src/modules/utils/panel/screens/ControlScreen.cpp

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
   4       Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Kernel.h"
   9 #include "libs/SerialMessage.h"
  10 #include "Panel.h"
  11 #include "PanelScreen.h"
  12 #include "MainMenuScreen.h"
  13 #include "ControlScreen.h"
  14 #include "libs/nuts_bolts.h"
  15 #include "libs/utils.h"
  16 #include <string>
  17 #include "Robot.h"
  18 #include "PublicData.h"
  19 #include "checksumm.h"
  20 #include "LcdBase.h"
  21
  22 #include <math.h>
  23 #include <stdio.h>
  24
  25 using namespace std;
  26
  27 #define NULL_CONTROL_MODE        0
  28 #define AXIS_CONTROL_MODE        1
  29 #define INCREMENT_SELECTION_MODE 2
  30
  31 ControlScreen::ControlScreen()
  32 {
  33     this->control_mode = NULL_CONTROL_MODE;
  34 }
  35
  36 void ControlScreen::on_enter()
  37 {
  38     THEPANEL->enter_menu_mode();
  39     THEPANEL->setup_menu(4);
  40     get_current_pos(this->pos);
  41     this->refresh_menu();
  42     this->pos_changed = false;
  43 }
  44
  45 // called in on_idle()
  46 void ControlScreen::on_refresh()
  47 {
  48     if ( THEPANEL->menu_change() ) {
  49         this->refresh_menu();
  50     }
  51
  52     if (this->control_mode == AXIS_CONTROL_MODE) {
  53
  54         if ( THEPANEL->click() ) {
  55             this->enter_menu_control();
  56             this->refresh_menu();
  57
  58         } else if (THEPANEL->control_value_change()) {
  59             this->pos[this->controlled_axis - 'X'] = THEPANEL->get_control_value();
  60             THEPANEL->lcd->setCursor(0, 2);
  61             this->display_axis_line(this->controlled_axis);
  62             this->pos_changed = true; // make the gcode in main_loop
  63         }
  64
  65     } else {
  66         if ( THEPANEL->click() ) {
  67             this->clicked_menu_entry(THEPANEL->get_menu_current_line());
  68         }
  69     }
  70 }
  71
  72 // queuing gcodes needs to be done from main loop
  73 void ControlScreen::on_main_loop()
  74 {
  75     // change actual axis value
  76     if (!this->pos_changed) return;
  77     this->pos_changed = false;
  78
  79     set_current_pos(this->controlled_axis, this->pos[this->controlled_axis - 'X']);
  80 }
  81
  82 void ControlScreen::display_menu_line(uint16_t line)
  83 {
  84     // in menu mode
  85     switch ( line ) {
  86         case 0: THEPANEL->lcd->printf("Back");  break;
  87         case 1: this->display_axis_line('X'); break;
  88         case 2: this->display_axis_line('Y'); break;
  89         case 3: this->display_axis_line('Z'); break;
  90     }
  91 }
  92
  93 void ControlScreen::display_axis_line(char axis)
  94 {
  95     THEPANEL->lcd->printf("Move %c    %8.3f", axis, this->pos[axis - 'X']);
  96 }
  97
  98
  99 void ControlScreen::clicked_menu_entry(uint16_t line)
 100 {
 101     switch ( line ) {
 102         case 0: THEPANEL->enter_screen(this->parent   ); break;
 103         case 1: this->enter_axis_control('X'); break;
 104         case 2: this->enter_axis_control('Y'); break;
 105         case 3: this->enter_axis_control('Z'); break;
 106     }
 107 }
 108
 109 void ControlScreen::enter_axis_control(char axis)
 110 {
 111     this->control_mode = AXIS_CONTROL_MODE;
 112     this->controlled_axis = axis;
 113     THEPANEL->enter_control_mode(this->jog_increment, this->jog_increment / 10);
 114     THEPANEL->set_control_value(this->pos[axis - 'X']);
 115     THEPANEL->lcd->clear();
 116     THEPANEL->lcd->setCursor(0, 2);
 117     this->display_axis_line(this->controlled_axis);
 118 }
 119
 120 void ControlScreen::enter_menu_control()
 121 {
 122     this->control_mode = NULL_CONTROL_MODE;
 123     THEPANEL->enter_menu_mode();
 124 }
 125
 126 void ControlScreen::get_current_pos(float *cp)
 127 {
 128     THEKERNEL->robot->get_axis_position(cp);
 129 }
 130
 131 void ControlScreen::set_current_pos(char axis, float p)
 132 {
 133     // change pos by issuing a G0 Xnnn
 134     char buf[32];
 135     int n = snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(THEPANEL->get_jogging_speed(axis)));
 136     string g(buf, n);
 137     send_gcode(g);
 138 }