- Added endstop support

- Movement changed to straight line (nearly straight - division rest is
not handled)
- Added G28 - home all axis
- Negative axis values are changed to 0

src/Command.cpp

@@ -33,21 +33,23 @@ CommandCodeEnum Command::getGCodeEnum(char* code) {
 	if (strcmp(code, "G1") == 0 || strcmp(code, "G01") == 0) {
 		return G01;
 	}
-	if (strcmp(code, "G2") == 0 || strcmp(code, "G02") == 0) {
-		return G02;
-	}
-	if (strcmp(code, "G3") == 0 || strcmp(code, "G03") == 0) {
-		return G03;
-	}
-	if (strcmp(code, "G4") == 0 || strcmp(code, "G04") == 0) {
-		return G04;
+	if (strcmp(code, "G28") == 0) {
+		return G28;
 	}
 	return CODE_UNDEFINED;
 }
 
+double minusNotAllowed(double value) {
+	if(value < 0) {
+		return 0;
+	}
+	return value;
+}
+
 void Command::getParameter(char* charPointer) {
 	if (charPointer[0] == axisCodes[0]) {
 		axisValue[0] = atof(charPointer + 1);
+		axisValue[0] = minusNotAllowed(axisValue[0]);
 	} else if (charPointer[0] == axisCodes[1]) {
 		axisValue[1] = atof(charPointer + 1);
 	} else if (charPointer[0] == axisCodes[2]) {

src/Command.h

@@ -9,9 +9,7 @@ enum CommandCodeEnum
   CODE_UNDEFINED = -1,
   G00 = 0,
   G01,
-  G02,
-  G03,
-  G04
+  G28
 };
 
 #define NULL 0

src/Config.h

@@ -12,5 +12,7 @@ const int LOGGING = 0;
 
 const unsigned int MAX_STEPS_PER_SECOND = 100;
 const unsigned int MAX_ACCELERATION_STEPS_PER_SECOND = 2;
+const unsigned int HOME_MOVEMENT_SPEED_S_P_S = 200;
+const unsigned int INVERT_ENDSTOPS = 1;
 
 #endif /* CONFIG_H_ */

src/G00Handler.cpp

@@ -21,7 +21,7 @@ G00Handler * G00Handler::getInstance() {
 G00Handler::G00Handler() {
 }
 
-int GCodeHandler::execute(Command* command) {
+int G00Handler::execute(Command* command) {
 	StepperControl::getInstance()->moveAbsoluteConstant(command->getX(),
 			command->getY(), command->getZ(), command->getS());
 	if (LOGGING) {

src/G00Handler.h

@@ -17,6 +17,7 @@
 class G00Handler : public GCodeHandler {
 public:
 	static G00Handler* getInstance();
+	int execute(Command*);
 private:
 	G00Handler();
 	G00Handler(G00Handler const&);

src/G28Handler.cpp

@@ -0,0 +1,30 @@
+/*
+ * G00Handler.cpp
+ *
+ *  Created on: 15 maj 2014
+ *      Author: MattLech
+ */
+
+#include "G28Handler.h"
+
+
+static G28Handler* instance;
+
+G28Handler * G28Handler::getInstance() {
+	if (!instance) {
+		instance = new G28Handler();
+	};
+	return instance;
+}
+;
+
+G28Handler::G28Handler() {
+}
+
+int G28Handler::execute(Command* command) {
+	StepperControl::getInstance()->moveAbsoluteConstant(0,0,0,HOME_MOVEMENT_SPEED_S_P_S);
+	if (LOGGING) {
+		CurrentState::getInstance()->print();
+	}
+	return 0;
+}

src/G28Handler.h

@@ -0,0 +1,29 @@
+/*
+ * G28Handler.h
+ *
+ *  Created on: 15 maj 2014
+ *      Author: MattLech
+ */
+
+#ifndef G28HANDLER_H_
+#define G28HANDLER_H_
+#include "GCodeHandler.h"
+#include "Config.h"
+#include "CurrentState.h"
+#include "pins.h"
+#include "Config.h"
+#include "StepperControl.h"
+
+class G28Handler : public GCodeHandler {
+public:
+	static G28Handler* getInstance();
+	int execute(Command*);
+private:
+	G28Handler();
+	G28Handler(G28Handler const&);
+	void operator=(G28Handler const&);
+	long adjustStepAmount(long);
+	long getNumberOfSteps(double, double);
+};
+
+#endif /* G28HANDLER_H_ */

src/GCodeHandler.cpp

@@ -14,3 +14,6 @@ GCodeHandler::GCodeHandler() {
 GCodeHandler::~GCodeHandler() {
 }
 
+int GCodeHandler::execute(Command*) {
+	return -1;
+}

src/GCodeProcessor.cpp

@@ -33,13 +33,20 @@ int GCodeProcessor::execute(Command* command) {
 		Serial.println("This is false: handler == NULL");
 		return -1;
 	}
-	return handler->execute(command);
+	Serial.println("R01");
+	int execution = handler->execute(command);
+	if(execution == 0) {
+		Serial.println("R02");
+	}
+	return execution;
 };
 
 GCodeHandler* GCodeProcessor::getGCodeHandler(CommandCodeEnum codeEnum) {
 	switch(codeEnum) {
 	case G00:
 		return G00Handler::getInstance();
+	case G28:
+		return G28Handler::getInstance();
 	}
 	return NULL;
 }

src/GCodeProcessor.h

@@ -9,6 +9,7 @@
 #define GCODEPROCESSOR_H_
 #include "GCodeHandler.h"
 #include "G00Handler.h"
+#include "G28Handler.h"
 #include "Command.h"
 #include "Config.h"
 

src/StepperControl.cpp

@@ -48,14 +48,6 @@ void step(int axis, unsigned int &currentPoint, unsigned int steps,
 
 bool pointReached(unsigned int currentPoint[3],
 		unsigned int destinationPoint[3]) {
-	if (LOGGING) {
-		Serial.print("Current point:");
-		Serial.print(currentPoint[0]);
-		Serial.print(", ");
-		Serial.print(currentPoint[1]);
-		Serial.print(", ");
-		Serial.println(currentPoint[2]);
-	}
 	for (int i = 0; i < 3; i++) {
 		if (destinationPoint[i] != currentPoint[i]) {
 			return false;
@@ -241,6 +233,31 @@ int StepperControl::moveAbsolute(unsigned int xDest, unsigned int yDest,
 	return 0;
 }
 
+int endStopsReached() {
+	bool x_min_endstop=(digitalRead(X_MIN_PIN) == INVERT_ENDSTOPS);
+	bool x_max_endstop=(digitalRead(X_MAX_PIN) == INVERT_ENDSTOPS);
+	bool y_min_endstop=(digitalRead(Y_MIN_PIN) == INVERT_ENDSTOPS);
+	bool y_max_endstop=(digitalRead(Y_MAX_PIN) == INVERT_ENDSTOPS);
+	bool z_min_endstop=(digitalRead(Z_MIN_PIN) == INVERT_ENDSTOPS);
+	bool z_max_endstop=(digitalRead(Z_MAX_PIN) == INVERT_ENDSTOPS);
+	if(x_min_endstop || x_max_endstop || y_min_endstop || y_max_endstop || z_min_endstop || z_max_endstop) {
+		Serial.print("R03 ");
+		Serial.print(x_min_endstop);
+		Serial.print(" ");
+		Serial.print(x_max_endstop);
+		Serial.print(" ");
+		Serial.print(y_min_endstop);
+		Serial.print(" ");
+		Serial.print(y_max_endstop);
+		Serial.print(" ");
+		Serial.print(z_min_endstop);
+		Serial.print(" ");
+		Serial.println(z_max_endstop);
+		return 1;
+	}
+	return 0;
+}
+
 /**
  * xDest - destination X in steps
  * yDest - destination Y in steps
@@ -255,50 +272,12 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
 			CurrentState::getInstance()->getZ() };
 	unsigned int destinationPoint[3] = { xDest, yDest, zDest };
 
-	Serial.print("Destination point:");
-	Serial.print(destinationPoint[0]);
-	Serial.print(", ");
-	Serial.print(destinationPoint[1]);
-	Serial.print(", ");
-	Serial.println(destinationPoint[2]);
-	Serial.print("Current point:");
-	Serial.print(currentPoint[0]);
-	Serial.print(", ");
-	Serial.print(currentPoint[1]);
-	Serial.print(", ");
-	Serial.println(currentPoint[2]);
-
-
 	unsigned int movementLength[3] = { getLength(destinationPoint[0], currentPoint[0]),
 			getLength(destinationPoint[1], currentPoint[1]),
 			getLength(destinationPoint[2], currentPoint[2])};
 	unsigned int maxLenth = getMaxLength(movementLength);
 	double lengthRatio[3] = { 1.0 * movementLength[0] / maxLenth, 1.0
 			* movementLength[1] / maxLenth, 1.0 * movementLength[2] / maxLenth };
-	Serial.print("Max length:");
-	Serial.print(maxLenth);
-	Serial.print("Length ratio:");
-	Serial.print(lengthRatio[0]);
-	Serial.print(", ");
-	Serial.print(lengthRatio[1]);
-	Serial.print(", ");
-	Serial.println(lengthRatio[2]);
-	Serial.print(", step per= ");
-	double sp = 1000 / (1.0*maxStepsPerSecond * lengthRatio[0] - 1);
-	Serial.print(sp);
-	Serial.print(", ");
-	sp = 1000 / (1.0*maxStepsPerSecond * lengthRatio[1] - 1);
-	Serial.print(sp);
-	Serial.print(", ");
-	sp = 1000 / (1.0*maxStepsPerSecond * lengthRatio[2] - 1);
-	Serial.println(sp);
-
-	Serial.print("MaxStepsPerSec==== ");
-	Serial.println(maxStepsPerSecond);
-
-	Serial.print("Calculation==== ");
-	sp = (1.0*maxStepsPerSecond * lengthRatio[0] - 1);
-	Serial.println(sp);
 
 	unsigned int currentMillis = 0;
 	unsigned int currentStepsPerSecond = maxStepsPerSecond;
@@ -310,6 +289,9 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
 	setDirections(currentPoint, destinationPoint);
 
 	while (!pointReached(currentPoint, destinationPoint)) {
+		if(endStopsReached()) {
+			return -1;
+		}
 		bool stepMade = false;
 		for (int i = 0; i < 3; i++) {
 			if (currentPoint[i] != destinationPoint[i] && currentMillis - lastStepMillis[i]
@@ -322,19 +304,8 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
 		delayMicroseconds(500);
 		if (stepMade) {
 			currentSteps++;
-			if (LOGGING) {
-				Serial.print("Step made:");
-				Serial.print(", Current step= ");
-				Serial.print(currentSteps);
-				Serial.print(", Current millis= ");
-				Serial.print(currentMillis);
-				Serial.print(", Current steps per sec= ");
-				Serial.println(currentStepsPerSecond);
-			}
 		}
 		currentMillis++;
-		//delay(1);
-		//delayMicroseconds(500);
 		if (stepMade) {
 			digitalWrite(X_STEP_PIN, LOW);
 			digitalWrite(Y_STEP_PIN, LOW);
@@ -344,12 +315,6 @@ int StepperControl::moveAbsoluteConstant(unsigned int xDest, unsigned int yDest,
 	}
 
 	//enableMotors(false);
-	Serial.print("FINISHED at: ");
-	Serial.print(currentPoint[0]);
-	Serial.print(", ");
-	Serial.print(currentPoint[1]);
-	Serial.print(", ");
-	Serial.println(currentPoint[2]);
 	CurrentState::getInstance()->setX(currentPoint[0]);
 	CurrentState::getInstance()->setY(currentPoint[1]);
 	CurrentState::getInstance()->setZ(currentPoint[2]);