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1#
发表于 2014-5-10 09:39:53 | 只看该作者 回帖奖励 |正序浏览 |阅读模式
本帖最后由 xmdesign 于 2014-5-10 09:42 编辑 1 [4 ?% r" _7 ]3 E( p* Q% ?1 A- H

' j# n5 \: H- B, D9 T首先声明
1 c6 X  a- K; k; j) L" Q% j/ E* z我不是专家,业余捣鼓
8 r' g( q! }; Y; j+ o( @源代码首先来自网络
  e! m' P- M9 g, w7 Z5 W开发平台Arduino及Maple
1 r$ m3 D; m  w3 q, nhttp://www.arduino.cc/) k5 ^( k9 g$ o& U$ z' F/ V% {# v
http://leaflabs.com/devices/
; I2 n. }) K0 S' j国内活跃必威体育网址
/ M% K6 h: h. S" z& P6 p' Rhttp://www.geek-workshop.com/forum.php " h; s- _  o& O/ g

' Z3 o/ j8 f& D2 k6 Y) S6 }竟然缺少积累,首先寻找最大的开放式开源平台,这样可以积累全球范围的创客和DIY者的脑力活动经验% w. A' J: B  {: o- V$ d
来入门了解熟悉思路架构等
" ?4 u: q5 @. H8 F: u! D9 b) c3 H, U! N& M" k8 [
我只捣鼓了下8位机Arduino 移植到32位机Maple 方面一点点事情,( ^  |5 c7 u6 C4 s4 Y
许多功能还木完成,不过作为低档次得应用可能还有可能
5 H# z7 ^3 L+ x5 ?* J- k5 D3 ]# ^- v: ]
我自己也是个半桶水,再乐意玩的起码自学能力还是要有点吧
2 |( F6 a# [) D6 ~; Q$ _4 h( P5 E' P+ ]' A
拒绝 所有的求
2 A% e! U  W+ u求人不如求自己 不然木玩
4 c& k, p- A0 o* J' y; d5 H& t8 M" W* Z2 x1 Q- D# ?5 N+ `, W
高手绕道 谢谢!
. H: z5 F* b2 w- C5 w! R3 P; o) l: j! }& A  N
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15#
发表于 2020-2-12 19:00:10 | 只看该作者
请楼主发一份给我,感谢!nasony@163.com
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14#
发表于 2020-2-12 18:59:03 | 只看该作者
nasony@163.com. }2 d+ d! ]+ U0 W6 }, H
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13#
发表于 2016-8-23 15:43:59 | 只看该作者
老师,给我份资料学习下?398087764@qq.com,感激不尽!2 J9 [5 b+ y0 P1 z3 e
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12#
 楼主| 发表于 2014-5-11 14:30:11 | 只看该作者
已经发出e妹:)
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11#
发表于 2014-5-10 12:10:58 | 只看该作者
楼主请您发一分给我啊,804167650@qq.com
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10#
发表于 2014-5-10 10:48:17 | 只看该作者
请楼主发一份给我,感谢!178354773@qq.com
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9#
 楼主| 发表于 2014-5-10 09:58:04 | 只看该作者
基本原代码的大概是这样,我是断断续续捣鼓的,玩到最后版的,后面我会找出来先测试下过,再贴上:)
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8#
 楼主| 发表于 2014-5-10 09:55:37 | 只看该作者
  y! e! `  N/ R2 r2 s  _
//init our variables' T4 ^) l8 ?' U" ]  [
long max_delta;' _# {5 H/ ^7 I" k
long x_counter;
$ k# Q6 j6 t+ B$ ]: Jlong y_counter;
; ~. n* U# [/ K! a0 Hlong z_counter;
- v; A# `& {0 ~5 d8 plong u_counter;5 v$ z5 p5 O) V( H+ L
long x_pos = 0; // x position in terms of absoloute motor stepps5 L4 f& L4 G: ?' q) [" Z! _1 w2 I
long y_pos = 0; // y position in terms of absoloute motor stepps
  G2 y) M9 b3 \& L( n1 {/ G' ^) Qlong z_pos = 0; // z position in terms of absoloute motor stepps
, X( \! D& e# K/ I; ulong u_pos = 0; // U position in terms of absoloute motor stepps
0 x& h% P2 c) t* h9 ~0 u% m
* I$ N+ r2 ?+ P3 Lbool x_can_step;+ D3 T# x! h4 n/ h' s* n
bool y_can_step;: ^! M/ K: L; T1 @2 Y" Z2 d6 W5 [3 ^, N
bool z_can_step;
% q+ v+ N4 T+ L5 t6 G' h2 gbool u_can_step;9 G' A9 O4 k; b& w- L
int milli_delay;
" T" D/ O2 ?$ I; [: m7 h' M- q4 x6 V* s+ T" _
void init_steppers()/ \! P  \3 P# u: V
{
7 {. F' N3 f' ?1 ^  //turn them off to start.
' k( q+ s$ U% y$ R( S  disable_steppers();6 E& m1 h, R. e3 l
# G2 d& x" Y' @4 d, r" \
  //init our points.
% x: V1 ~2 Q0 E4 W- j' {0 [5 M. C6 P/ o  current_units.x = 0.0;5 `* J9 r& F5 Q* H
  current_units.y = 0.0;2 z3 M. N7 @" G6 v* @; E
  current_units.z = 0.0;
: R  o; s: m* a6 N; A, }  current_units.u = 0.0;
5 S& H3 O; D0 f  target_units.x = 0.0;
; n. B; P  G; q; W) V- L; g  target_units.y = 0.0;' ^9 u! f# \% T
  target_units.z = 0.0;4 h# m. W, v5 i/ [' x$ d# m/ r' k
  target_units.u = 0.0;$ h5 j+ N) }2 p! l4 \9 t) Z+ w+ R
  ' q( Y8 ]6 W7 p- {% b" S$ X

8 T' `* f" }9 C3 h  pinMode(X_STEP_PIN, OUTPUT);8 t8 V9 j& n  Y/ P
  pinMode(X_DIR_PIN, OUTPUT);, `4 z7 A, P, d9 }- U; Y  k6 n' V
  pinMode(X_ENABLE_PIN, OUTPUT);+ w0 w% }/ y4 _9 z- |
  pinMode(X_MIN_PIN, INPUT);
/ v5 ?5 L( @+ D  pinMode(X_MAX_PIN, INPUT);
8 o3 h9 }  G( k; U
6 q1 h6 c1 S/ b8 n6 v  pinMode(Y_STEP_PIN, OUTPUT);% z1 H$ w: p  W8 j0 r
  pinMode(Y_DIR_PIN, OUTPUT);
+ ~+ G& H$ e) O- m  pinMode(Y_ENABLE_PIN, OUTPUT);6 p, K1 y; }( B, n! E4 {" t1 t' {
  pinMode(Y_MIN_PIN, INPUT);0 m. Q: x, }. y
  pinMode(Y_MAX_PIN, INPUT);
6 g) W; J- ~# F( Z1 f/ U6 O+ A- t5 Y4 E* P! r/ L
  pinMode(Z_STEP_PIN, OUTPUT);2 }! \& Q  ]# z% c5 H) Z% I3 w
  pinMode(Z_DIR_PIN, OUTPUT);- [% j" K& \6 j7 Q' f" h& P
  pinMode(Z_ENABLE_PIN, OUTPUT);4 _( W  T7 F8 S) ~/ D
  pinMode(Z_MIN_PIN, INPUT);0 i0 B8 a! d8 M6 ~3 I0 y
  pinMode(Z_MAX_PIN, INPUT);
3 n+ q7 k0 q# P, P2 z; c) P/ f7 c% J7 S5 a) q- l' b" a0 @- U
  pinMode(U_STEP_PIN, OUTPUT);; Q3 d4 M: N' @7 V
  pinMode(U_DIR_PIN, OUTPUT);8 D/ Q+ P- j2 ?
  pinMode(U_ENABLE_PIN, OUTPUT);4 s0 R+ u2 [% S0 x/ L; d
  pinMode(U_MIN_PIN, INPUT);) w; j7 j, u' N, o
  pinMode(U_MAX_PIN, INPUT);4 j* B  `. x  o, W
  //figure our stuff.; _$ b- b! @& m5 T' ]; o- ^
  calculate_deltas();$ ^) s  W# j: O) w
}
, l* ?8 c* C  \4 ?. G4 R) O4 a7 Q" o! J  C8 [1 s
void dda_move(long micro_delay)
9 S; t- ^6 C6 D7 j' ^{
  H- o: w# g6 M0 n  //enable our steppers6 }4 V8 I* p. m8 G
  digitalWrite(X_ENABLE_PIN, HIGH);/ e2 z+ s! a. ]) V
  digitalWrite(Y_ENABLE_PIN, HIGH);
4 R  ^; H. [( i7 a  digitalWrite(Z_ENABLE_PIN, HIGH);
7 ?+ H# ^$ X8 m. {7 k. P7 p  digitalWrite(U_ENABLE_PIN, HIGH);  D' O) C# V4 o( j1 s# B
  //figure out our deltas
: O) d$ I7 H: X  max_delta = max(delta_steps.x, delta_steps.y);4 n. X4 S, ?! |& _) r, q& o3 ^
  max_delta = max(delta_steps.z, max_delta);
* x: P4 C% Z+ ~% n. y0 N, R9 A  max_delta = max(delta_steps.u, max_delta);  Y  ~/ I5 t, x4 z
  //init stuff.3 X1 W8 ?; h& T
  long x_counter = -max_delta/2;
$ A: H* C, H6 t8 O+ C$ ]5 V3 ]9 B' t  long y_counter = -max_delta/2;- C; T" s# s3 e7 w
  long z_counter = -max_delta/2;
/ d. \" q8 S% n" q  long u_counter = -max_delta/2;1 I! U! ^6 P( z$ H1 P% M- c& ?
; }* p% L) {6 _+ x$ R
  //our step flags
$ f1 p+ ~9 ]* k2 d" X. t' E% t  bool x_can_step = 0;4 \3 d$ }$ x* y& e; D* U; ~0 z2 i8 H. v
  bool y_can_step = 0;$ [  {8 E2 o$ c5 V' y! i
  bool z_can_step = 0;& }, w# F4 Y* p9 B. s
  bool u_can_step = 0;5 b6 P+ ^. V2 {* r9 i* l
" `+ c) _0 Y. L2 t
  if (micro_delay >= 16383)6 N, L  B& J) b9 ^* |! J# D
    milli_delay = micro_delay / 1000;8 W, F4 n# x, _& y) }0 [
  else1 p6 Y, D7 x& N) M
    milli_delay = 0;
; L6 q' C3 [; Q9 a# ~: Z' ]/ i% h5 e
( g0 ~/ ]5 ]: g- x( r9 k
  //do our DDA line!
5 s" O% C+ W3 O! E! g8 \/ @. h$ C# m9 I  A( o
  do
" ~/ S! `" l1 g2 G  {9 a! b+ h" Q4 G; O8 J
    if(( digitalRead(BUTTON_SS)?analogRead(BUTTON_MAN)>>9==0:0) || stop_flag) break;5 b8 H- ?) a3 b8 E& w. D. o
    x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
' X4 v: Z: Z! t4 n; x5 U. N4 D6 B    y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
* _. }3 P! }  c6 P- v# T- ]    z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);* j" L: W' z0 d- K7 b
    u_can_step = can_step(U_MIN_PIN, U_MAX_PIN, current_steps.u, target_steps.u, u_direction);
9 T9 _( h: p+ ]7 Y! `    if (x_can_step)5 N, T# u8 ?! i1 N' m1 S
    {. b. ]  i. b% F2 a; h5 v& _
      x_counter += delta_steps.x;
) F% w, t& U# Y# k% A1 R/ I5 l
5 b4 o: z" h# y" |( c      if (x_counter > 0). H$ z5 d+ Y! z: d3 d9 ~( e
      {( [' M0 o/ @) F6 H3 z! [
        do_step(X_STEP_PIN);
$ Y$ r0 q$ I4 b0 j/ J; V+ g, E; X        x_counter -= max_delta;1 K: e/ |! F' _1 L6 @
        if (x_direction)2 i/ @2 o1 H1 O
         { current_steps.x++; x_pos++; }
/ m! ^3 M+ I2 r5 Z3 T: V2 K% Z         
( f5 c7 j% y4 n* w9 ?2 m* {3 ^4 P        else" v) @0 W3 k6 T3 Y
          { current_steps.x--; x_pos--; }8 F% n6 i$ a* K- v9 J9 v
         
5 |4 J9 p, D! ?1 \2 S  j" S      }* \( A2 c" J3 [
    }( I8 O  K* E+ T8 E( \" b; w
    if (y_can_step)
# |9 N- F0 V; b. e8 c+ x    {
, ~7 M8 Y; a- \+ Y( O- i" p/ i      y_counter += delta_steps.y;' d1 R2 b" [6 t6 ?$ e

. s0 c2 `$ ]) x# K0 D; L! t' t9 c" R$ ?      if (y_counter > 0)  b* E( f" ]& N, D: f* {0 W& a5 z( S
      {
  n- s' k; n( H+ U1 Y- b, q        do_step(Y_STEP_PIN);& q) R$ f: [. R! M$ T/ E
        y_counter -= max_delta;
2 ]! b0 G9 c$ o8 ~1 M5 C' M* J) q( q$ x5 X
        if (y_direction)
$ C9 A+ P9 |2 _' D/ s2 t$ L. y        { current_steps.y++; y_pos++; }
. U4 d7 y* e" ^9 N" Y      
/ F+ l( c7 `1 H# J        else
, H* {* r  {/ z        { current_steps.y--; y_pos--; }
; k( K/ i% J: \6 X$ M        ( ?6 A" @7 G& B. a
      }( {/ W7 G! e! p* ~2 C7 @
    }
  {/ ^# l3 o  ]' {
& v2 P+ e& N( G% F8 g' T    if (z_can_step)% F; H; I3 a2 D1 G/ _
    {2 @5 C' ~$ `% f* Q% E- A
      z_counter += delta_steps.z;
/ O" J7 i4 `* L2 j& T4 K+ I# Y% G0 {$ t1 `# S+ u
      if (z_counter > 0)5 f+ w/ a" c5 n9 O. C& U% E* Z# d0 P
      {
$ b' K& ]8 }  a  B3 g$ ^! _2 `        do_step(Z_STEP_PIN);
* b+ S: [$ ]  s# r        z_counter -= max_delta;
+ r0 h+ ~, _9 s! Y, h* F  L7 k2 ]  X, t; J( G3 _; L3 T- C" A
        if (z_direction)
$ ?# Y- [0 d7 j& x0 u2 Z        { current_steps.z++; z_pos++; }
3 G" d. k* X  r- V5 j/ K3 [        . B1 P' ?0 D0 d" D, ]
        else0 U/ A& M& ^' @9 m7 W: K5 ?3 a
        { current_steps.z--; z_pos--; }* T% J+ S5 v3 x0 U
        
' N0 b( U( z: l7 l1 }      }
, Z" m, F" M' j" p. T$ }    }
6 h. X. v$ x: X& e& {. a! T2 P   
# Q# P/ s* W& U" r4 ?( Z    if (u_can_step): K' ~7 S" D; u* W
    {
  I. z2 J7 S, J/ e1 G5 l      u_counter += delta_steps.u;! r+ ]7 z5 W& }- W# ?

6 @4 l. W) J- T1 h" u" U7 l1 O      if (u_counter > 0)& q; u1 B) R9 n
      {
- S- l5 n( F+ E3 V, V  Q        do_step(U_STEP_PIN);
% d  c$ v* B  A: W+ {+ a        u_counter -= max_delta;" N  b9 j5 h6 [! l, z/ C
. k( I* t& H. P' I# S8 C6 b- i8 B
        if (u_direction)
( s6 Z6 F6 e% I+ R        { current_steps.u++; u_pos++; }# K- m, p- D4 c7 e
         
! x- s+ a  {/ n7 y2 l& v  ^$ g, m        else+ l) _+ t" w2 ]6 L" v: X' J( u
          { current_steps.u--; u_pos--; }" e: p9 V, v/ A# @) z
         " Q/ _1 v& T1 \
      }
( @. B$ q0 [" d& E    }# |" ]4 S1 N0 T+ Z; R; L
    //wait for next step.- ^+ E; y9 N6 L8 J0 O
    if (milli_delay > 0){
3 u3 ~3 I" M* k      //if (digitalRead(BUTTON_SP_EN)) SPEEN();
! v) D$ G! u. _6 y, A7 _      delay(milli_delay);
* z" ?5 T  [: k/ I    }               
" l9 x. ~! Y0 D    else{
+ e3 J; p( z2 H" k( B4 H' T* J      //if (digitalRead(BUTTON_SP_EN)) SPEEN();
* _- H) I' B& M0 h! Z& w      if(micro_delay>0)delayMicroseconds(micro_delay);& j, T+ t* r4 s# ^& D5 h2 K6 y. f
    }
" O6 {, l# D* X1 o1 N    //if(x_can_step%40 || y_can_step%40 || z_can_step%40);  x! A) ~3 h7 T
  }% j0 O! U. t1 f$ P5 s1 T
  while (x_can_step || y_can_step || z_can_step || u_can_step);
0 R6 L& ?: W: f- T2 g3 x/ o+ _. |7 O/ B
; R) H+ u( u3 r4 @* b& P6 `9 h8 H- F
  //set our points to be the same
1 m- w* ]6 m2 R  current_units.x = (float) x_pos / X_STEPS_PER_INCH;
0 f4 D3 ]# L8 M0 x+ a' C) H3 O1 _  current_units.y = (float) y_pos / Y_STEPS_PER_INCH;# b( z6 o4 `% `3 U. x& L
  current_units.z = (float) z_pos / Z_STEPS_PER_INCH;
9 g  s- u! e0 k# y  u  current_units.u = (float) u_pos / U_STEPS_PER_INCH;7 r/ |- L/ y/ Q) g! h; Y: V
  
6 k* c1 h1 |. G# Q, }. r% T  set_position(current_units.x, current_units.y, current_units.z, current_units.u );
: V' c$ h: t5 j) t+ q
3 j2 x* n/ S/ t" e" H1 I  long x_pos = 0; // x position in terms of absoloute motor stepps
! q" m; R- C# F( n, ?5 R, U7 f  long y_pos = 0; // y position in terms of absoloute motor stepps
2 I  O! m( F# C! p/ ~  long z_pos = 0; // z position in terms of absoloute motor stepps
8 \0 ~4 o  {' |8 E/ E7 {. a6 U/ ~  long u_pos = 0; // u position in terms of absoloute motor stepps; y" t6 G, ?: w/ v, `8 J% A
  calculate_deltas();" c5 u/ y* @( M% X& W' K& B4 a# T- i. `
  
! }  @! h! q3 ~) H}
' C  _. ~3 Q) \4 P( ^: L
) ^  r& X; p2 X7 k* E! Pbool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)0 F$ N* t3 w+ k1 F7 }
{+ h7 Z) K8 e5 B6 P. N2 M- v* w
  //stop us if we're on target* T3 C( [. E6 W4 X
  if (target == current)
/ f6 D# t; r: o5 b" z+ i    return false;
$ n- `* I4 w6 \  t' F: [6 U* H  //stop us if we're at home and still going
1 {5 V- X' G4 \; _  else if (read_switch(min_pin) && !direction)- }0 Q6 r- U; w) j
    return false;: K- c# P, x# K6 j8 U* O! _
  //stop us if we're at max and still going7 g6 D0 O% |, f% d. C( B
  else if (read_switch(max_pin) && direction)) [) D/ x" R# ^! H1 ]" f6 d4 V$ H  H+ M
    return false;" m2 h" t7 j. E; F* x
& q, A$ W: g+ p% H0 d" e
  //default to being able to step" A8 f& Z; g# ]0 l  U+ X" ?
  return true;
$ h. B3 C6 I# q5 V}
3 K+ V; D; y3 H( u- T' s( L( [3 d( P1 N' J" X* f: Y4 F0 U
void do_step(byte step_pin)! r. m& u: e  U. M: S' E
{
4 n. g6 ^4 B1 k3 ]  digitalWrite(step_pin, HIGH);
. q8 Z0 y& b: A1 ]7 ?; W  //delayMicroseconds(1);! ?* u$ Y3 f. K
  digitalWrite(step_pin, LOW);9 u% ?5 j4 g) g# B2 S* a% L# d/ O/ Y+ g
}
- e# O1 X" a: e( k7 d5 C2 a( f! I0 |+ i
bool read_switch(byte pin)
) ^# d9 b% y2 v{. I3 P( z# X# ?+ q  }
  //dual read as crude debounce8 [( e: L  ~; _4 |. n

) Q/ S% U: v( T8 K' R  if ( SENSORS_INVERTING )
& c/ P; D# W( Z4 p6 b    return !digitalRead(pin) && !digitalRead(pin);
! p: ], ?0 w  G. B/ z/ _- N  else
6 @8 C9 O# t2 @: L) E7 f, K4 z2 k& h    return digitalRead(pin) && digitalRead(pin);* W# B7 o9 d, A
}7 x+ H8 J9 K* _' O8 Z' b3 e% C% Q

+ Y+ U3 f* z' N1 k9 Glong to_steps(float steps_per_unit, float units)8 `+ P& C# ?7 S) g3 I
{
4 x" y- L, v& B0 Q3 O: u# b  Z  return steps_per_unit * units;: N1 ]+ E$ n$ s
}" J0 p3 K8 {: v9 [/ a' B
( ~6 u$ b4 r% e1 y; `
void set_target(float x, float y, float z, float u)
5 C; i' z9 O  v5 C. W{
) }: s, Z" p' v' M! |7 _' [  target_units.x = x;
8 |: t( Q& M- N  target_units.y = y;# O- p7 c* N1 r9 t
  target_units.z = z;: n" L9 n, Q% f9 O- D5 R
  target_units.u = u;
9 A' x3 r6 G: w5 b: ^  calculate_deltas();4 ^! S' B: ^- S" h, {( e1 b
}) f: t- \7 g8 v. k. A, M0 N

: v$ W$ f. H" K/ h$ rvoid set_position(float x, float y, float z, float u)$ J4 N0 p1 ]4 U5 M
{) f8 b) A8 O8 W. m8 u
  current_units.x = x;; Q# P0 i8 ~* O! T! j+ ]0 w
  current_units.y = y;
' r1 ~/ d7 `0 i( T1 a  current_units.z = z;6 P' j) F0 k! W* D# s
  current_units.u = u;
  |( z; h5 M0 ]  calculate_deltas();
, s% X; S8 |5 b. y8 d( M}: c" A& C, N0 @) J: j

; C( J6 f5 f+ B7 d# Fvoid calculate_deltas()* w: }6 }9 f6 h& r* {
{
+ x9 L9 _* o8 f! r, U  //figure our deltas.
( K7 q. p( f# ~* p- X4 e  delta_units.x = (target_units.x >= current_units.x) ? (target_units.x - current_units.x) : (current_units.x - target_units.x);
) N1 z, ]! E# v  D6 r  l  delta_units.y = (target_units.y >= current_units.y) ? (target_units.y - current_units.y) : (current_units.y - target_units.y);8 `1 C' u% J2 C1 j7 T' M" o
  delta_units.z = (target_units.z >= current_units.z) ? (target_units.z - current_units.z) : (current_units.z - target_units.z);/ o! T9 e) }$ L# b( \  z
  delta_units.u = (target_units.u >= current_units.u) ? (target_units.u - current_units.u) : (current_units.u - target_units.u);7 v' O1 Z* U7 e

: Q4 S" e5 }7 ?# U0 |- X  //set our steps current, target, and delta
% L& ~6 j) P6 `4 I% Z  current_steps.x = to_steps(x_units, current_units.x);
. ?( N) p& p1 p" m9 V$ K7 E  current_steps.y = to_steps(y_units, current_units.y);
0 E: I1 p$ o/ I! H! v% O! x  current_steps.z = to_steps(z_units, current_units.z);
: @9 |# C# [3 K" L6 u  current_steps.u = to_steps(u_units, current_units.u);
' _1 V  I. s* U1 e8 _
; H. G. H0 @8 n6 {0 N  target_steps.x = to_steps(x_units, target_units.x);, h2 s2 O$ K) }1 O+ e
  target_steps.y = to_steps(y_units, target_units.y);
, P" _0 S7 y* X0 T% D6 g  target_steps.z = to_steps(z_units, target_units.z);
7 K- k, b2 ?  Q8 I  target_steps.u = to_steps(u_units, target_units.u);5 z: s% j- V7 x

9 |9 S2 P- s  R" p9 O1 c3 A+ h  delta_steps.x = (target_steps.x >= current_steps.x) ? (target_steps.x - current_steps.x) : (current_steps.x - target_steps.x);. r7 [$ S% h# q/ Q1 A3 P9 E
  delta_steps.y = (target_steps.y >= current_steps.y) ? (target_steps.y - current_steps.y) : (current_steps.y - target_steps.y);* E2 s5 e1 I! ?1 D3 o" I6 c
  delta_steps.z = (target_steps.z >= current_steps.z) ? (target_steps.z - current_steps.z) : (current_steps.z - target_steps.z);
4 l' K8 D* D3 u: H$ K  delta_steps.u = (target_steps.u >= current_steps.u) ? (target_steps.u - current_steps.u) : (current_steps.u - target_steps.u);' j( U8 t% w, D0 z
( m1 O$ v  z& |) D
+ E6 ?% |% N+ B, J5 n5 D

& v7 ~! V* z; \9 t- D  //what is our direction
# g3 w* L' m% ]' A4 t  x_direction = (target_units.x >= current_units.x);) K/ V6 g' s- g; x" K
  y_direction = (target_units.y >= current_units.y);
% V7 i( O; T2 \- I1 a& |  z_direction = (target_units.z >= current_units.z);
7 S3 ]9 E7 l) z; K1 ?5 k  u_direction = (target_units.u >= current_units.u);( b+ Q. m" J6 n+ Q, g0 J

3 l6 H3 u; |( ~  //set our direction pins as well
, `# b+ y/ C8 _; l. f  digitalWrite(X_DIR_PIN,x_direction);
, v$ ^4 j4 C) Q  digitalWrite(Y_DIR_PIN,y_direction);1 Y; c6 h$ D$ c$ D, _. D+ k4 l
  digitalWrite(Z_DIR_PIN,z_direction);/ Z$ h; ^6 ^3 m4 w. ]
  digitalWrite(U_DIR_PIN,u_direction); & t- V4 X) x. ^3 Y- M1 l3 `

$ O7 B$ B/ c: P! C3 |  z  {* R  //绘制LCD
: x% K0 y0 z  i. M4 C  LCD_DRAW();
2 p; K, ]- v, d# I2 d+ Z' n4 _: l2 h0 i  a" q: f. W' [
}
1 h: m! @  a1 h% X9 ^/ h# r. r$ \* u& [8 @; I* M
9 W; i# z5 v; ?1 r% T0 Q
long calculate_feedrate_delay(float feedrate)
& C  {! d) w2 v- O  {{
' K: O. f, g) x$ ^. I2 ]5 U7 v  //how long is our line length?) s5 d" q) s* X, j$ q$ k  k
  float distance = sqrt(delta_units.x*delta_units.x + delta_units.y*delta_units.y + delta_units.z*delta_units.z + delta_units.u*delta_units.u);
* x/ V9 U! l3 P  long master_steps = 0;
4 y" o4 w+ \  j, C6 g( U) B5 i! u0 p9 [- ]
master_steps=(delta_steps.x > delta_steps.y)?delta_steps.x:delta_steps.y;
% Y% i6 @+ M! h. {, Imaster_steps=(delta_steps.z>master_steps)?delta_steps.z:master_steps;* s* \' r2 a: Z0 u% a
master_steps=(delta_steps.u>master_steps)?delta_steps.u:master_steps;
% W% ^9 h. o/ x6 C6 h3 ]# \
# c1 Q; C7 l) R/ j
# f! I  t  ^7 w7 F0 T  ~# n
% v  k7 b! ~* \5 O* h3 W2 u8 }6 n7 F
9 r/ w/ u. t/ m2 W2 d# ]' i  //calculate delay between steps in microseconds.  this is sort of tricky, but not too bad.
2 \# e6 m9 A$ {, Q; d- P  //the formula has been condensed to save space.  here it is in english:
3 i4 U9 r) \$ g9 r  // distance / feedrate * 60000000.0 = move duration in microseconds
1 {7 Z1 v: g+ E: O1 h  // move duration / master_steps = time between steps for master axis.
7 S6 e1 y/ L; E' V, j return ((distance * 6000000.0) / feedrate) / master_steps;
" y! h9 o- e% Y( _5 ^
; Z) t1 F* O1 G3 Y& K+ U}
! b5 v8 F, j+ @1 @$ K
/ W. T. w% A: p, L: o' Q: v5 i  Rlong getMaxSpeed()
3 E7 F& L: B2 f- a{
- s& h" [9 Z- ^ if (delta_steps.z > 0 || delta_steps.u > 0 )# ~( M3 ]: e) J: `, f) X7 g. F0 q
    return calculate_feedrate_delay(FAST_Z_FEEDRATE);. O0 ^3 A8 O+ O; C
  else
7 ^- Q4 }8 Z, ^! X; ^    return calculate_feedrate_delay(FAST_XY_FEEDRATE);
$ u; ~/ d8 C7 H8 E% H8 c3 x! q}; s1 N! c9 `" V$ `& j

$ @3 A( g/ W6 j: R, lvoid disable_steppers()
3 j1 |$ y. n# {7 D{
9 f2 B9 Q  S; O' m" G) _  //enable our steppers
7 V' D8 g8 P: t& U- m; t, `  digitalWrite(X_ENABLE_PIN, LOW);
" I0 P) W/ p( A% {* A4 V: U1 \  digitalWrite(Y_ENABLE_PIN, LOW);" _, z1 h. n/ h. t1 f
  digitalWrite(Z_ENABLE_PIN, LOW);3 H0 H( }' b. Z) X3 m
  digitalWrite(U_ENABLE_PIN, LOW);4 H3 M; z# G; [3 z* x& P) K
}
8 j( W$ S: ]* x4 f# J) p" f) N" l3 m
2 W  S5 u1 Z0 r3 _  j- ~3 @3 J1 A3 J+ a2 o' z( k
//绘制LCD
  O8 f2 ~1 y. j! Z$ ~( B& [3 z+ u//unsigned int DRAWCount=0;
# ?3 U4 f5 B1 Y, B: f5 Rvoid LCD_DRAW()
% P4 ~. Y, i. D5 J8 Q+ Y9 a  N# l{
' }' m; f2 ]* }5 Z# g9 k    lcd.clear(); 3 W* Z! L2 Q: e5 U3 y, ~
    lcd.setCursor(0, 0);
/ i5 F" S" k3 ?5 I3 b% H" Y7 T    lcd.print("    X=");- X0 Y3 z, R$ J
    lcd.print(current_units.x);1 P& I" N# x& d5 P8 u& X
    lcd.setCursor(0, 1);
% y& L0 N" x; J% s: w, O# X1 L    lcd.print("    Y=");) b  F+ V1 x9 s, K
    lcd.print(current_units.y);
' {6 R6 o+ t/ O: ?9 I    lcd.setCursor(0, 2);# c  p" l: T+ [% Z" }7 }$ a2 O* H3 @) h
    lcd.print("Z=");
# s4 Y! n5 G* C8 J2 a* }- A8 x    lcd.print(current_units.z);
0 D7 Y1 t% a$ T4 \" D* R$ Q/ q    lcd.setCursor(0, 3);- M; p" a0 F5 Z; G
    lcd.print("U=");& ~( b4 Z7 w) Y) l& H' ~
    lcd.print(current_units.u);# ?( `7 A7 m+ s/ r
  }+ I3 K" {& _3 M% d& ~1 l  b8 w
// else if (DRAWCount>=30)DRAWCount=0;
/ I' ]$ ]+ _' c8 U0 O- k//  else DRAWCount++;0 ?/ G$ E( |8 m- C( N9 |6 i  ]' g  C
void SPEEN()
: }/ a3 F5 d2 k/ t; S( t {7 |( |9 w: N) `- K- P: C# r
   delayMicroseconds(analogRead(SPEEN_CTL)+1);2 p) n3 ]. j! i$ M  o
}
- d. x  O* N5 j- u- b$ O' \
. l! X8 p% g5 j/ w; Q, e
: U2 p' w3 U& K  R, G: ^ //delayMicroseconds(analogRead(SPEEN_CTL)+1);
$ M# @1 U% k+ Z5 o: ~/ U! q2 R //if (digitalRead(BUTTON_SP_EN)) SPEEN();* x5 E) q0 R/ r$ f) P- ~1 ~
" Z" \  P: s& l2 g, `' v
: {- v0 F; W5 k$ S1 X
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 楼主| 发表于 2014-5-10 09:55:02 | 只看该作者
// our point structure to make things nice./ |% b% C% [/ ^$ o2 |2 i( W% g
struct LongPoint {( L$ X+ m5 u' ]) g/ e$ l
  long x;$ L7 O+ a) W( c/ W- Y
  long y;0 c. s4 N( y5 q* N& x" w
  long z;
- P6 P) L# a" }2 t& t4 z7 e4 i  long u;
$ L. e, r  p' O5 B7 B9 V  Z; G6 ?};  Z8 h* m$ m/ }
1 L, c- a. C# n3 U
struct FloatPoint {
" y4 P! a' W8 m* a& Z  float x;( v. n* \/ `2 N
  float y;% ]6 Y/ n2 b: Z2 ~& L
  float z;% i0 }9 e8 S: g* G2 |9 o6 T' m; n; Z
  float u;
+ {% M$ v4 G8 @2 q; r};; e6 C* s4 {( n! q( J; Y$ K5 R
& k! h4 b% z) O$ b; f
FloatPoint current_units;
3 d. h# x3 l8 N* H2 HFloatPoint target_units;. f) {- j0 m, {% Q0 Q( m
FloatPoint delta_units;
, N( x5 Q  M' J$ j. @5 ?% r0 Z3 p
FloatPoint current_steps;( F$ h% ^9 q+ i. ?5 X5 X
FloatPoint target_steps;3 K  \; f% O9 a5 B# r* S6 b
FloatPoint delta_steps;* p# [$ E0 u* F3 ^
( k( L# i2 g+ m2 i4 A& X/ y6 Z
boolean abs_mode = false;   //0 = 增量位置模式; 1 = 绝对位置模式, Z2 j- @" ]5 w' `* r( X! i
& w- S* v  I  u- s/ G
//default to inches for units
: I5 _' d- a- \6 f2 Wfloat x_units = X_STEPS_PER_INCH;% n3 E+ s+ d: M2 }
float y_units = Y_STEPS_PER_INCH;
0 @! a: Q9 `7 I' T$ a+ P9 `float z_units = Z_STEPS_PER_INCH;. L5 E0 Q# d8 M2 r) D, ^6 q$ [
float u_units = U_STEPS_PER_INCH;
( X5 x8 W% e4 Y7 B( ?+ t! L) Yfloat curve_section = CURVE_SECTION_INCHES;
' v/ H3 v& A2 n, t$ d, e  t& i8 z1 E; ~# b, P
//our direction vars5 U) d( [$ M3 h4 Z  s
byte x_direction = 1;
4 }$ Z- }0 Q9 m. F6 N. L5 b' Ibyte y_direction = 1;
7 z- V6 w$ ?: w, F3 Jbyte z_direction = 1;$ b3 G( m1 a1 P2 `
byte u_direction = 1;+ m+ ~6 ?# x" n0 V$ P) b7 z1 K

( \* s7 X3 R0 I. ~* l9 A5 B//初始化字符串处理
/ c; I, A2 u2 i6 E) T- Hvoid init_process_string()! {. x7 Z$ t$ V1 Y* C
{
% M' N& n) x  O9 i! L0 Z  //init our command6 }/ R7 p$ T( I/ C* j
  for (byte i=0; i<COMMAND_SIZE; i++)) s) ?/ @' v, ]' l
    word_old[i] = 0;" i* w2 O2 \3 T
  serial_count = 0;4 L6 G, |5 T. a3 [) {
}% [# c  [9 }( H3 t. L

2 Y  `/ X. U$ P$ t# T# v7 |4 |//our feedrate variables.
4 u6 J' B. `$ ]4 qfloat feedrate = 0.0;$ d/ J) ~7 ~6 M  p! g( a
long feedrate_micros = 0;$ @- U$ m* N+ {7 f

, l# ~/ A2 F$ C+ y- O% A//读取并执行命令
- B5 U' i) t) N+ q/ h0 J5 B5 Cvoid process_string(char instruction[], int size)
  ^# t+ |% J* r7 n! _9 r{
0 V+ T+ ?4 I; A; c  //the character / means delete block... used for comments and stuff.$ @$ q( {3 v# C  ]  c
  if (instruction[0] == '/')
1 |  `- z! S5 J' x' ?  {) h$ k, a- S+ q
    // SerialUSB.print("ok");: I: A$ Q% o, C9 y
    // SerialUSB.print(byte(78));$ {- }4 L  Q5 t9 Q$ Y
    return;' b4 k" S7 R( L) d+ b
  }5 [5 L3 l$ i2 @! Q$ u* Z& e: B' S
  //init baby!
0 b* S) K+ |5 n  K1 D  FloatPoint fp;& j% c$ t& g3 m" ~8 C
  fp.x = 0.0;  _, x0 B- b4 Z
  fp.y = 0.0;
* v, \8 t5 u6 ^( ]' b& k  fp.z = 0.0;0 `* @. u: v5 n& e0 c, |9 v: R; p
  fp.u = 0.0;, ~5 B& Z$ }. W/ y" G3 ]
) q* S0 L/ ?2 q8 v
  byte code = 0;
' \1 ^+ M) C1 V) c3 w1 W3 u; F4 s! _+ Z2 c; W/ x% y
  //显示在处理的命令
) b0 W- Q4 `* F5 o& q#if (LCD_TYPE == 1604 )
1 ?+ F% B: O. B: H7 l) U5 E  // lcd.setCursor(0, 4);
# A2 b; o, n9 I% _' S& O/ D  // lcd.print(word_old);/ w* F# W: r! X' G$ L/ q. O2 E
#endif
+ D. F+ \! `' z9 V8 K  SerialUSB.println();, n$ E$ ?  L6 j
  SerialUSB.print(instruction);
4 e0 x. y4 N9 s0 @. _7 d2 O7 h$ e  SerialUSB.print("\t");; Z' ^7 r, g6 Y" e) k9 y/ k
# K2 q1 a; V7 t" Z# i1 u: M' H  v
  //what line are we at?, q. q& i; b  L8 @7 A. ^: r
  //        long line = -1;, c" c( y1 u( d" y8 w
  //        if (has_command('N', instruction, size))4 l* g) i3 W" k7 w3 G+ {* M1 v$ X
  //                line = (long)search_string('N', instruction, size);
* z' {% m& ^+ D$ H% A) l# Y6 Q0 N
  /*
, h' L3 M7 J1 L! `* Z2 r& C* |; _        Serial.print("line: ");2 E; M7 H8 U. V! i, R
           Serial.println(line);" K3 o9 w: g5 _, m' c
           Serial.println(instruction);
) L; O9 Y8 U( M   */
% ]) G. e6 \& |: v  //判断是否读取了个 G代码?8 V$ Y1 }0 x- u
  if (
6 n% f0 A6 q2 n    has_command('G', instruction, size) ||$ |8 t+ l6 \2 w& W$ Z
    has_command('X', instruction, size) ||
) S: h4 v2 L1 x9 }9 }- j' L# f    has_command('Y', instruction, size) ||
% V3 d. N' j8 p" ~+ ?    has_command('Z', instruction, size) ||& b/ W6 c$ a" ~8 ?) i- j
    has_command('U', instruction, size)& H9 {, b% z) W
    )% n1 B7 Q- K6 Y" `; E  s
  {
% Y" b0 F0 M1 K$ K( i1 s: D    //which one?
1 j* Z! {% V8 }. Z6 {    code = (int)search_string('G', instruction, size);4 a9 s  Y, F- O  K! f
    // Get co-ordinates if required by the code type given
! ?9 x) O1 b4 D) ^: I    switch (code)
3 Y& ~' r6 e7 `" ]    {- K& j4 v% |/ I2 H* w
    case 0:
' a+ o! T3 E# ^    case 1:, E# b7 N8 P) M; T7 [+ [4 V
    case 2:+ x( K+ P& ~6 P: O  k4 r' t
    case 3:( b% F- e  `& ]1 w* H1 O, A' A
      if(abs_mode)1 I" g3 i5 H) z7 Z
      {" l# [5 I1 X+ Q* N8 ^! d
        //we do it like this to save time. makes curves better.8 @- {4 H& A5 w" Z/ Y
        //eg. if only x and y are specified, we dont have to waste time looking up z.; H- t* S% S0 h
        if (has_command('X', instruction, size))
2 ?9 f5 o  [' U. R* u1 W( p. K          fp.x = search_string('X', instruction, size);" q4 B; R9 T8 e+ c7 B: T1 B
        else  U4 M0 E& g, Z+ P& h" v
          fp.x = current_units.x;4 G7 k0 x. z$ ~
6 e" D3 h# r$ v- x% W0 I# @/ R
        if (has_command('Y', instruction, size))/ B+ m: s- \2 k0 ]- h, {
          fp.y = search_string('Y', instruction, size);
. V4 ]* J7 d0 ^        else
% T; k0 i1 s# Z" @8 A1 J! f6 G9 i          fp.y = current_units.y;
( y# Z6 r5 v( T3 A$ Z7 X5 E, ]& m, U5 g% X/ Y4 q
        if (has_command('Z', instruction, size))# k! F5 u6 d# q8 d& p! H
          fp.z = search_string('Z', instruction, size);5 y  v. y1 F  J2 |$ K
        else4 k/ Z& L" q/ ~* w
          fp.z = current_units.z;
$ j7 D$ N  S% h- ]; h% w* L  ^          . x# w( W+ `, X4 L3 Y4 Q1 \* v9 ~, ?
        if (has_command('U', instruction, size)). l& y; w4 i) d3 b* H/ D4 D: k& g; T
          fp.u = search_string('U', instruction, size);+ m8 v7 H" N( n6 M& t# g! b" L7 }
        else
$ x5 R1 K( H) y' u          fp.u = current_units.u;) s8 r- a. c* O& m3 e
      }
% L4 C: Y0 |4 z" X" K" x      else. P6 H9 H7 S! ?
      {
' n9 O; A  `! D5 X/ n        fp.x = search_string('X', instruction, size) + current_units.x;7 D7 |; x( y4 x2 d) @
        fp.y = search_string('Y', instruction, size) + current_units.y;
. y- ?4 u+ W4 o; L        fp.z = search_string('Z', instruction, size) + current_units.z;
6 k0 G' [6 B( l; f' e5 P        fp.u = search_string('U', instruction, size) + current_units.u;4 Z# }( \/ j. Z# y' R
      }$ q4 m. j5 C7 _, u5 A7 |6 }! ~; d& I
      break;
4 T6 o: r; v* U# h7 y- X2 D+ `6 O    }
3 o' P% z% [. ^; U: F( s3 K    //do something!/ G: t1 q- g" d/ Y- `
    switch (code)" c) `# h5 G% W( F( p
    {6 ^" r: O: d% e/ \2 F( c  R
      //Rapid Positioning5 v$ }; \+ k7 V! X8 Z% U, ]
      //Linear Interpolation( s; R6 {7 v, E+ B& K- @( u
      //these are basically the same thing.- R' i8 A, H% E7 `0 W7 P6 l
    case 0:/ |8 y8 f2 e5 Q
    case 1:
0 k2 ~' b/ o& Y/ z8 y      //set our target.
; W" M! w" T. t% q      set_target(fp.x, fp.y, fp.z, fp.u);# I& p6 T5 s% D
      //set_targeta( fp.a);
1 I! y2 m+ C6 _6 H6 F# D9 z  W      //do we have a set speed?% U8 a1 s; j# n1 C" Y
      if (has_command('G', instruction, size))
. H8 M- o: [7 j/ Z1 l9 ?! Y( g2 z; r      {! w( C3 o! M  ]  g! D
        //adjust if we have a specific feedrate.+ B* M) D" H) J0 k2 B7 {; @
        if (code == 1)
' m8 ?% @8 x0 c        {; @" o+ ^& v  A
          //how fast do we move?  f! t9 Y9 G8 M$ `* x7 j
          feedrate = search_string('F', instruction, size);
+ s$ {% ^- z- S0 B/ q          if (feedrate > 0)+ v* q. I, M$ ?* e& N8 u' o1 W
            feedrate_micros = calculate_feedrate_delay(feedrate);
5 C* {8 v; c1 h4 `4 P          //nope, no feedrate# Y" G# ?7 \1 p* i* P& l
          else, r8 A' u8 B' t
            feedrate_micros = getMaxSpeed();  ^2 a1 B% _7 p  v
        }+ J8 S1 s7 }' i$ l5 w. x/ Y
        //use our max for normal moves.% Q$ t, W* \& D
        else
: f. \4 ^' h2 U3 k; |+ i7 ]          feedrate_micros = getMaxSpeed();
5 J; R/ e3 \# M      }
% q- d8 h  W$ ^8 e5 {$ w! {      //nope, just coordinates!; n8 K/ _* u: s1 m; i4 o/ g
      else
: c# H# V* c6 R% \8 _      {
4 G3 ^; `: J2 {7 T6 F0 C        //do we have a feedrate yet?
: m! d& d, ^8 N; o* T        if (feedrate > 0): `* }- g) C8 o
          feedrate_micros = calculate_feedrate_delay(feedrate);- v$ G8 R3 s# v, N
        //nope, no feedrate
+ [8 C2 p" k) T' H( {+ W; Z3 \8 a        else
- r0 V6 s' ~2 p7 r- M          feedrate_micros = getMaxSpeed();% M, p# a: F: F! w
      }
9 C" v, d( l3 B- C* l' M0 \
" a' t7 v. h# k" c1 P      //finally move.
: }, a) u1 W6 W, D2 g0 y( {# `8 m      dda_move(feedrate_micros);
7 V, M, O1 v2 g3 @" G      if(stop_flag) return;0 X) G; C7 A$ t  f
      break;
. d. a/ K! _; ^: Q6 m. V0 }1 G% A' O) x* J$ |' R) r; Q( I) N
      //Clockwise arc
. I& C2 ~4 G2 _    case 2:
7 ~. n) w9 x% W& |; _( a8 V      //Counterclockwise arc0 k/ Z7 _1 |+ w1 r. K5 O' m
    case 3:
" I3 M- P! T* t& p3 H# v      FloatPoint cent;( G! P4 E$ i% i: P' w! H3 y
      // Centre coordinates are always relative3 `( B' J8 \& P; o, `$ B! S
      cent.x = search_string('I', instruction, size) + current_units.x;2 T: {  q. n0 `4 k& i' L
      cent.y = search_string('J', instruction, size) + current_units.y;
' t2 a8 o8 q  |, B0 D      float angleA, angleB, angle, radius, length, aX, aY, bX, bY;
  |: j1 g% I& \0 j3 c: a: Y5 E4 B% W( Z: L3 _5 O
      aX = (current_units.x - cent.x);
7 M( B- J% b5 h) r      aY = (current_units.y - cent.y);
" p# {0 Y2 _& w      bX = (fp.x - cent.x);* }; [! b" J7 H5 ^: b% A& C
      bY = (fp.y - cent.y);
3 Q7 v, M/ d2 O. D1 Y+ i, `7 v/ k8 z
      if (code == 2) { // Clockwise
. r0 K: i5 y1 j2 @& W$ o6 p/ i        angleA = atan2(bY, bX);/ w- x2 k% t7 X1 X
        angleB = atan2(aY, aX);8 M- D5 h' n: v  `
      }
) s: z  z* K7 u) K1 m) M' n0 z. A      else { // Counterclockwise+ a+ o' ?2 A9 E+ W
        angleA = atan2(aY, aX);) v3 R) }7 q/ f
        angleB = atan2(bY, bX);
2 Z- s' Y3 S* @      }, H4 [2 ~2 D3 d! T4 J3 t
      // Make sure angleB is always greater than angleA, k  C  P* T  E
      // and if not add 2PI so that it is (this also takes
0 w$ W; }, H' `0 C. d) R      // care of the special case of angleA == angleB,3 G2 F7 \0 b0 j) J0 S9 D& J4 }
      // ie we want a complete circle)
4 n: [6 {9 i. |$ a      if (angleB <= angleA) angleB += 2 * M_PI;
4 _; {# t. E" @& Q0 B      angle = angleB - angleA;4 r5 p9 n. T( d2 I
: K8 s* [, H: {( B1 n
      radius = sqrt(aX * aX + aY * aY);
7 w, ]! d7 V. q, Y' q      length = radius * angle;% n0 @6 N- z+ D
      int steps, s, step;: _- c, N! {5 `* Z; [
      steps = (int) ceil(length / curve_section);
4 G5 t" ]. e. r, B4 e) p& T  X! D& ^: D, m8 S% q4 K! k+ B/ G
      FloatPoint newPoint;; n- T+ q$ A& H! U. J' N
      for (s = 1; s <= steps; s++) {
+ \8 S$ `9 G- g        step = (code == 3) ? s : steps - s; // Work backwards for CW8 C$ ?8 S) ], ^; O. @
        newPoint.x = cent.x + radius * cos(angleA + angle * ((float) step / steps));! z, x1 G/ \! w" n; m) Z
        newPoint.y = cent.y + radius * sin(angleA + angle * ((float) step / steps));( x. _' j+ O4 l4 M" m0 V5 I7 Z! j( s
        set_target(newPoint.x, newPoint.y, fp.z, fp.u);
: x# c; D7 B# Y3 P
( d) q- r* [" d7 r" q( h8 d0 U3 A! V        // Need to calculate rate for each section of curve* }8 n+ l/ ^" h6 F/ m+ N/ H
        if (feedrate > 0)4 k$ J# X5 F' k; m- r" ?0 O* N
          feedrate_micros = calculate_feedrate_delay(feedrate);
; p- ?& x$ j8 R$ l2 W- C; ^        else  i; q9 S& X. O/ U, A3 Q+ ?8 x
          feedrate_micros = getMaxSpeed();
/ L6 q: ]+ F" I9 f, j6 \( f6 f; {% r' s) D' B. o- y( D
        // Make step
* z% C7 E. P/ m# [3 ?        dda_move(feedrate_micros);
) f+ j( n4 N6 v, C        if(stop_flag) return;# j  g* |! T- m, J2 c8 f: t0 D
      }& T$ E5 _* C# @" f

& P5 A- @5 F% T1 t, [8 J      break;7 c0 o, w/ W- F
  Z  I/ @6 I* i# p
      //Dwell
% c: T7 e# n: T6 u" A# L    case 4:- R1 t" D1 p. p" `$ o! Y' L% |  j5 f( W& b
      delay((int)search_string('P', instruction, size));0 I# m- o  S( H& b6 ]
      break;
1 `  y4 F* G* R" `, n  h' c- Y$ m- \7 l
      //Inches for Units0 q- d- i( m* W6 Z, X5 K$ J+ p
    case 20:
0 q) V4 A. _5 Q/ ^" L* N) |      x_units = X_STEPS_PER_INCH;
" t  c( X2 W# k& }$ _      y_units = Y_STEPS_PER_INCH;6 c3 [! s- K5 B
      z_units = Z_STEPS_PER_INCH;! J* o: u* J8 T' h4 G6 {
      u_units = U_STEPS_PER_INCH;
8 Y4 _0 g# W2 Y3 Z1 M& t      curve_section = CURVE_SECTION_INCHES;
% g( g8 v: [, ?4 y      calculate_deltas();
3 ?5 s* H4 Y8 ]# g      break;: r' [: x# S7 i* C0 Q) B' a: @
9 r- E- g( `/ `& ^
      //mm for Units
  Z% b1 I5 z' g: \( P    case 21:
) Q  G; }+ z, p# ?2 Q& R      x_units = X_STEPS_PER_MM;
  E  ?! q# P: f* b  E      y_units = Y_STEPS_PER_MM;6 @9 u, A% F, {; `" [
      z_units = Z_STEPS_PER_MM;
7 Y8 ?! Z& l! T9 i, m4 n! u+ @      u_units = U_STEPS_PER_MM;% {: I( H* y( l5 L% N5 q0 B
      curve_section = CURVE_SECTION_MM;& C3 F- v3 f( u, n9 B
      calculate_deltas();2 R! h4 `" q. e% B4 N$ e$ h1 H: @
      break;
2 i- `, g2 b, @7 R; e' w6 I/ d# r& i
      //go home.
0 h4 F$ c5 m9 c; X' L    case 28:8 L/ H. j7 x, A- P! \
      set_target(0.0, 0.0, 0.0, 0.0);/ j4 O/ Q8 r! v, ]# ?8 S# R
      dda_move(getMaxSpeed());
7 n, u% w) q9 L" T5 u# l4 r      if(stop_flag) return;
6 L" U! y/ d, t$ ~7 c4 n      break;) {8 ?+ y  e6 I) l# f+ S" ^! }
  \, ?/ h2 o* p0 V) O
      //go home via an intermediate point.
5 w! x: P5 N! _) N9 j    case 30:% ?# h8 Q( o3 V* C
      fp.x = search_string('X', instruction, size);, J: l$ x+ W0 w
      fp.y = search_string('Y', instruction, size);. \4 M* T/ d7 L; N# v
      fp.z = search_string('Z', instruction, size);8 T, h4 S$ h' g( _# {! h$ |# F
      fp.u = search_string('U', instruction, size);3 j! ~6 Q- O, P5 c/ H; \. ~6 `! o
      //set our target.
# O( c3 A3 M: }7 ^/ M3 z      if(abs_mode)
( \6 E8 I8 V1 D# i4 v" X$ y, c      {
% P  Q- E" [) O! ~- @& u9 J" Y% X        if (!has_command('X', instruction, size))
+ _9 L2 {; z/ r" w          fp.x = current_units.x;
! \6 [- M. T& I. s# G+ L+ G- a/ p+ r. V        if (!has_command('Y', instruction, size))
, t4 G5 ]* B: }- R; ~          fp.y = current_units.y;+ {5 W3 z" f7 }0 G, i9 N
        if (!has_command('Z', instruction, size))7 Y# _' H; j8 j
          fp.z = current_units.z;
- o3 x6 {- c! d& b9 w% t# [3 v        if (!has_command('U', instruction, size))- j/ F8 w# E1 f9 ]
          fp.u = current_units.u;
2 G; ?2 h- }. b: X3 v        set_target(fp.x, fp.y, fp.z, fp.u);2 C6 V2 _* |1 s  \! U3 @- k4 ?
        
# ]8 J/ ?5 i0 ^$ P: p      }
! b0 {& }  ]2 B" r2 f, O      else
6 O1 K* C3 {5 o' W6 C4 v8 S5 ~- K        set_target(current_units.x + fp.x, current_units.y + fp.y, current_units.z + fp.z, current_units.u + fp.u );
0 e* J; a! ~: q/ G2 P' R7 o      
- L8 r! u# Q6 B* D/ d: y( D      //go there.
0 b7 ], U0 i6 F5 ]* r; S" Q5 e      dda_move(getMaxSpeed());4 Z6 k0 [6 Y- @9 e- Y/ _6 P
      if(stop_flag) return;5 r- ?1 F0 A; S. l- x% X' S1 j
: U" b+ W, b' ]( e/ u5 ?' F
      //go home.
4 g. x+ i6 L, B0 B      set_target(0.0, 0.0, 0.0, 0.0 );
3 v& n/ u, ~6 \- u3 x     ; i9 \( ~* `7 {' [  e9 D2 M& Y
      dda_move(getMaxSpeed());
, j* k$ p1 z8 |; [# F& |      if(stop_flag) return;
! R5 ]; D0 h8 u! ^$ |% g( c' K      break;
% ^' L3 U& h) x8 U+ @' G, g! m  r. D. Q
      //Absolute Positioning
( ^$ n$ e: X$ G. R    case 90:
! l7 x3 H, a* m9 G      abs_mode = true;
6 K* z1 j% e) E3 x' x  ~      break;+ |7 R% [9 A! W
! w& t' q$ C( o9 B  q! E* G
      //Incremental Positioning, c1 V/ s0 i8 K4 \
    case 91:
( ^6 Z2 J# ?3 X- |3 Z& N      abs_mode = false;$ ?4 E6 Y( i" |  _% }
      break;
9 U& j; B( ^" N/ @8 J6 F* [8 ~: u( `0 J& t2 y7 a* |
      //Set as home* L1 E  [- W' H4 J' u
    case 92:) Q  Q  d+ H8 Q) j
     
" K5 G& F" Z& h; G! y7 l8 G! ~+ G      set_position(0.0, 0.0, 0.0, 0.0 );2 w. d# [, q3 [6 x5 t4 @
      , A- o( P9 P3 ~7 T3 |- J
      break;
" R: Y7 K4 d! H  f$ `
5 o  ?: r1 K- ?  e! Y      /*
8 P" R% J. D7 d1 ^                        //Inverse Time Feed Mode
9 |6 l% A' |. A+ K9 V. U                               case 93:2 ~, ^5 I: q; y! t" s8 w
       $ |* C- c# }1 c% w6 g
                               break;  //TODO: add this
* ]& e& n% Q+ z) a2 C: c0 p& x  R      
8 T: g$ O- J( x4 E  E( a                               //Feed per Minute Mode: ?4 p  x: ~& C6 N  W
                               case 94:3 X2 @9 \. [- \  i. P2 N' T/ T" X9 q
      
9 }6 ?6 W* r4 |+ m1 d, G                               break;  //TODO: add this- b" J  {7 e& T" T$ G- B
       */; s- i3 |! g* q8 j3 I0 k7 I. O
0 ~+ w; m/ D2 b* \! _( u: I% E
    default:* J3 E2 c. h. y, A8 n4 m0 [+ t. _1 e
      SerialUSB.print("huh? G");
  ~4 I( y' i) e, D      SerialUSB.println(code,DEC);
. L0 R" i8 p$ P5 M    }! D# j! G$ u6 ?4 X! P
  }, X& X9 g/ z# J) ~1 r6 t
% L+ j; }% [0 f5 A4 J8 S6 C
  //find us an m code.
6 m6 k, O' b! \0 _& n! {6 i  if (has_command('M', instruction, size))
) [9 p, j0 b4 i; _  {  f2 S7 G. Z0 k8 E
    code = search_string('M', instruction, size);2 B' E% N3 Y" y* }# E
    switch (code)0 [" e9 r2 T* J: x, n$ F3 @
    {
- A7 ?7 \" \4 g% ^. x$ D      //TODO: this is a bug because search_string returns 0.  gotta fix that.
  T# u4 n* R1 N+ I9 N% N1 U3 N6 J    case 0:
8 Z0 V8 L' [8 H3 M3 A( G/ e      true;
6 s% W; H- A* U- ^6 I      break;* O, M3 Q" [% \) ^

5 Y  ~" l9 T/ I" G3 I& h9 {    case 100:
6 A9 x5 ~2 A6 {& l9 x      break;& U9 _! u/ }: S

3 M6 V7 Q* ]$ x( r. n      // fire camera relay+ K1 a- p* f6 [" }4 y5 f
    case 101:. f- f* Z! g6 j! @/ a
      camera_shutter1();- w& o* i( \5 @* @1 |% E& _
      break;
7 \" U5 l# `0 [. ]1 N* i1 `! m% c' m6 t% R4 o, Z% T- y" J
      // fire camera relay2( Z: f( V6 k! r$ @: b% u: L
    case 102:5 k6 y& d8 K9 O) ?0 }* }( \
      camera_shutter2();
$ u$ c) m) q8 b      break;
, V! T/ Q! B7 M( o/ [& R+ K/*
3 i) z% M2 z* ?      // turn aux 1 relay on
! v+ T# K" B+ I7 Q- s$ U& c9 C    case 103:; o4 r  f+ e2 f9 i- g
      camera_aux1_on();6 \  _' K$ h- V3 w8 m3 t( e# O
      break;
/ W! h$ X1 p: O* T$ \7 k  u8 s
      // turn aux 1 relay off
& X- o! u& P! y    case 104:  Z% u% N5 @8 t, u1 f; V. j+ ?
      camera_aux1_off();
$ s' k# C! M, l      break;
9 @2 ~8 x( L( Q7 a5 h
6 T( {$ u7 K# S# i2 W" o! y      // turn aux 2 relay on
7 \# L% g) @$ ?. b: ~6 s% m    case 105:
# E0 G2 h8 {/ V( e! w      camera_aux2_on();
7 |) E0 d" N! z- E! c% i      break;
, k8 U7 w. o' a8 U8 ?: ]' h) m/ `, i* _- Y2 @
      // turn aux 2 relay off# \/ F( f: T/ K: o$ h9 P
    case 106:2 k8 _9 \& F% w( a( m/ ^' @7 `
      camera_aux2_off();
2 y; P7 a+ Y" N2 s1 M! {      break;1 J5 L! v3 o% B: F, N
% d5 E" n9 H; f# D; B
      // turn aux 3 relay on% h& |- ~8 ~4 r9 d/ p* U6 B# `" d
    case 107:
- J% f& m- F( P* U      camera_aux3_on();
! T/ L) C; c. o- o' e1 n  ^      break;
# p) [& \2 M$ Q8 [7 l3 L- F: H* ]- j5 X$ Q
      // turn aux 3 relay off: h; ]& J3 o  x( W
    case 108:# @8 Q! B4 _. E6 D/ X3 Y) p$ Q1 t
      camera_aux3_off();
. H! {% q5 @9 a8 ]! r: v      break;
& j3 s( v. R1 e' q+ [; D  Z6 {) t. w2 z
8 t  a; k; C+ E9 I6 O6 s7 i2 m) C      // turn aux 4 relay on
# i$ o8 |7 M  k5 F# \7 L1 q% ~    case 109:
8 i  f  O; q! h6 Q3 q      camera_aux4_on();
: O' ?: U1 S6 j; Y) k0 k      break;
+ e: O' ~+ I: q+ Y% j+ a; t8 L5 W( t! k! ?* X; Z' ^& i, W) F
      // turn aux 4 relay off! t# s" n) v. L; q: K4 d5 \5 ~) G
    case 110:
: v2 e$ m- J$ U# |+ U* A7 b      camera_aux4_off();: v% ?  h/ i. ~+ _( e
      break;$ Y2 g) P! @) {- V, `! f  f; g
*/+ V  W; B+ A- Z$ e2 g* T' t* E' ]
    default:
1 O; n. @1 Q7 X4 c2 Y1 d
+ y- C# |1 X+ }3 u8 }. ?! q, r& ^% g      SerialUSB.print("Huh? M");
; O. P- S6 p7 J8 ^' h9 Y! @. r+ S      SerialUSB.println(code);
) w% h' v' P. P, T( p( G8 c6 M    }4 C7 k4 \" {" u! F" k/ q
  }
6 H3 _* d  w3 J, L9 W/ S  B( }$ M/ `, {0 l
  //tell our host we're done.) Z- v5 W& ]/ B* \7 E  ]+ @5 P
  SerialUSB.print(byte(78));6 H, [- s6 L" {9 k& S8 n
' W  Q, N5 |0 F0 Y7 f
}  w" m/ W8 E! E  f

: R9 o& \- \4 }7 ~//look for the number that appears after the char key and return it. s) a# H( P  ?0 t( `
double search_string(char key, char instruction[], int string_size)
6 l( o1 n, B- a3 |{
' ]& S3 }+ W9 m  y0 [. Y8 G4 I- a2 I* z  char temp[10] = "         ";
- ]3 y4 Y( j2 H  f1 U- E  for (byte i=0; i<string_size; i++)
$ |4 t, E  T! O) \# N5 ~5 _  {7 L' ^. K4 U# Q: D) R. l9 ^
    if (instruction[i] == key). ?6 H2 V5 i: p) S
    {% j! d; w: N7 w0 W8 T% x
      i++;      
6 f3 `& m8 l' {) x. G      int k = 0;( W9 b# j: f9 w: I/ W8 C$ C8 N; `
      while (i < string_size && k < 10)
, {+ f: b- I2 K, q! z3 Q      {
: L* Y, W5 Q8 N1 x7 C  U3 f) r2 [        if (instruction[i] == 0 || instruction[i] == ' ')
3 o+ N3 V. A: j- b$ [0 k9 |, A- d          break;
7 z  o, S; }. ?# r) J! \( z( D* p1 w" G( b; c# j
        temp[k] = instruction[i];  a2 H) \3 i2 Q& p8 O0 Z
        i++;
9 h1 c9 p- X9 O. F) `        k++;4 {* m6 R( b9 ~0 h
      }
( Q5 o+ H9 K- U( S      return strtod(temp, NULL);# i- ^$ d% s1 E* E. C
    }8 U% O( I0 q% I% O9 X0 z/ ~
  }, Y, F4 ^1 G/ C9 B6 l
1 F# P1 _4 s/ g- k
  return 0;
* J7 t& e) N/ R; m}
3 m* R- B: W9 y$ q  z) I# b5 n( {0 C0 }# V
//look for the command if it exists.
7 |  ^$ P: D; v3 Qbool has_command(char key, char instruction[], int string_size)
4 Y  s; S- K( M8 }9 }{' T: z5 p6 w6 x
  for (byte i=0; i<string_size; i++)
, k4 I1 |* }$ o# K# P; Z; P3 V! N: J  {7 q; {8 q% ^, a4 i& u4 ^6 N
    if (instruction[i] == key){; s5 l8 @$ H7 b
- u, w3 p9 z5 _$ X3 d8 @
      return true;
& y* [$ S" t! A2 |" H6 N    }& e+ M! d8 u- i; x. T' S+ Z% _
  }
9 |# C+ P# o/ A- a2 Q
8 i  A# w9 r1 }* h  y+ r  return false;
& L8 U- d& W5 f3 a}  D+ W/ i" J5 w. W# W6 `6 w  ]* \
4 w  c6 J" |5 B( ?4 K( I5 R
8 j  r. p% J( {" c; @% w5 U( i+ T* r( s
* I& H) C7 o, g1 F( s  |
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