boolean processPIDPost(BowlerPacket * Packet){
int chan, val;
float time;
switch (Packet->use.head.RPC){
case APID:
time = (float)get32bit(Packet,0);
uint8_t i=0;
for(i=0;i<Packet->use.data[4];i++){
SetPIDTimed(i,get32bit(Packet,5+(i*4)),time);
}
READY(Packet,zone,3);
break;
case _VPD:
chan = Packet->use.data[0];
val = get32bit(Packet,1);
time=get32bit(Packet,5);
StartPDVel(chan,val,time);
READY(Packet,zone,4);
break;
case _PID:
chan = Packet->use.data[0];
val = get32bit(Packet,1);
time=get32bit(Packet,5);
SetPIDTimed(chan,val,time);
READY(Packet,zone,5);
break;
case RPID:
chan = Packet->use.data[0];
b_println("Resetting PID channel from packet:",ERROR_PRINT);printBowlerPacketDEBUG(Packet,ERROR_PRINT);
pidReset(chan, get32bit(Packet,1));
READY(Packet,zone,6);
break;
default:
return false;
}
return true;
}
void cancelPrint(){
Print_Level l = getPrintLevel();
println_I("Cancel Print");
setPrintLevel(l);
while(FifoGetPacketCount(&packetFifo)>0){
FifoGetPacket(&packetFifo,&linTmpPack);
}
setInterpolateXYZ(0, 0, getmaxZ(), 0);
ZeroPID(hwMap.Extruder0.index);
SetPIDTimed(hwMap.Heater0.index,0,0);
}
void processLinearInterpPacket(BowlerPacket * Packet){
if(Packet->use.head.RPC == _SLI){
//INT32_UNION tmp;
float tmpData [5];
int i;
tmpData[0] = ((float)get32bit(Packet,1));
for(i=1;i<5;i++){
tmpData[i] = ((float)get32bit(Packet,(i*4)+1))/1000;
}
setInterpolateXYZ(tmpData[1], tmpData[2], tmpData[3],tmpData[0]);
float extr =tmpData[4]/extrusionScale;
//println_I("Current Extruder MM=");p_fl_W(tmpData[4]);print_I(", Ticks=");p_fl_W(extr)
SetPIDTimed(hwMap.Extruder0.index, extr,tmpData[0]);
}
}
float setLinkAngle(int index, float value, float ms){
int localIndex=linkToHWIndex(index);
float v = value/getLinkScale(index);
if( index ==0||
index ==1||
index ==2
){
// if(v>1650){
// println_E("Upper Capped link ");p_int_E(index);print_E(", attempted: ");p_fl_E(value);
// v=1650;
// }
// if(v<-6500){
// v=-6500;
// println_E("Lower Capped link ");p_int_E(index);print_E(", attempted: ");p_fl_E(value);
// }
}
println_I("Setting position from cartesian controller ");p_int_I(index);print_I(" to ");p_fl_I(v);
return SetPIDTimed(localIndex,v,ms);
}
void StartPDVel(uint8_t chan,float unitsPerSeCond,float ms){
if(ms<.1){
//println_I("Starting Velocity");
getPidVelocityDataTable(chan)->enabled=true;
getPidGroupDataTable(chan)->config.Enabled=false;
getPidVelocityDataTable(chan)->lastPosition=GetPIDPosition(chan);
getPidVelocityDataTable(chan)->lastTime=getMs();
getPidVelocityDataTable(chan)->unitsPerSeCond=unitsPerSeCond;
getPidVelocityDataTable(chan)->currentOutputVel =0;
}else{
//println_I("Starting Velocity Timed");
float seConds = ms/1000;
int32_t dist = (int32_t) unitsPerSeCond*(int32_t) seConds;
int32_t delt = ((int32_t) (GetPIDPosition(chan))-dist);
SetPIDTimed(chan, delt, ms);
}
}
uint8_t SetPID(uint8_t chan, float val) {
SetPIDTimed(chan, val, 0);
return true;
}
