-/*
+/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
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.
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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#include "libs/Kernel.h"
#include "libs/nuts_bolts.h"
#include "libs/utils.h"
#include <string>
-#include "modules/robot/RobotPublicAccess.h"
+#include "Robot.h"
+#include "PublicData.h"
+#include "checksumm.h"
+#include "LcdBase.h"
+
+#include <math.h>
+#include <stdio.h>
+
using namespace std;
-ControlScreen::ControlScreen(){
+#define NULL_CONTROL_MODE 0
+#define AXIS_CONTROL_MODE 1
+#define INCREMENT_SELECTION_MODE 2
+
+ControlScreen::ControlScreen()
+{
this->control_mode = NULL_CONTROL_MODE;
}
-void ControlScreen::on_enter(){
- this->panel->enter_menu_mode();
- this->panel->setup_menu(4);
+void ControlScreen::on_enter()
+{
+ THEPANEL->enter_menu_mode();
+ THEPANEL->setup_menu(4);
get_current_pos(this->pos);
this->refresh_menu();
- this->pos_changed= false;
+ this->pos_changed = false;
}
// called in on_idle()
-void ControlScreen::on_refresh(){
- if( this->panel->menu_change() ){
+void ControlScreen::on_refresh()
+{
+ if ( THEPANEL->menu_change() ) {
this->refresh_menu();
}
- if(this->control_mode == AXIS_CONTROL_MODE) {
-
- if( this->panel->click() ){
+ if (this->control_mode == AXIS_CONTROL_MODE) {
+
+ if ( THEPANEL->click() ) {
this->enter_menu_control();
this->refresh_menu();
-
- }else if(this->panel->control_value_change()) {
- this->pos[this->controlled_axis-'X'] = this->panel->get_control_value();
- this->panel->lcd->setCursor(0,2);
+
+ } else if (THEPANEL->control_value_change()) {
+ this->pos[this->controlled_axis - 'X'] = THEPANEL->get_control_value();
+ THEPANEL->lcd->setCursor(0, 2);
this->display_axis_line(this->controlled_axis);
- this->pos_changed= true; // make the gcode in main_loop
+ this->pos_changed = true; // make the gcode in main_loop
}
-
- }else{
- if( this->panel->click() ){
- this->clicked_menu_entry(this->panel->menu_current_line());
+
+ } else {
+ if ( THEPANEL->click() ) {
+ this->clicked_menu_entry(THEPANEL->get_menu_current_line());
}
}
}
// queuing gcodes needs to be done from main loop
-void ControlScreen::on_main_loop() {
+void ControlScreen::on_main_loop()
+{
// change actual axis value
- if(!this->pos_changed) return;
- this->pos_changed= false;
-
- set_current_pos(this->controlled_axis, this->pos[this->controlled_axis-'X']);
+ if (!this->pos_changed) return;
+ this->pos_changed = false;
+
+ set_current_pos(this->controlled_axis, this->pos[this->controlled_axis - 'X']);
}
-void ControlScreen::display_menu_line(uint16_t line){
+void ControlScreen::display_menu_line(uint16_t line)
+{
// in menu mode
- switch( line ){
- case 0: this->panel->lcd->printf("Back"); break;
- case 1: this->display_axis_line('X'); break;
- case 2: this->display_axis_line('Y'); break;
- case 3: this->display_axis_line('Z'); break;
+ switch ( line ) {
+ case 0: THEPANEL->lcd->printf("Back"); break;
+ case 1: this->display_axis_line('X'); break;
+ case 2: this->display_axis_line('Y'); break;
+ case 3: this->display_axis_line('Z'); break;
}
}
-void ControlScreen::display_axis_line(char axis){
- this->panel->lcd->printf("Move %c %8.3f", axis, this->pos[axis-'X']);
+void ControlScreen::display_axis_line(char axis)
+{
+ THEPANEL->lcd->printf("Move %c %8.3f", axis, this->pos[axis - 'X']);
}
-void ControlScreen::clicked_menu_entry(uint16_t line){
- switch( line ){
- case 0: this->panel->enter_screen(this->parent ); break;
+void ControlScreen::clicked_menu_entry(uint16_t line)
+{
+ switch ( line ) {
+ case 0: THEPANEL->enter_screen(this->parent ); break;
case 1: this->enter_axis_control('X'); break;
case 2: this->enter_axis_control('Y'); break;
case 3: this->enter_axis_control('Z'); break;
}
}
-void ControlScreen::enter_axis_control(char axis){
+void ControlScreen::enter_axis_control(char axis)
+{
this->control_mode = AXIS_CONTROL_MODE;
this->controlled_axis = axis;
- this->panel->enter_control_mode(this->jog_increment, this->jog_increment/10);
- this->panel->set_control_value(this->pos[axis-'X']);
- this->panel->lcd->clear();
- this->panel->lcd->setCursor(0,2);
- this->display_axis_line(this->controlled_axis);
+ THEPANEL->enter_control_mode(this->jog_increment, this->jog_increment / 10);
+ THEPANEL->set_control_value(this->pos[axis - 'X']);
+ THEPANEL->lcd->clear();
+ THEPANEL->lcd->setCursor(0, 2);
+ this->display_axis_line(this->controlled_axis);
}
-void ControlScreen::enter_menu_control(){
+void ControlScreen::enter_menu_control()
+{
this->control_mode = NULL_CONTROL_MODE;
- this->panel->enter_menu_mode();
+ THEPANEL->enter_menu_mode();
}
-
-void ControlScreen::get_current_pos(double *cp){
- void *returned_data;
-
- bool ok= THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
- if(ok) {
- double *p= static_cast<double *>(returned_data);
- cp[0]= p[0];
- cp[1]= p[1];
- cp[2]= p[2];
- }
+void ControlScreen::get_current_pos(float *cp)
+{
+ THEKERNEL->robot->get_axis_position(cp);
}
-void ControlScreen::set_current_pos(char axis, double p){
+
+void ControlScreen::set_current_pos(char axis, float p)
+{
// change pos by issuing a G0 Xnnn
char buf[32];
- int n= snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(panel->get_jogging_speed(axis)));
+ int n = snprintf(buf, sizeof(buf), "G0 %c%f F%d", axis, p, (int)round(THEPANEL->get_jogging_speed(axis)));
string g(buf, n);
send_gcode(g);
}
HCoop / clinton / Smoothieware.git / blobdiff