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Minor code reorganization
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- Code reorganization
- Program renaming and deletion
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@cyruscuenca
cyruscuenca committed Jul 31, 2016
1 parent ad81ba9 commit aaf2400
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Showing 2 changed files with 36 additions and 402 deletions.
93 changes: 36 additions & 57 deletions programs/3Dprinter2.c → programs/3D Printer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,7 @@ const float noParam = -255;

const long EOF = -255;

typedef enum tCmdType
{
typedef enum tCmdType{
GCMD_NONE,
GCMD_G1,
GCMD_G92,
Expand All @@ -38,9 +37,9 @@ void waitForMotors();

float calcDeltaDistance(float &currentPosition, float newPosition);
float calcMotorDegrees(float deltaPosition, long degToMM);
void moveMotorAxis(tMotor axis, float degrees, long motorPower);
void startSeq();
void endSeq();
void moveAxis(tMotor axis, float degrees, long motorPower);
void seqStart();
void seqEnd();
tCmdType processesCommand(char *buff, int buffLen, float &cmdVal);
bool readNextCommand(char *cmd, int cmdLen, tCmdType &gcmd, float &x, float &y, float &z, float &e, float &f);
void executeCommand(tCmdType gcmd, float x, float y, float z, float e, float f);
Expand All @@ -55,8 +54,8 @@ float xAxisPosition, yAxisPosition, zAxisPosition = 0;

//this is where you specify the degrees to mm so the program can compensate properly
//:degreestomm
long xDegreesToMM = 8;
long yDegreesToMM = 8;
long xDegreesToMM = 6;
long yDegreesToMM = 6;
long zDegreesToMM = 8;

//this is where you can set the median speed of the motors
Expand Down Expand Up @@ -110,7 +109,7 @@ task main(){
sleep(250);
}

startSeq();
seqStart();
setLEDColor(ledOff);

float x, y, z, e, f = 0.0;
Expand All @@ -122,33 +121,27 @@ task main(){

fd = fileOpenRead(fileName);

if (fd < 0) // if file is not found/cannot open
{
if (fd < 0){ // if file is not found/cannot open
writeDebugStreamLine("Could not open %s", fileName);
return;
}

while (true)
{
while (true){
lineLength = readLine(fd, buffer, 128);
if (lineLength != EOF)
{
if (lineLength != EOF){
// We can ignore empty lines
if (lineLength > 0)
{
if (lineLength > 0){
// The readNextCommand will only return true if a valid command has been found
// Comment handling is now done there.
if (readNextCommand(buffer, lineLength, gcmd, x, y, z, e, f))
executeCommand(gcmd, x, y, z, e, f);
executeCommand(gcmd, x, y, z, e, f);
// Wipe the buffer by setting its contents to 0
}
memset(buffer, 0, sizeof(buffer));
}
else
{
// we're done
else{
writeDebugStreamLine("All done!");
endSeq();
seqEnd();
return;
}
}
Expand Down Expand Up @@ -183,14 +176,12 @@ float calcMotorDegrees(float deltaPosition, long degToMM)
}

// Wrapper to move the motor, provides additional debugging feedback
void moveMotorAxis(tMotor axis, float degrees, long motorPower)
{
writeDebugStreamLine("moveMotorAxis: motor: %d, rawDegrees: %f, power: %d", axis, degrees, motorPower);
void moveAxis(tMotor axis, float degrees, long motorPower){
writeDebugStreamLine("moveAxis: motor: %d, rawDegrees: %f, power: %d", axis, degrees, motorPower);
#ifndef DISABLE_MOTORS
long roundedDegrees = round(degrees);
degBuff = degrees - roundedDegrees + degBuff;
if (roundedDegrees < 0)
{
if (roundedDegrees < 0){
roundedDegrees = abs(roundedDegrees);
motorPower *= -1;
}
Expand All @@ -205,22 +196,20 @@ void moveMotorAxis(tMotor axis, float degrees, long motorPower)
}

// We're passed a single command, like "G1" or "X12.456"
// We need to split it up and pick the value type (X, or Y, etc) and float value out of it.
tCmdType processesCommand(char *buff, int buffLen, float &cmdVal)
{
// We need to split it up and pick the value type (X, or Y, etc)
// and float value out of it.
tCmdType processesCommand(char *buff, int buffLen, float &cmdVal){
cmdVal = noParam;
int gcmdType = -1;

// Anything less than 2 characters is bogus
if (buffLen < 2)
return GCMD_NONE;

switch (buff[0])
{
switch (buff[0]){
case 'G':
sscanf(buff, "G%d", &gcmdType);
switch(gcmdType)
{
switch(gcmdType){
case 1: return GCMD_G1;
case 92: return GCMD_G92;
default: return GCMD_NONE;
Expand All @@ -246,8 +235,7 @@ tCmdType processesCommand(char *buff, int buffLen, float &cmdVal)


// Read and parse the next line from file and retrieve the various parameters, if present
bool readNextCommand(char *cmd, int cmdLen, tCmdType &gcmd, float &x, float &y, float &z, float &e, float &f)
{
bool readNextCommand(char *cmd, int cmdLen, tCmdType &gcmd, float &x, float &y, float &z, float &e, float &f){
char currCmdBuff[16];
tCmdType currCmd = GCMD_NONE;
int currCmdBuffIndex = 0;
Expand All @@ -264,8 +252,7 @@ bool readNextCommand(char *cmd, int cmdLen, tCmdType &gcmd, float &x, float &y,
if (cmd[0] == ';')
return false;

for (int i = 0; i < cmdLen; i++)
{
for (int i = 0; i < cmdLen; i++){
currCmdBuff[currCmdBuffIndex] = cmd[i];
// We process a command whenever we see a space or the end of the string, which is always a 0 (NULL)
if ((currCmdBuff[currCmdBuffIndex] == ' ') || (currCmdBuff[currCmdBuffIndex] == 0))
Expand Down Expand Up @@ -300,11 +287,9 @@ bool readNextCommand(char *cmd, int cmdLen, tCmdType &gcmd, float &x, float &y,
}

// Use parameters gathered from command to move the motors, extrude, that sort of thing
void executeCommand(tCmdType gcmd, float x, float y, float z, float e, float f)
{
void executeCommand(tCmdType gcmd, float x, float y, float z, float e, float f){
// execute functions inside this algorithm
switch (gcmd)
{
switch (gcmd){
case GCMD_G1:
handleCommand_G1(x, y, z, e, f);
break;
Expand All @@ -319,15 +304,13 @@ void executeCommand(tCmdType gcmd, float x, float y, float z, float e, float f)
}

// Read the file, one line at a time
long readLine(long fd, char *buffer, long buffLen)
{
long readLine(long fd, char *buffer, long buffLen){
long index = 0;
char c;

// Read the file one character at a time until there's nothing left
// or we're at the end of the buffer
while (fileReadData(fd, &c, 1) && (index < (buffLen - 1)))
{
while (fileReadData(fd, &c, 1) && (index < (buffLen - 1))){
//writeDebugStreamLine("c: %c (0x%02X)", c, c);
switch (c)
{
Expand All @@ -347,8 +330,7 @@ long readLine(long fd, char *buffer, long buffLen)
return index; // number of characters in the line
}

void handleCommand_G1(float x, float y, float z, float e, float f)
{
void handleCommand_G1(float x, float y, float z, float e, float f){
writeDebugStreamLine("Handling G1 command");
float motorDegrees; // Amount the motor has to move
float deltaPosition; // The difference between the current position and the one we want to move to
Expand All @@ -363,29 +345,29 @@ void handleCommand_G1(float x, float y, float z, float e, float f)
float yDegrees = calcMotorDegrees(deltaPosition, yDegreesToMM);
//math
//y-power = y-dist/x-dist *,x-power
moveMotorAxis(x_axis, xDegrees, xPower);
moveMotorAxis(y_axis, yDegrees, yPower);
moveAxis(x_axis, xDegrees, xPower);
moveAxis(y_axis, yDegrees, yPower);
}

if((x != noParam) && (y == noParam)){
writeDebugStreamLine("\n---------- X AXIS -------------");
deltaPosition = calcDeltaDistance(xAxisPosition, x);
motorDegrees = calcMotorDegrees(deltaPosition, xDegreesToMM);
moveMotorAxis(x_axis, motorDegrees, setPower);
moveAxis(x_axis, motorDegrees, setPower);
}

if((y != noParam) && (x == noParam)){
writeDebugStreamLine("\n---------- Y AXIS -------------");
deltaPosition = calcDeltaDistance(yAxisPosition, y);
motorDegrees = calcMotorDegrees(deltaPosition, yDegreesToMM);
moveMotorAxis(y_axis, motorDegrees, setPower);
moveAxis(y_axis, motorDegrees, setPower);
}

if(z != noParam){
writeDebugStreamLine("\n---------- Z AXIS -------------");
deltaPosition = calcDeltaDistance(zAxisPosition, z);
motorDegrees = calcMotorDegrees(deltaPosition, zDegreesToMM);
moveMotorAxis(z_axis, motorDegrees, setPower);
moveAxis(z_axis, motorDegrees, setPower);
}

#ifndef DISABLE_MOTORS
Expand All @@ -411,9 +393,7 @@ void handleCommand_G92(float x, float y, float z, float e, float f){
}
}

void startSeq(){
setLEDColor(ledRed);

void seqStart(){
playTone(554, 5);
sleep(1000);
playTone(554, 5);
Expand All @@ -425,9 +405,8 @@ void startSeq(){
#endif
}

void endSeq(){
void seqEnd(){
setLEDColor(ledGreen);

#ifndef DISABLE_MOTORS
moveMotorTarget(extruderButton, 75, 100);
#endif
Expand Down
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