UP3D_PROG_BLK_MoveL(&blk,21,23809,7,0,0,495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,10924,0,0,0,0,0);UP3D_WriteBlock(&blk); //UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); //UP3D_PROG_BLK_MoveL(&blk,21,23809,10403,0,0,-495,0,0);UP3D_WriteBlock(&blk); //UP3D_PROG_BLK_MoveL(&blk,1,100,512,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,10403+48,0,0,-495,0,0);UP3D_WriteBlock(&blk); */ UP3D_PROG_BLK_MoveL(&blk,21,23809,19,0,0,495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,1581,24984,10924,0,0,0,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_MoveL(&blk,21,23809,10440,0,0,-495,0,0);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '6': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '7': { UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); UP3D_StartResumeProgram(); } break; case '8': { /* UP3D_BLK blk; UP3D_ClearProgramBuf(); UP3D_UseSDProgramBuf( 3, true ); UP3D_BLK blksHome[2]; UP3D_ClearProgramBuf(); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_Z ); UP3D_WriteBlocks(blksHome,2); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_Y ); UP3D_WriteBlocks(blksHome,2); UP3D_PROG_BLK_Home( blksHome, UP3DAXIS_X ); UP3D_WriteBlocks(blksHome,2); UP3D_BLK blks[2]; UP3D_PROG_BLK_MoveF( blks,-1000,0,-1000,0,-1000,-100,-1000,0); UP3D_WriteBlocks(blks,2); UP3D_PROG_BLK_Stop(&blk);UP3D_WriteBlock(&blk); */ UP3D_ClearProgramBuf(); UP3D_UseSDProgramBuf( 3, false ); UP3D_StartResumeProgram(); } break; case '9': { UP3D_BLK blk; UP3D_SetPrintJobInfo( 9, 0, 0 ); UP3D_ClearProgramBuf(); UP3D_UseSDProgramBuf( 9, true ); UP3D_PROG_BLK_Power(&blk,true);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_SetParameter(&blk,PARA_BED_TEMP,100);UP3D_WriteBlock(&blk); UP3D_PROG_BLK_SetParameter(&blk,PARA_HEATER_BED_ON,1);UP3D_WriteBlock(&blk); UP3D_BLK sblk[3]; UP3D_PROG_BLK_Stop(&sblk[0]); UP3D_PROG_BLK_Stop(&sblk[1]); UP3D_PROG_BLK_Stop(&sblk[2]); UP3D_WriteBlocks(sblk,3); UP3D_WriteBlocks(sblk,3); UP3D_SetPrintJobInfo( 9, 1, 0 ); UP3D_UseSDProgramBuf( 9, false ); UP3D_ClearProgramBuf(); // UP3D_StartResumeProgram(); } break; case 'a': UP3D_SetParameter(0x94,99); //set smaller accuracy break; case 't': UP3D_SetParameter(0x39,65); //NOZZLE1 SET TEMP UP3D_SetParameter(0x3A,65); //NOZZLE2 SET TEMP UP3D_SetParameter(0x3B,102); //BED SET TEMP UP3D_SetParameter(0x3C,101); //TEMP4 SET TEMP break; case 's': UP3D_SetParameter(0x10,2); break; case 'x': UP3D_SetParameter(0x14,0); //NOZZLE1 OFF UP3D_SetParameter(0x15,0); //NOZZLE1 OFF UP3D_SetParameter(0x16,0); //BED OFF break; case 'n': UP3D_SetParameter(0x14,1); //NOZZLE1 ON break; case 'm': UP3D_SetParameter(0x16,1); //BED ON break; } update_state(false); napms(20); } sigfinish(0); return 0; }