src/modules/tools/endstops/Endstops.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/Module.h"
   9 #include "libs/Kernel.h"
  10 #include "modules/communication/utils/Gcode.h"
  11 #include "modules/robot/Player.h"
  12 #include "Endstops.h"
  13 #include "libs/nuts_bolts.h"
  14 #include "libs/StepperMotor.h"
  15 #include "wait_api.h" // mbed.h lib
  16
  17 Endstops::Endstops(){
  18     this->status = NOT_HOMING;
  19 }
  20
  21 void Endstops::on_module_loaded() {
  22     this->register_for_event(ON_GCODE_RECEIVED);
  23
  24     // Take StepperMotor objects from Robot and keep them here
  25     this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
  26     this->steppers[1] = this->kernel->robot->beta_stepper_motor;
  27     this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
  28
  29 }
  30
  31
  32 // Start homing sequences by response to GCode commands
  33 void Endstops::on_gcode_received(void* argument){
  34     Gcode* gcode = static_cast<Gcode*>(argument);
  35     if( gcode->has_letter('G' )){
  36         if( gcode->get_value('G') == 28 ){
  37             // G28 is received, we have homing to do
  38
  39             // First wait for the queue to be empty
  40             while(this->kernel->player->queue.size() > 0) { wait_us(500); }
  41
  42             // Do we move select axes or all of them
  43             bool home_all_axes = true;
  44             if( gcode->has_letter('X') || gcode->has_letter('Y') || gcode->has_letter('Z') ){ home_all_axes = false; }
  45
  46             // Start moving the axes to the origin
  47             this->status = MOVING_TO_ORIGIN_FAST;
  48             for( char c = 'X'; c <= 'Z'; c++ ){
  49                 if( home_all_axes || gcode->has_letter(c) ){
  50                     this->steppers[c - 'X']->move(0,10000000);
  51                     this->steppers[c - 'X']->set_speed(1);
  52                 }
  53             }
  54
  55             // Wait for all axes to have homed
  56
  57
  58
  59             // Homing is done
  60             this->status = NOT_HOMING;
  61
  62         }
  63     }
  64 }
  65