src/modules/utils/panel/screens/cnc/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
  30 ControlScreen::ControlScreen()
  31 {
  32     this->control_mode = NULL_CONTROL_MODE;
  33 }
  34
  35 void ControlScreen::on_enter()
  36 {
  37     THEPANEL->enter_menu_mode();
  38     THEPANEL->setup_menu(4);
  39     get_current_pos(this->pos); // gets current WCS
  40     this->refresh_menu();
  41     this->pos_changed = false;
  42 }
  43
  44 // called in on_idle()
  45 void ControlScreen::on_refresh()
  46 {
  47     if ( THEPANEL->menu_change() ) {
  48         this->refresh_menu();
  49     }
  50
  51     if (this->control_mode == AXIS_CONTROL_MODE) {
  52
  53         if ( THEPANEL->click() ) {
  54             this->enter_menu_control();
  55             this->refresh_menu();
  56
  57         } else if (THEPANEL->control_value_change()) {
  58             this->pos[this->controlled_axis - 'X'] = THEPANEL->get_control_value();
  59             THEPANEL->lcd->setCursor(0, 2);
  60             this->display_axis_line(this->controlled_axis);
  61             this->pos_changed = true; // make the gcode in main_loop
  62         }
  63
  64     } else {
  65         if ( THEPANEL->click() ) {
  66             this->clicked_menu_entry(THEPANEL->get_menu_current_line());
  67         }
  68     }
  69 }
  70
  71 // queuing gcodes needs to be done from main loop
  72 void ControlScreen::on_main_loop()
  73 {
  74     // change actual axis value
  75     if (!this->pos_changed) return;
  76     this->pos_changed = false;
  77
  78     set_current_pos(this->controlled_axis, this->pos[this->controlled_axis - 'X']);
  79 }
  80
  81 void ControlScreen::display_menu_line(uint16_t line)
  82 {
  83     // in menu mode
  84     switch ( line ) {
  85         case 0: THEPANEL->lcd->printf("Back");  break;
  86         case 1: this->display_axis_line('X'); break;
  87         case 2: this->display_axis_line('Y'); break;
  88         case 3: this->display_axis_line('Z'); break;
  89     }
  90 }
  91
  92 void ControlScreen::display_axis_line(char axis)
  93 {
  94     THEPANEL->lcd->printf("Move %c    %8.3f", axis, this->pos[axis - 'X']);
  95 }
  96
  97
  98 void ControlScreen::clicked_menu_entry(uint16_t line)
  99 {
 100     switch ( line ) {
 101         case 0: THEPANEL->enter_screen(this->parent   ); break;
 102         case 1: this->enter_axis_control('X'); break;
 103         case 2: this->enter_axis_control('Y'); break;
 104         case 3: this->enter_axis_control('Z'); break;
 105     }
 106 }
 107
 108 void ControlScreen::enter_axis_control(char axis)
 109 {
 110     this->control_mode = AXIS_CONTROL_MODE;
 111     this->controlled_axis = axis;
 112     THEPANEL->enter_control_mode(this->jog_increment, this->jog_increment / 10);
 113     THEPANEL->set_control_value(this->pos[axis - 'X']);
 114     THEPANEL->lcd->clear();
 115     THEPANEL->lcd->setCursor(0, 0);
 116     THEPANEL->lcd->printf("Jog %6.3f", jog_increment);
 117
 118     THEPANEL->lcd->setCursor(0, 2);
 119     this->display_axis_line(this->controlled_axis);
 120 }
 121
 122 void ControlScreen::enter_menu_control()
 123 {
 124     this->control_mode = NULL_CONTROL_MODE;
 125     THEPANEL->enter_menu_mode();
 126 }
 127
 128 void ControlScreen::set_current_pos(char axis, float p)
 129 {
 130     // change pos by issuing a G0 Xnnn in absolute mode
 131     char buf[32];
 132     // make sure we are in absolute mode
 133     THEKERNEL->robot->push_state();
 134     THEKERNEL->robot->absolute_mode= true;
 135     int n = snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(THEKERNEL->robot->from_millimeters(THEPANEL->get_jogging_speed(axis))));
 136     string g(buf, n);
 137     send_gcode(g);
 138     THEKERNEL->robot->pop_state();
 139 }