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/>.
8 #include "libs/Kernel.h"
9 #include "libs/SerialMessage.h"
11 #include "PanelScreen.h"
12 #include "MainMenuScreen.h"
13 #include "ControlScreen.h"
14 #include "libs/nuts_bolts.h"
15 #include "libs/utils.h"
17 #include "modules/robot/RobotPublicAccess.h"
18 #include "PublicData.h"
19 #include "checksumm.h"
25 #define NULL_CONTROL_MODE 0
26 #define AXIS_CONTROL_MODE 1
27 #define INCREMENT_SELECTION_MODE 2
29 ControlScreen::ControlScreen()
31 this->control_mode
= NULL_CONTROL_MODE
;
34 void ControlScreen::on_enter()
36 this->panel
->enter_menu_mode();
37 this->panel
->setup_menu(4);
38 get_current_pos(this->pos
);
40 this->pos_changed
= false;
43 // called in on_idle()
44 void ControlScreen::on_refresh()
46 if ( this->panel
->menu_change() ) {
50 if (this->control_mode
== AXIS_CONTROL_MODE
) {
52 if ( this->panel
->click() ) {
53 this->enter_menu_control();
56 } else if (this->panel
->control_value_change()) {
57 this->pos
[this->controlled_axis
- 'X'] = this->panel
->get_control_value();
58 this->panel
->lcd
->setCursor(0, 2);
59 this->display_axis_line(this->controlled_axis
);
60 this->pos_changed
= true; // make the gcode in main_loop
64 if ( this->panel
->click() ) {
65 this->clicked_menu_entry(this->panel
->get_menu_current_line());
70 // queuing gcodes needs to be done from main loop
71 void ControlScreen::on_main_loop()
73 // change actual axis value
74 if (!this->pos_changed
) return;
75 this->pos_changed
= false;
77 set_current_pos(this->controlled_axis
, this->pos
[this->controlled_axis
- 'X']);
80 void ControlScreen::display_menu_line(uint16_t line
)
84 case 0: this->panel
->lcd
->printf("Back"); break;
85 case 1: this->display_axis_line('X'); break;
86 case 2: this->display_axis_line('Y'); break;
87 case 3: this->display_axis_line('Z'); break;
91 void ControlScreen::display_axis_line(char axis
)
93 this->panel
->lcd
->printf("Move %c %8.3f", axis
, this->pos
[axis
- 'X']);
97 void ControlScreen::clicked_menu_entry(uint16_t line
)
100 case 0: this->panel
->enter_screen(this->parent
); break;
101 case 1: this->enter_axis_control('X'); break;
102 case 2: this->enter_axis_control('Y'); break;
103 case 3: this->enter_axis_control('Z'); break;
107 void ControlScreen::enter_axis_control(char axis
)
109 this->control_mode
= AXIS_CONTROL_MODE
;
110 this->controlled_axis
= axis
;
111 this->panel
->enter_control_mode(this->jog_increment
, this->jog_increment
/ 10);
112 this->panel
->set_control_value(this->pos
[axis
- 'X']);
113 this->panel
->lcd
->clear();
114 this->panel
->lcd
->setCursor(0, 2);
115 this->display_axis_line(this->controlled_axis
);
118 void ControlScreen::enter_menu_control()
120 this->control_mode
= NULL_CONTROL_MODE
;
121 this->panel
->enter_menu_mode();
124 void ControlScreen::get_current_pos(float *cp
)
128 bool ok
= THEKERNEL
->public_data
->get_value( robot_checksum
, current_position_checksum
, &returned_data
);
130 float *p
= static_cast<float *>(returned_data
);
137 void ControlScreen::set_current_pos(char axis
, float p
)
139 // change pos by issuing a G0 Xnnn
141 int n
= snprintf(buf
, sizeof(buf
), "G0 %c%f F%d", axis
, p
, (int)round(panel
->get_jogging_speed(axis
)));