#include "PublicData.h"
#include "Gcode.h"
#include "Robot.h"
-
-#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
+#include "ToolManagerPublicAccess.h"
+#include "GcodeDispatch.h"
+#include "BaseSolution.h"
+#include "StepperMotor.h"
+#include "Configurator.h"
+#include "Block.h"
+
+#include "TemperatureControlPublicAccess.h"
+#include "EndstopsPublicAccess.h"
#include "NetworkPublicAccess.h"
#include "platform_memory.h"
#include "SwitchPublicAccess.h"
#include "SDFAT.h"
#include "Thermistor.h"
#include "md5.h"
+#include "utils.h"
#include "system_LPC17xx.h"
#include "LPC17xx.h"
#include <mri.h>
#include <stdio.h>
#include <stdint.h>
+#include <functional>
extern "C" uint32_t __end__;
extern "C" uint32_t __malloc_free_list;
{"calc_thermistor", SimpleShell::calc_thermistor_command},
{"thermistors", SimpleShell::print_thermistors_command},
{"md5sum", SimpleShell::md5sum_command},
+ {"test", SimpleShell::test_command},
// unknown command
{NULL, NULL}
gcode->stream->printf("End file list\r\n");
} else if (gcode->m == 30) { // remove file
- rm_command("/sd/" + args, gcode->stream);
-
- } else if(gcode->m == 501) { // load config override
- if(args.empty()) {
- load_command("/sd/config-override", gcode->stream);
- } else {
- load_command("/sd/config-override." + args, gcode->stream);
- }
-
- } else if(gcode->m == 504) { // save to specific config override file
- if(args.empty()) {
- save_command("/sd/config-override", gcode->stream);
- } else {
- save_command("/sd/config-override." + args, gcode->stream);
- }
+ if(!args.empty() && !THEKERNEL->is_grbl_mode())
+ rm_command("/sd/" + args, gcode->stream);
}
}
}
void SimpleShell::on_console_line_received( void *argument )
{
SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+ string possible_command = new_message.message;
- // ignore comments and blank lines and if this is a G code then also ignore it
- char first_char = new_message.message[0];
- if(strchr(";( \n\rGMTN", first_char) != NULL) return;
+ // ignore anything that is not lowercase or a $ as it is not a command
+ if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) {
+ return;
+ }
- string possible_command = new_message.message;
+ // it is a grbl compatible command
+ if(possible_command[0] == '$' && possible_command.size() >= 2) {
+ switch(possible_command[1]) {
+ case 'G':
+ // issue get state
+ get_command("state", new_message.stream);
+ new_message.stream->printf("ok\n");
+ break;
+
+ case 'X':
+ if(THEKERNEL->is_halted()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("[Caution: Unlocked]\nok\n");
+ }
+ break;
+
+ case '#':
+ grblDP_command("", new_message.stream);
+ new_message.stream->printf("ok\n");
+ break;
+
+ case 'H':
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ if(THEKERNEL->is_grbl_mode()) {
+ // issue G28.2 which is force homing cycle
+ Gcode gcode("G28.2", new_message.stream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
+ }else{
+ Gcode gcode("G28", new_message.stream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
+ }
+ break;
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
- string cmd = shift_parameter(possible_command);
+ default:
+ new_message.stream->printf("error:Invalid statement\n");
+ break;
+ }
+
+ }else{
+
+ //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+ string cmd = shift_parameter(possible_command);
+
+ // Configurator commands
+ if (cmd == "config-get"){
+ THEKERNEL->configurator->config_get_command( possible_command, new_message.stream );
+
+ } else if (cmd == "config-set"){
+ THEKERNEL->configurator->config_set_command( possible_command, new_message.stream );
- // find command and execute it
- parse_command(cmd.c_str(), possible_command, new_message.stream);
+ } else if (cmd == "config-load"){
+ THEKERNEL->configurator->config_load_command( possible_command, new_message.stream );
+
+ } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") {
+ // these are handled by Player module
+
+ } else if (cmd == "ok") {
+ // probably an echo so reply ok
+ new_message.stream->printf("ok\n");
+
+ }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
+ new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str());
+ }
+ }
}
// Act upon an ls command
{
// Get parameters ( filename and line limit )
string filename = absolute_from_relative(shift_parameter( parameters ));
- string limit_paramater = shift_parameter( parameters );
+ string limit_parameter = shift_parameter( parameters );
int limit = -1;
- if ( limit_paramater != "" ) {
+ int delay= 0;
+ bool send_eof= false;
+ if ( limit_parameter == "-d" ) {
+ string d= shift_parameter( parameters );
char *e = NULL;
- limit = strtol(limit_paramater.c_str(), &e, 10);
- if (e <= limit_paramater.c_str())
+ delay = strtol(d.c_str(), &e, 10);
+ if (e <= d.c_str()) {
+ delay = 0;
+
+ } else {
+ send_eof= true; // we need to terminate file send with an eof
+ }
+
+ }else if ( limit_parameter != "" ) {
+ char *e = NULL;
+ limit = strtol(limit_parameter.c_str(), &e, 10);
+ if (e <= limit_parameter.c_str())
limit = -1;
}
+ // we have been asked to delay before cat, probably to allow time to issue upload command
+ if(delay > 0) {
+ safe_delay_ms(delay*1000);
+ }
+
// Open file
FILE *lp = fopen(filename.c_str(), "r");
if (lp == NULL) {
// Print each line of the file
while ((c = fgetc (lp)) != EOF) {
buffer.append((char *)&c, 1);
- if ( char(c) == '\n' || ++linecnt > 80) {
- newlines++;
+ if ( c == '\n' || ++linecnt > 80) {
+ if(c == '\n') newlines++;
stream->puts(buffer.c_str());
buffer.clear();
if(linecnt > 80) linecnt = 0;
}
};
fclose(lp);
+
+ if(send_eof) {
+ stream->puts("\032"); // ^Z terminates the upload
+ }
}
void SimpleShell::upload_command( string parameters, StreamOutput *stream )
{
// this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
// NOTE this will block all operation until the upload is complete, so do not do while printing
- if(!THEKERNEL->conveyor->is_queue_empty()) {
+ if(!THECONVEYOR->is_idle()) {
stream->printf("upload not allowed while printing or busy\n");
return;
}
while(fgets(buf, sizeof buf, fp) != NULL) {
stream->printf(" %s", buf);
if(buf[0] == ';') continue; // skip the comments
- struct SerialMessage message = {&(StreamOutput::NullStream), buf};
- THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
+ // NOTE only Gcodes and Mcodes can be in the config-override
+ Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode);
+ delete gcode;
+ THEKERNEL->call_event(ON_IDLE);
}
stream->printf("config override file executed\n");
fclose(fp);
filename = THEKERNEL->config_override_filename();
}
- THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
+ THECONVEYOR->wait_for_idle(); //just to be safe as it can take a while to run
//remove(filename.c_str()); // seems to cause a hang every now and then
{
// show free memory
void SimpleShell::mem_command( string parameters, StreamOutput *stream)
{
- bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
unsigned long heap = (unsigned long)_sbrk(0);
unsigned long m = g_maximumHeapAddress - heap;
stream->printf("Unused Heap: %lu bytes\r\n", m);
AHB0.debug(stream);
AHB1.debug(stream);
}
+
+ stream->printf("Block size: %u bytes\n", sizeof(Block));
}
static uint32_t getDeviceType()
uint32_t dev = getDeviceType();
const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
stream->printf("Build version: %s, Build date: %s, MCU: %s, System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), mcu, SystemCoreClock / 1000000);
+ #ifdef CNC
+ stream->printf(" CNC Build ");
+ #endif
+
+ stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS);
}
// Reset the system
__debugbreak();
}
-// used to test out the get public data events
+static int get_active_tool()
+{
+ void *returned_data;
+ bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data);
+ if (ok) {
+ int active_tool= *static_cast<int *>(returned_data);
+ return active_tool;
+ } else {
+ return 0;
+ }
+}
+
+void SimpleShell::grblDP_command( string parameters, StreamOutput *stream)
+{
+ /*
+ [G54:95.000,40.000,-23.600]
+ [G55:0.000,0.000,0.000]
+ [G56:0.000,0.000,0.000]
+ [G57:0.000,0.000,0.000]
+ [G58:0.000,0.000,0.000]
+ [G59:0.000,0.000,0.000]
+ [G28:0.000,0.000,0.000]
+ [G30:0.000,0.000,0.000]
+ [G92:0.000,0.000,0.000]
+ [TLO:0.000]
+ [PRB:0.000,0.000,0.000:0]
+ */
+
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
+
+ std::vector<Robot::wcs_t> v= THEROBOT->get_wcs_state();
+ if(verbose) {
+ char current_wcs= std::get<0>(v[0]);
+ stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str());
+ }
+
+ int n= std::get<1>(v[0]);
+ for (int i = 1; i <= n; ++i) {
+ stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(),
+ THEROBOT->from_millimeters(std::get<0>(v[i])),
+ THEROBOT->from_millimeters(std::get<1>(v[i])),
+ THEROBOT->from_millimeters(std::get<2>(v[i])));
+ }
+
+ float *rd;
+ PublicData::get_value( endstops_checksum, saved_position_checksum, &rd );
+ stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n",
+ THEROBOT->from_millimeters(rd[0]),
+ THEROBOT->from_millimeters(rd[1]),
+ THEROBOT->from_millimeters(rd[2]));
+
+ stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented
+
+ stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n",
+ THEROBOT->from_millimeters(std::get<0>(v[n+1])),
+ THEROBOT->from_millimeters(std::get<1>(v[n+1])),
+ THEROBOT->from_millimeters(std::get<2>(v[n+1])));
+
+ if(verbose) {
+ stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n",
+ THEROBOT->from_millimeters(std::get<0>(v[n+2])),
+ THEROBOT->from_millimeters(std::get<1>(v[n+2])),
+ THEROBOT->from_millimeters(std::get<2>(v[n+2])));
+ }else{
+ stream->printf("[TL0:%1.4f]\n", THEROBOT->from_millimeters(std::get<2>(v[n+2])));
+ }
+
+ // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
+ float px, py, pz;
+ uint8_t ps;
+ std::tie(px, py, pz, ps) = THEROBOT->get_last_probe_position();
+ stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", THEROBOT->from_millimeters(px), THEROBOT->from_millimeters(py), THEROBOT->from_millimeters(pz), ps);
+}
+
void SimpleShell::get_command( string parameters, StreamOutput *stream)
{
string what = shift_parameter( parameters );
}
}
- } else if (what == "pos") {
+ } else if (what == "fk" || what == "ik") {
+ string p= shift_parameter( parameters );
+ bool move= false;
+ if(p == "-m") {
+ move= true;
+ p= shift_parameter( parameters );
+ }
+
+ std::vector<float> v= parse_number_list(p.c_str());
+ if(p.empty() || v.size() < 1) {
+ stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n");
+ return;
+ }
+
+ float x= v[0];
+ float y= (v.size() > 1) ? v[1] : x;
+ float z= (v.size() > 2) ? v[2] : y;
+
+ if(what == "fk") {
+ // do forward kinematics on the given actuator position and display the cartesian coordinates
+ ActuatorCoordinates apos{x, y, z};
+ float pos[3];
+ THEROBOT->arm_solution->actuator_to_cartesian(apos, pos);
+ stream->printf("cartesian= X %f, Y %f, Z %f\n", pos[0], pos[1], pos[2]);
+ x= pos[0];
+ y= pos[1];
+ z= pos[2];
+
+ }else{
+ // do inverse kinematics on the given cartesian position and display the actuator coordinates
+ float pos[3]{x, y, z};
+ ActuatorCoordinates apos;
+ THEROBOT->arm_solution->cartesian_to_actuator(pos, apos);
+ stream->printf("actuator= X %f, Y %f, Z %f\n", apos[0], apos[1], apos[2]);
+ }
+
+ if(move) {
+ // move to the calculated, or given, XYZ
+ char cmd[64];
+ snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z);
+ struct SerialMessage message;
+ message.message = cmd;
+ message.stream = &(StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ THECONVEYOR->wait_for_idle();
+ }
+
+ } else if (what == "pos") {
// convenience to call all the various M114 variants
char buf[64];
- THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
- THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
- THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
- THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
- THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
- THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
+ THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
+ THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+
+ } else if (what == "wcs") {
+ // print the wcs state
+ grblDP_command("-v", stream);
+
+ } else if (what == "state") {
+ // also $G
+ // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n",
+ THEKERNEL->gcode_dispatch->get_modal_command(),
+ wcs2gcode(THEROBOT->get_current_wcs()).c_str(),
+ THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 :
+ THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == Y_AXIS ? 18 :
+ THEROBOT->plane_axis_0 == Y_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == X_AXIS ? 19 : 17,
+ THEROBOT->inch_mode ? 20 : 21,
+ THEROBOT->absolute_mode ? 90 : 91,
+ get_active_tool(),
+ THEROBOT->from_millimeters(THEROBOT->get_feed_rate()));
+
+ } else if (what == "status") {
+ // also ? on serial and usb
+ stream->printf("%s\n", THEKERNEL->get_query_string().c_str());
+
+ } else {
+ stream->printf("error:unknown option %s\n", what.c_str());
}
}
void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream)
{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
Thermistor::print_predefined_thermistors(stream);
+ #endif
}
void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream)
{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
string s = shift_parameter( parameters );
int saveto= -1;
// see if we have -sn as first argument
// give help
stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
}
+ #endif
}
// used to test out the get public data events for switch
do {
size_t n= fread(buf, 1, sizeof buf, lp);
if(n > 0) md5.update(buf, n);
+ THEKERNEL->call_event(ON_IDLE);
} while(!feof(lp));
stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str());
fclose(lp);
}
+// runs several types of test on the mechanisms
+void SimpleShell::test_command( string parameters, StreamOutput *stream)
+{
+ string what = shift_parameter( parameters );
+ if (what == "jog") {
+ // jogs back and forth usage: axis distance iterations [feedrate]
+ string axis = shift_parameter( parameters );
+ string dist = shift_parameter( parameters );
+ string iters = shift_parameter( parameters );
+ string speed = shift_parameter( parameters );
+ if(axis.empty() || dist.empty() || iters.empty()) {
+ stream->printf("error: Need axis distance iterations\n");
+ return;
+ }
+ float d= strtof(dist.c_str(), NULL);
+ float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL);
+ uint32_t n= strtol(iters.c_str(), NULL, 10);
+
+ bool toggle= false;
+ for (uint32_t i = 0; i < n; ++i) {
+ char cmd[64];
+ snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ if(THEKERNEL->is_halted()) break;
+ THECONVEYOR->wait_for_idle();
+ toggle= !toggle;
+ }
+ stream->printf("done\n");
+
+ }else if (what == "circle") {
+ // draws a circle around origin. usage: radius iterations [feedrate]
+ string radius = shift_parameter( parameters );
+ string iters = shift_parameter( parameters );
+ string speed = shift_parameter( parameters );
+ if(radius.empty() || iters.empty()) {
+ stream->printf("error: Need radius iterations\n");
+ return;
+ }
+
+ float r= strtof(radius.c_str(), NULL);
+ uint32_t n= strtol(iters.c_str(), NULL, 10);
+ float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL);
+
+ THEROBOT->push_state();
+ char cmd[64];
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f Y0 F%f", -r, f);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+
+ for (uint32_t i = 0; i < n; ++i) {
+ if(THEKERNEL->is_halted()) break;
+ snprintf(cmd, sizeof(cmd), "G2 X%f Y0 I%f J0 F%f", -r, r, f);
+ stream->printf("%s\n", cmd);
+ message.message= cmd;
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ THECONVEYOR->wait_for_idle();
+ }
+ THEROBOT->pop_state();
+ stream->printf("done\n");
+
+ }else if (what == "square") {
+ // draws a square usage: size iterations [feedrate]
+ string size = shift_parameter( parameters );
+ string iters = shift_parameter( parameters );
+ string speed = shift_parameter( parameters );
+ if(size.empty() || iters.empty()) {
+ stream->printf("error: Need size iterations\n");
+ return;
+ }
+ float d= strtof(size.c_str(), NULL);
+ float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL);
+ uint32_t n= strtol(iters.c_str(), NULL, 10);
+
+ for (uint32_t i = 0; i < n; ++i) {
+ char cmd[64];
+ {
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+ {
+ snprintf(cmd, sizeof(cmd), "G0 Y%f", d);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+ {
+ snprintf(cmd, sizeof(cmd), "G0 X%f", -d);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+ {
+ snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+ if(THEKERNEL->is_halted()) break;
+ THECONVEYOR->wait_for_idle();
+ }
+ stream->printf("done\n");
+
+ }else if (what == "raw") {
+ // issues raw steps to the specified axis usage: axis steps steps/sec
+ string axis = shift_parameter( parameters );
+ string stepstr = shift_parameter( parameters );
+ string stepspersec = shift_parameter( parameters );
+ if(axis.empty() || stepstr.empty() || stepspersec.empty()) {
+ stream->printf("error: Need axis steps steps/sec\n");
+ return;
+ }
+
+ uint8_t a= toupper(axis[0]) - 'X';
+ int steps= strtol(stepstr.c_str(), NULL, 10);
+ bool dir= steps >= 0;
+ steps= std::abs(steps);
+
+ if(a > Z_AXIS) {
+ stream->printf("error: axis must be x y or z\n");
+ return;
+ }
+
+ uint32_t sps= strtol(stepspersec.c_str(), NULL, 10);
+ sps= std::max(sps, 1UL);
+
+ uint32_t delayus= 1000000.0F / sps;
+ for(int s= 0;s<steps;s++) {
+ if(THEKERNEL->is_halted()) break;
+ THEROBOT->actuators[a]->manual_step(dir);
+ // delay but call on_idle
+ safe_delay_us(delayus);
+ }
+
+ // reset the position based on current actuator position
+ THEROBOT->reset_position_from_current_actuator_position();
+
+ stream->printf("done\n");
+
+ }else {
+ stream->printf("usage:\n test jog axis distance iterations [feedrate]\n");
+ stream->printf(" test square size iterations [feedrate]\n");
+ stream->printf(" test circle radius iterations [feedrate]\n");
+ stream->printf(" test raw axis steps steps/sec\n");
+ }
+}
void SimpleShell::help_command( string parameters, StreamOutput *stream )
{
stream->printf("ls [-s] [folder]\r\n");
stream->printf("cd folder\r\n");
stream->printf("pwd\r\n");
- stream->printf("cat file [limit]\r\n");
+ stream->printf("cat file [limit] [-d 10]\r\n");
stream->printf("rm file\r\n");
stream->printf("mv file newfile\r\n");
stream->printf("remount\r\n");
stream->printf("break - break into debugger\r\n");
stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
+ stream->printf("get [pos|wcs|state|status|fk|ik]\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
- stream->printf("get pos\r\n");
stream->printf("net\r\n");
stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
HCoop / clinton / Smoothieware.git / blobdiff