Ejemplo n.º 1
0
 public void Start()
 {
     fInitialized = true;
     printer.ResetStepper();
     z_rail_init();
     Process(); // this is a blocking call
 }
Ejemplo n.º 2
0
        //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;
        }
Ejemplo n.º 3
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);
            }
        }
Ejemplo n.º 4
0
        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);
            }
        }