void umcwriter_home(int32_t axes) { umcwriter_planner_sync(); double pos[3]; plan_get_position(pos); umcwriter_print_time += 3; //apx. 3 seconds for homing of one axis UP3D_BLK blk; switch( axes ) { case 0: UP3D_PROG_BLK_Home( &blk, settings.y_axes, settings.y_dir, settings.y_hofs_hi, settings.y_hspeed_hi ); _umcwriter_write_file(&blk, 1); UP3D_PROG_BLK_Home( &blk, settings.y_axes, settings.y_dir, settings.y_hofs_lo, settings.y_hspeed_lo ); _umcwriter_write_file(&blk, 1); pos[settings.y_axes] = 0; break; case 1: UP3D_PROG_BLK_Home( &blk, settings.x_axes, settings.x_dir, settings.x_hofs_hi, settings.x_hspeed_hi ); _umcwriter_write_file(&blk, 1); UP3D_PROG_BLK_Home( &blk, settings.x_axes, settings.x_dir, settings.x_hofs_lo, settings.x_hspeed_lo ); _umcwriter_write_file(&blk, 1); pos[settings.x_axes] = 0; break; case 2: UP3D_PROG_BLK_Home( &blk, UP3DAXIS_Z, settings.z_dir, settings.z_hofs_hi, settings.z_hspeed_hi ); _umcwriter_write_file(&blk, 1); UP3D_PROG_BLK_Home( &blk, UP3DAXIS_Z, settings.z_dir, settings.z_hofs_lo, settings.z_hspeed_lo ); _umcwriter_write_file(&blk, 1); umcwriter_Z = 0; break; } umcwriter_planner_set_position( pos[settings.x_axes], pos[settings.y_axes], umcwriter_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; }