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// This class allows the RepRap firmware to transmit commands to a Roland mill
// See: http://www.rolanddg.com/product/3d/3d/mdx-20_15/mdx-20_15.html
// http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf
#include "RepRapFirmware.h"
#if SUPPORT_ROLAND
Roland::Roland(Platform& p) : platform(p)
{
}
void Roland::Init()
{
pinMode(ROLAND_RTS_PIN, OUTPUT);
pinMode(ROLAND_CTS_PIN, INPUT);
digitalWrite(ROLAND_RTS_PIN, HIGH);
sBuffer = new StringRef(buffer, ARRAY_SIZE(buffer));
sBuffer->Clear();
bufferPointer = 0;
Zero(true);
longWait = platform.Time();
active = false;
}
void Roland::Spin()
{
if (!Active())
{
platform.ClassReport(longWait);
return;
}
// 'U' is 01010101 in binary (nice for an oscilloscope...)
//SERIAL_AUX2_DEVICE.write('U');
//SERIAL_AUX2_DEVICE.flush();
//return;
// Are we sending something to the Roland?
if (Busy()) // Busy means we are sending something
{
if (digitalRead(ROLAND_CTS_PIN))
{
platform.ClassReport(longWait);
return;
}
SERIAL_AUX2_DEVICE.write(buffer[bufferPointer]);
SERIAL_AUX2_DEVICE.flush();
bufferPointer++;
}
else // Not sending.
{
// Finished talking to the Roland
sBuffer->Clear();
bufferPointer = 0;
// Anything new to do?
EndstopChecks endStopsToCheck;
uint8_t moveType;
FilePosition filePos;
if (reprap.GetGCodes()->ReadMove(move, endStopsToCheck, moveType, filePos))
{
move[AXES] = move[DRIVES]; // Roland doesn't have extruders etc.
ProcessMove();
}
}
platform.ClassReport(longWait);
}
void Roland::Zero(bool feed)
{
size_t lim = feed ? AXES + 1 : AXES;
for(size_t axis = 0; axis < lim; axis++)
{
move[axis] = 0.0;
coordinates[axis] = 0.0;
oldCoordinates[axis] = 0.0;
offset[axis] = 0.0;
}
if (reprap.Debug(moduleGcodes))
{
platform.Message(HOST_MESSAGE, "Roland zero\n");
}
}
bool Roland::Busy()
{
return buffer[bufferPointer] != 0;
}
bool Roland::ProcessHome()
{
if (Busy())
{
return false;
}
sBuffer->copy("H;\n");
Zero(false);
if (reprap.Debug(moduleGcodes))
{
platform.MessageF(HOST_MESSAGE, "Roland home: %s", buffer);
}
return true;
}
bool Roland::ProcessDwell(long milliseconds)
{
if (Busy())
{
return false;
}
sBuffer->printf("W%ld;", milliseconds);
sBuffer->catf("Z %.4f,%.4f,%.4f;", oldCoordinates[0], oldCoordinates[1], oldCoordinates[2]);
sBuffer->cat("W0;\n");
if (reprap.Debug(moduleGcodes))
{
platform.MessageF(HOST_MESSAGE, "Roland dwell: %s", buffer);
}
return true;
}
bool Roland::ProcessG92(float v, size_t axis)
{
if (Busy())
{
return false;
}
move[axis] = v;
coordinates[axis] = move[axis]*ROLAND_FACTOR + offset[axis];
offset[axis] = oldCoordinates[axis];
oldCoordinates[axis] = coordinates[axis];
if (reprap.Debug(moduleGcodes))
{
platform.Message(HOST_MESSAGE, "Roland G92\n");
}
return true;
}
bool Roland::ProcessSpindle(float rpm)
{
if (Busy())
{
return false;
}
if (rpm < 0.5) // Stop
{
sBuffer->printf("!MC 0;\n");
}
else // Go
{
sBuffer->printf("!RC%ld;!MC 1;\n", (long)(rpm + 100.0));
}
if (reprap.Debug(moduleGcodes))
{
platform.MessageF(HOST_MESSAGE, "Roland spindle: %s", buffer);
}
return true;
}
void Roland::GetCurrentRolandPosition(float moveBuffer[])
{
for(size_t axis = 0; axis < AXES; axis++)
{
moveBuffer[axis] = move[axis];
}
for(size_t axis = AXES; axis < DRIVES; axis++)
{
moveBuffer[axis] = 0.0;
}
moveBuffer[DRIVES] = move[AXES];
}
void Roland::ProcessMove()
{
for(size_t axis = 0; axis < AXES; axis++)
{
coordinates[axis] = move[axis] * ROLAND_FACTOR + offset[axis];
}
coordinates[AXES] = move[AXES];
// Start with feedrate; For some reason the Roland won't accept more than 4 d.p.
sBuffer->printf("V %.4f;", coordinates[AXES]);
// Now the move
sBuffer->catf("Z %.4f,%.4f,%.4f;\n", coordinates[0], coordinates[1], coordinates[2]);
for(size_t axis = 0; axis <= AXES; axis++)
{
oldCoordinates[axis] = coordinates[axis];
}
if (reprap.Debug(moduleGcodes))
{
platform.MessageF(HOST_MESSAGE, "Roland move: %s", buffer);
}
}
bool Roland::RawWrite(const char* s)
{
if (Busy())
{
return false;
}
sBuffer->copy(s);
sBuffer->cat("\n");
if (reprap.Debug(moduleGcodes))
{
platform.MessageF(HOST_MESSAGE, "Roland rawwrite: %s", buffer);
}
return true;
}
bool Roland::Active()
{
return active;
}
void Roland::Activate()
{
digitalWrite(ROLAND_RTS_PIN, LOW);
active = true;
if (reprap.Debug(moduleGcodes))
{
platform.Message(HOST_MESSAGE, "Roland started\n");
}
}
bool Roland::Deactivate()
{
if (Busy())
{
return false;
}
digitalWrite(ROLAND_RTS_PIN, HIGH);
active = false;
if (reprap.Debug(moduleGcodes))
{
platform.Message(HOST_MESSAGE, "Roland stopped\n");
}
return true;
}
#endif
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