public void Start()
{
fInitialized = true;
printer.ResetStepper();
z_rail_init();
Process(); // this is a blocking call
}
//set height after z is sent from firmware
//states for each 3 states
//calls step stepper afer the calucaltion of steps
//public static bool initialized = false; //states...unknown- known
//private current hieght postion variable
//initialize method
//checks state and initializes...then sets height
public void InitializeState()
{
printer.ResetStepper();
if (initialized == false)
{
GoToLimitSwitch();
GoToBuildSurface();
}
initialized = true;
currentheightposition = 0;
}
void ProcessCommand(byte[] packet, PrinterControl printer)
{
// Process // TYLER's Section, Recieves byte array .
/* Byte 0: Command byte
* Byte 1: Length of parameter data (# of bytes)
* Byte 2: Low-byte of 16-bit checksum
* Byte 3: High-byte of 16-bit checksum
* Byte 4-n: Parameter data wait ms, stepper, move galvos, remove model, set laser
*
* Note: what we need to know is which bytes corespond to controling which of the below commands.
*/
if (firstCommand)
{
printer.ResetStepper();
moveTop(printer);
firstCommand = false;
}
printByteArray(packet, "Firmware received successfully. Now in process command.");
byte command = packet[0];
byte MoveGalvos_command = 0x00;
byte MoveZ_command = 0x01;
byte SetLaser_command = 0x02;
byte PrintDone_command = 0x03;
//byte WaitMicroseconds_command = 0x00;
//byte ResetStepper_command = 0x00;
//byte RemoveModelFromPrinter_command = 0x00;
//if (command == WaitMicroseconds_command) //WaitMicroseconds
//{
// // convert from byte to long
// long microsec = 0;
// printer.WaitMicroseconds(microsec);
//}
//if (command == ResetStepper_command) //ResetStepper
//{
// // void function
// printer.ResetStepper();
//}
if (command == MoveGalvos_command) //MoveGalvos
{
// convert from byte to float x and float y
byte[] x_substring = new byte[4]; // should I make this 4?
Array.Copy(packet, 4, x_substring, 0, 4);
byte[] y_substring = new byte[4]; // should I make this 4?
Array.Copy(packet, 8, y_substring, 0, 4);
float x = BitConverter.ToSingle(x_substring, 0);
float y = BitConverter.ToSingle(y_substring, 0);
float x_voltage = (float)(x * (2.5 / 100)); // find a better way to do these magic numbers
float y_voltage = (float)(y * (2.5 / 100));
printer.MoveGalvos(x_voltage, y_voltage); // sends voltages to MoveGalvos();
}
//else if (command == RemoveModelFromPrinter_command) //RemoveModelFromPrinter
//{
// // void function
// printer.RemoveModelFromPrinter();
//}
else if (command == SetLaser_command) //SetLaser
{
// convert from byte to bool
bool set = BitConverter.ToBoolean(packet, 4);
printer.SetLaser(set);
}
else if (command == MoveZ_command)
{
// convert from byte to float
float z_frombottom = BitConverter.ToSingle(packet, 4); // converting from byte[] starting at 4 to float
movementWithSpeed(printer, calculateDirection(printer, z_frombottom), CalculateDistance(printer, z_frombottom));
// zrailcontroller
}
else if (command == PrintDone_command)
{
fDone = true;
moveTop(printer);
}
}
public void executeCommand(byte command, byte[] param)
{
try
{
switch (command)
{
case 0x00:
return;
case 0x01:
commandsExecuted["ResetStepper"] += 1;
printer.ResetStepper();
moveStepperToTop();
moveStepperFromTopToBuildPlate();
break;
case 0x02:
float direction = BitConverter.ToSingle(param, 0);
if (direction == 1)
{
Console.WriteLine("Step up");
commandsExecuted["StepStepperUp"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
}
else if (direction == 0)
{
Console.WriteLine("Step down");
commandsExecuted["StepStepperDown"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
}
break;
case 0x03:
float value = BitConverter.ToSingle(param, 0);
if (value == 1)
{
printer.SetLaser(true);
Console.WriteLine("Turned on laser");
}
else if (value == 0)
{
printer.SetLaser(false);
Console.WriteLine("Turned laser off");
}
else
{
Console.WriteLine("Invalid laser value for on/off");
}
break;
case 0x04:
commandsExecuted["MoveGalvonometer"] += 1;
float x = BitConverter.ToSingle(param, 0);
float y = BitConverter.ToSingle(param, 4);
printer.MoveGalvos(x, y);
Console.WriteLine("Moved galvo");
break;
default:
Console.WriteLine("Bad command");
break;
}
}
catch (Exception e)
{
System.Console.WriteLine(e.StackTrace);
}
}