void EmcAdapter::gatherDeviceData()
{
if (!mConnected)
{
if (!connect())
sleep(5);
else
mAvail.available();
}
else
{
if (!mEmcStatusBuffer->valid())
{
disconnect();
return;
}
if(mEmcStatusBuffer->peek() == EMC_STAT_TYPE) {
memcpy(&mEmcStatus, mEmcStatusBuffer->get_address(), sizeof(EMC_STAT));
actual();
commanded();
spindle();
feedrate();
program();
machine();
execution();
alarms();
}
}
}
/**
* First thing this machine does on startup. Runs only once.
*/
void setup() {
Serial.begin(BAUD); // open coms
#if MOTOR_SHIELD_VERSION == 2
AFMS.begin(); // create with the default frequency 1.6KHz
#endif
help(); // say hello
position(0,0); // set staring position
feedrate(200); // set default speed
ready();
}
/**
* Read the input buffer and find any recognized commands. One G or M command per line.
*/
void processCommand() {
// blank lines
if(buffer[0]==';') return;
long cmd;
// is there a line number?
cmd=parsenumber('N',-1);
if(cmd!=-1 && buffer[0]=='N') { // line number must appear first on the line
if( cmd != line_number ) {
// wrong line number error
Serial.print(F("BADLINENUM "));
Serial.println(line_number);
return;
}
// is there a checksum?
if(strchr(buffer,'*')!=0) {
// yes. is it valid?
char checksum=0;
int c=0;
while(buffer[c]!='*') checksum ^= buffer[c++];
c++; // skip *
int against = strtod(buffer+c,NULL);
if( checksum != against ) {
Serial.print(F("BADCHECKSUM "));
Serial.println(line_number);
return;
}
} else {
Serial.print(F("NOCHECKSUM "));
Serial.println(line_number);
return;
}
line_number++;
}
cmd = parsenumber('G',-1);
switch(cmd) {
case 0:
case 1: { // line
feedrate(parsenumber('F',fr));
line( parsenumber('X',(mode_abs?px:0)) + (mode_abs?0:px),
parsenumber('Y',(mode_abs?py:0)) + (mode_abs?0:py) );
break;
}
case 2:
case 3: { // arc
feedrate(parsenumber('F',fr));
arc(parsenumber('I',(mode_abs?px:0)) + (mode_abs?0:px),
parsenumber('J',(mode_abs?py:0)) + (mode_abs?0:py),
parsenumber('X',(mode_abs?px:0)) + (mode_abs?0:px),
parsenumber('Y',(mode_abs?py:0)) + (mode_abs?0:py),
(cmd==2) ? -1 : 1);
break;
}
case 4: pause(parsenumber('S',0) + parsenumber('P',0)*1000.0f); break; // dwell
case 90: mode_abs=1; break; // absolute mode
case 91: mode_abs=0; break; // relative mode
case 92: // set logical position
position( parsenumber('X',0),
parsenumber('Y',0) );
break;
default: break;
}
cmd = parsenumber('M',-1);
switch(cmd) {
case 18: // disable motors
release();
break;
case 100: help(); break;
case 110: line_number = parsenumber('N',line_number); break;
case 114: where(); break;
default: break;
}
}
