75 lines
1.7 KiB
C++
75 lines
1.7 KiB
C++
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/*
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* F11Handler.cpp
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*
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* Created on: 2014/07/21
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* Author: MattLech
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*/
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#include "F11Handler.h"
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static F11Handler *instance;
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F11Handler *F11Handler::getInstance()
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{
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if (!instance)
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{
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instance = new F11Handler();
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};
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return instance;
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};
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F11Handler::F11Handler()
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{
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}
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int F11Handler::execute(Command *command)
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{
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if (LOGGING)
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{
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Serial.print("R99 HOME X\r\n");
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}
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int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X);
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int moveAwayCoord = 10;
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int execution;
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bool emergencyStop;
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if (homeIsUp == 1)
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{
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moveAwayCoord = -moveAwayCoord;
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}
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int stepNr;
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// Move to home position. Then 3 times move away and move to home again.
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for (int stepNr = 0; stepNr < 7; stepNr++)
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{
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switch (stepNr)
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{
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case 0: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false); break;
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case 1: Movement::getInstance()->moveToCoords(moveAwayCoord, 0, 0, 0, 0, 0, false, false, false); break;
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case 2: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false); break;
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case 3: Movement::getInstance()->moveToCoords(moveAwayCoord, 0, 0, 0, 0, 0, false, false, false); break;
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case 4: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false); break;
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case 5: Movement::getInstance()->moveToCoords(moveAwayCoord, 0, 0, 0, 0, 0, false, false, false); break;
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case 6: Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, true, false, false); break;
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}
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execution = CurrentState::getInstance()->getLastError();
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emergencyStop = CurrentState::getInstance()->isEmergencyStop();
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if (emergencyStop || execution != 0)
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{
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break;
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}
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}
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if (LOGGING)
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{
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CurrentState::getInstance()->print();
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}
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return 0;
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}
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