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;
}
