farmbot-arduino-firmware/src/G00Handler.cpp

/*
 * G00Handler.cpp
 *
 *  Created on: 15 maj 2014
 *      Author: MattLech
 */

#include "G00Handler.h"


static G00Handler* instance;

G00Handler * G00Handler::getInstance() {
	if (!instance) {
		instance = new G00Handler();
	};
	return instance;
}
;

G00Handler::G00Handler() {
}

int G00Handler::execute(Command* command) {


//	Serial.print("G00 was here\r\n");


//	Serial.print("R99");
//	Serial.print(" X ");
//	Serial.print(command->getX());
//	Serial.print(" Y ");
//	Serial.print(command->getY());
//	Serial.print(" Z ");
//	Serial.print(command->getZ());
//	Serial.print(" A ");
//	Serial.print(command->getA());
//	Serial.print(" B ");
//	Serial.print(command->getB());
//	Serial.print(" C ");
//	Serial.print(command->getC());
//	Serial.print("\r\n");


	StepperControl::getInstance()->moveToCoords
		(
			command->getX(), command->getY(), command->getZ(),
			command->getA(), command->getB(), command->getC(),
			false, false, false
		);

	if (LOGGING) {
		CurrentState::getInstance()->print();
	}
	return 0;
}