75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
|
|
/*
|
|
* F12Handler.cpp
|
|
*
|
|
* Created on: 2014/07/21
|
|
* Author: MattLech
|
|
*/
|
|
|
|
#include "F12Handler.h"
|
|
|
|
static F12Handler *instance;
|
|
|
|
F12Handler *F12Handler::getInstance()
|
|
{
|
|
if (!instance)
|
|
{
|
|
instance = new F12Handler();
|
|
};
|
|
return instance;
|
|
};
|
|
|
|
F12Handler::F12Handler()
|
|
{
|
|
}
|
|
|
|
int F12Handler::execute(Command *command)
|
|
{
|
|
|
|
if (LOGGING)
|
|
{
|
|
Serial.print("R99 HOME Y\r\n");
|
|
}
|
|
|
|
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X);
|
|
int moveAwayCoord = 10;
|
|
int execution;
|
|
bool emergencyStop;
|
|
|
|
if (homeIsUp == 1)
|
|
{
|
|
moveAwayCoord = -moveAwayCoord;
|
|
}
|
|
|
|
int stepNr;
|
|
|
|
// Move to home position. Then 3 times move away and move to home again.
|
|
for (int stepNr = 0; stepNr < 7; stepNr++)
|
|
{
|
|
switch (stepNr)
|
|
{
|
|
case 0: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false); break;
|
|
case 1: Movement::getInstance()->moveToCoords(0, moveAwayCoord, 0, 0, 0, 0, false, false, false); break;
|
|
case 2: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false); break;
|
|
case 3: Movement::getInstance()->moveToCoords(0, moveAwayCoord, 0, 0, 0, 0, false, false, false); break;
|
|
case 4: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false); break;
|
|
case 5: Movement::getInstance()->moveToCoords(0, moveAwayCoord, 0, 0, 0, 0, false, false, false); break;
|
|
case 6: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, true, false); break;
|
|
}
|
|
|
|
execution = CurrentState::getInstance()->getLastError();
|
|
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
|
|
|
|
if (emergencyStop || execution != 0)
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (LOGGING)
|
|
{
|
|
CurrentState::getInstance()->print();
|
|
}
|
|
return 0;
|
|
}
|