//Read the string and execute instructions
void process_string(uint8_t *instruction) {
uint8_t code;
uint16_t k;
float temp;
//command commands = NULL;
FloatPoint fp;
//the character / means delete block... used for comments and stuff.
if (instruction[0] == '/') {
Serial.println("ok");
return;
}
enable_steppers();
purge_commands(); //clear old commands
parse_commands(instruction); //create linked list of arguments
if (command_exists('G')) {
code = getValue('G');
switch(code) {
case 0: //Rapid Motion
setXYZ(&fp);
set_target(&fp);
r_move(0); //fast motion in all axis
break;
case 1: //Coordinated Motion
setXYZ(&fp);
set_target(&fp);
if (command_exists('F')) _feedrate = getValue('F'); //feedrate persists till changed.
r_move( _feedrate );
break;
case 2://Clockwise arc
case 3://Counterclockwise arc
FloatPoint cent;
float angleA, angleB, angle, radius, length, aX, aY, bX, bY;
//Set fp Values
setXYZ(&fp);
// Centre coordinates are always relative
cent.x = xaxis->current_units + getValue('I');
cent.y = yaxis->current_units + getValue('J');
aX = (xaxis->current_units - cent.x);
aY = (yaxis->current_units - cent.y);
bX = (fp.x - cent.x);
bY = (fp.y - cent.y);
if (code == 2) { // Clockwise
angleA = atan2(bY, bX);
angleB = atan2(aY, aX);
}
else { // Counterclockwise
angleA = atan2(aY, aX);
angleB = atan2(bY, bX);
}
// Make sure angleB is always greater than angleA
// and if not add 2PI so that it is (this also takes
// care of the special case of angleA == angleB,
// ie we want a complete circle)
if (angleB <= angleA) angleB += 2 * M_PI;
angle = angleB - angleA;
radius = sqrt(aX * aX + aY * aY);
length = radius * angle;
int steps, s, step;
steps = (int) ceil(length / curve_section);
FloatPoint newPoint;
for (s = 1; s <= steps; s++) {
step = (code == 3) ? s : steps - s; // Work backwards for CW
newPoint.x = cent.x + radius * cos(angleA + angle * ((float) step / steps));
newPoint.y = cent.y + radius * sin(angleA + angle * ((float) step / steps));
newPoint.z = zaxis->current_units;
set_target(&newPoint);
// Need to calculate rate for each section of curve
feedrate_micros = (feedrate > 0) ? feedrate : getMaxFeedrate();
// Make step
r_move(feedrate_micros);
}
break;
case 4: //Dwell
//delay((int)getValue('P'));
break;
case 20: //Inches for Units
_units[0] = X_STEPS_PER_INCH;
_units[1] = Y_STEPS_PER_INCH;
_units[2] = Z_STEPS_PER_INCH;
curve_section = CURVE_SECTION_INCHES;
calculate_deltas();
break;
case 21: //mm for Units
_units[0] = X_STEPS_PER_MM;
_units[1] = Y_STEPS_PER_MM;
_units[2] = Z_STEPS_PER_MM;
curve_section = CURVE_SECTION_MM;
calculate_deltas();
break;
case 28: //go home.
set_target(&zeros);
r_move(getMaxFeedrate());
break;
case 30://go home via an intermediate point.
//Set Target
setXYZ(&fp);
set_target(&fp);
//go there.
r_move(getMaxFeedrate());
//go home.
set_target(&zeros);
r_move(getMaxFeedrate());
break;
case 81: // drilling operation
temp = zaxis->current_units;
//Move only in the XY direction
setXYZ(&fp);
set_target(&fp);
zaxis->target_units = temp;
calculate_deltas();
r_move(getMaxFeedrate());
//Drill DOWN
zaxis->target_units = getValue('Z') + ((abs_mode) ? 0 : zaxis->current_units);
calculate_deltas();
r_move(getMaxFeedrate());
//Drill UP
zaxis->target_units = temp;
calculate_deltas();
r_move(getMaxFeedrate());
case 90://Absolute Positioning
abs_mode = true;
break;
case 91://Incremental Positioning
abs_mode = false;
break;
case 92://Set as home
set_position(&zeros);
break;
case 93://Inverse Time Feed Mode
break; //TODO: add this
case 94://Feed per Minute Mode
break; //TODO: add this
default:
Serial.print("huh? G");
Serial.println(code,DEC);
}
}
if (command_exists('M')) {
code = getValue('M');
switch(code) {
case 3: // turn on motor
case 4:
motor_on();
break;
case 5: // turn off motor
motor_off();
break;
case 82:
DDRC |= _BV(1);
PORTC &= ~_BV(1);
DDRC &= ~_BV(0);
PORTC |= _BV(0);
// setup initial position
for (int i=0; i<20; i++) {
k=0;
PORTB |= _BV(5); //go down
while(PINC & _BV(0)) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
k++;
}
//print result for this point
Serial.println(k,DEC);
PORTB &= ~_BV(5); //move up to origin
while (k--) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(12.5*stepping);
}
}
break;
case 81:
DDRC |= _BV(1);
PORTC &= ~_BV(1);
DDRC &= ~_BV(0);
PORTC |= _BV(0);
while(1) {
if (PINC & _BV(0)) Serial.println("high");
else Serial.println("low");
}
break;
case 80: //plot out surface of milling area
DDRC |= _BV(1);
PORTC &= ~_BV(1);
DDRC &= ~_BV(0);
PORTC |= _BV(0);
// setup initial position
fp.x = 0;
fp.y = 0;
fp.z = 0;
set_target(&fp);
set_position(&fp);
r_move(0);
for (int i=0; i<160; i+=2) {
for (float j=0; j<75; j+=2) {
fp.x=i;
fp.y=j;
fp.z=0;
set_target( &fp );
r_move( 0 );
k=0;
PORTB &= ~(_BV(5)); //go down
while(PINC & _BV(0)) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
k++;
}
//print result for this point
Serial.print(i,DEC);
Serial.print(",");
Serial.print(j,DEC);
Serial.print(",");
Serial.println(k,DEC);
PORTB |= _BV(5); //move up to origin
while (k--) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
}
}
}
break;
case 90: //plot out surface of milling area
DDRC |= _BV(1);
PORTC &= ~_BV(1);
DDRC &= ~_BV(0);
PORTC |= _BV(0);
// setup initial position
fp.x = 0;
fp.y = 135;
fp.z = 0;
set_target(&fp);
set_position(&fp);
r_move(0);
for (int i=0; i<1; i++) {
for (float j=135; j!=0; j-=.25) {
fp.x=i;
fp.y=j;
fp.z=0;
set_target( &fp );
r_move( 0 );
k=0;
PORTB |= _BV(5); //go down
while(PINC & _BV(0)) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
k++;
}
//print result for this point
Serial.print(i,DEC);
Serial.print(",");
Serial.print(j,DEC);
Serial.print(",");
Serial.println(k,DEC);
PORTB &= ~_BV(5); //move up to origin
while (k--) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
}
}
}
break;
case 98: //M98 Find Z0 where it is one step from touching.
DDRC |= _BV(1);
PORTC &= ~_BV(1);
DDRC &= ~_BV(0);
PORTC |= _BV(0);
PORTB |= _BV(5);
while(PINC & _BV(0)) {
PORTB |= _BV(2);
delayMicroseconds(1);
PORTB &= ~_BV(2);
delayMicroseconds(200);
}
break;
case 99: //M99 S{1,2,4,8,16} -- set stepping mode
if (command_exists('S')) {
code = getValue('S');
if (code == 1 || code == 2 || code == 4 || code == 8 || code == 16) {
stepping = code;
setStep(stepping);
break;
}
}
default:
Serial.print("huh? M");
Serial.println(code,DEC);
}
}
Serial.println("ok");//tell our host we're done.
}
int main()
{
int i;
struct VEngine veng;
struct World world;
JoyState* joy;
v_init(&veng);
joy_init();
/* for a random seed, wait for user input */
i = 0;
while (1) {
vid_vsync();
key_poll();
v_putbgtile(5, 4, 37);
v_putbgtile(6, 4, 48);
v_putbgtile(7, 4, 51);
v_putbgtile(8, 4, 51);
v_putbgtile(9, 4, 51);
if (key_hit(KEY_A) || key_hit(KEY_START)) {
break;
}
i ++;
}
/* sqran(i); */
sqran(4);
init_world(&world, &veng);
/* obj_set_pos(dude, (16 * 7), (16 * 4)); */
v_draw_bg(world.map, &veng, world.map->dudex, world.map->dudey);
while(1)
{
vid_vsync();
joy = joy_poll();
key_poll();
if (key_hit(KEY_A)) {
/*
v_draw_more_bg(world.map, veng.mapofsx, veng.mapofsy - 4, 15, 4,
world.map->dudex - 6 - veng.dudeposx,
world.map->dudey - 4 - 4 - veng.dudeposy);
*/
}
if (key_hit(KEY_START)) {
v_init(&veng);
init_world(&world, &veng);
/*
obj_set_pos(veng.obj_buffer[veng.spr_dude], (16 * 7), (16 * 4));
*/
v_draw_bg(world.map, &veng,
world.map->dudex, world.map->dudey);
}
/*
if (key_hit(KEY_LEFT)) {
switch (r_move_left(&world)) {
case 1:
v_move_left(&veng);
break;
case 2:
v_shake_dude(&veng, 1, 0);
break;
}
} else if (key_hit(KEY_RIGHT)) {
switch (r_move_right(&world)) {
case 1:
v_move_right(&veng);
break;
case 2:
v_shake_dude(&veng, 1, 0);
break;
}
} else if (key_hit(KEY_UP)) {
switch (r_move_up(&world)) {
case 1:
v_move_up(&veng);
break;
case 2:
v_shake_dude(&veng, 0, 1);
break;
}
} else if (key_hit(KEY_DOWN)) {
switch (r_move_down(&world)) {
case 1:
v_move_down(&veng);
break;
case 2:
v_shake_dude(&veng, 0, 1);
break;
}
}
*/
if (joy->moving) {
switch (r_move(&world, joy->dx, joy->dy)) {
case 1:
v_move(&veng, joy->dx, joy->dy);
break;
case 2:
v_shake_dude(&veng, 0, 1);
break;
}
joy_handled();
}
v_move_co(&veng);
v_scroll_at_edge(&veng, &world);
v_draw_dude(&veng);
for (i = 0; i < world.monstercount; i ++) {
v_draw_monster(&veng, &world, i);
}
oam_copy(oam_mem, veng.obj_buffer, 1 + world.monstercount);
}
return 0;
}
