// init stepper.
void stepper_init()
{
// init button.
pinMode(BTN_0, INPUT_PULLUP);
// use a4988.
pinMode(STEPPER_EN, OUTPUT);
digitalWrite(STEPPER_EN, HIGH);
pinMode(STEPPER_STEP, OUTPUT);
digitalWrite(STEPPER_STEP, HIGH);
pinMode(STEPPER_DIR, OUTPUT);
digitalWrite(STEPPER_DIR, HIGH);
pinMode(MS_1, OUTPUT);
pinMode(MS_2, OUTPUT);
pinMode(MS_3, OUTPUT);
digitalWrite(MS_1, HIGH);
digitalWrite(MS_2, HIGH);
digitalWrite(MS_3, HIGH);
// reset stepper to right side.
stepper_reset();
}
void processGCode(const cmd_param param)
{
switch ((int)param.g)
{
case 0: // G0 = Rapid move
// Handle G0 as G1 (so no break here)
case 1: // G1 = Controlled move
if (param.f_set && (param.f != 0.0) )
{
stepper_set_feedrate(AXIS_X, param.f);
stepper_set_feedrate(AXIS_Y, param.f);
stepper_set_feedrate(AXIS_Z, param.f);
stepper_set_feedrate(AXIS_E, param.f);
}
if ( param.x_set || param.y_set || param.z_set || param.e_set )
{
float pos[AXIS_NUM] = {param.x, param.y, param.z, param.e};
bool set[AXIS_NUM] = {param.x_set, param.y_set, param.z_set, param.e_set};
stepper_move(pos, set);
}
else
{
puts("ok\n");
}
break;
case 4: // G4 = Dwell
puts("ok\n");
break;
case 10: // G10 = Head Offset
puts("ok\n");
break;
case 20: // G20 = Set Units to Inches
/// \todo to handle
puts("!!\n"); // Send Command Fail to block the system
break;
case 21: // G21 = Set Units to Millimeters
/// \todo to handle
puts("ok\n");
break;
case 28: // G28 = Move to Origin
stepper_reset(); /// \todo change to real move to origin
puts("ok\n");
break;
case 29:
case 30:
case 31:
case 32: // G29-32 = Bed probing
puts("ok\n");
break;
case 90: // G90 = Set to Absolute Positioning
stepper_set_absolute(AXIS_X);
stepper_set_absolute(AXIS_Y);
stepper_set_absolute(AXIS_Z);
puts("ok\n");
break;
case 91: // G91 = Set to Relative Positioning
stepper_set_relative(AXIS_X);
stepper_set_relative(AXIS_Y);
stepper_set_relative(AXIS_Z);
puts("ok\n");
break;
case 92: // G92 = Set Position
if (param.x_set)
{
stepper_set_position(AXIS_X, param.x);
}
if (param.y_set)
{
stepper_set_position(AXIS_Y, param.y);
}
if (param.z_set)
{
stepper_set_position(AXIS_Z, param.z);
}
if (param.e_set)
{
stepper_set_position(AXIS_E, param.e);
}
puts("ok\n");
break;
default:
puts("ok\n");
break;
}
}
