private void XY_move(double X, double Y)
{
string command;
double dX = Math.Abs(X - CurrentX);
double dY = Math.Abs(Y - CurrentY);
if ((dX < 0.004) && (dY < 0.004))
{
MainForm.DisplayText(" -- zero XY movement command --", KnownColor.Gray);
MainForm.DisplayText("ReadyEvent: zero movement command", KnownColor.Gray);
_readyEvent.Set();
return; // already there
}
X = X + SquareCorrection * Y;
X = Math.Round(X, 3);
if ((dX < 1) && (dY < 1))
{
// Small move
if (SlowXY)
{
if ((double)Properties.Settings.Default.CNC_SmallMovementSpeed > SlowSpeedXY)
{
command = SmallMovementString + "X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture);
}
else
{
command = "G1 F" + SlowSpeedXY.ToString()
+ " X" + X.ToString(CultureInfo.InvariantCulture) + " Y" + Y.ToString(CultureInfo.InvariantCulture);
}
}
else
{
command = SmallMovementString + "X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture);
}
}
else
{
// large move
if (SlowXY)
{
command = "G1 F" + SlowSpeedXY.ToString()
+ " X" + X.ToString(CultureInfo.InvariantCulture) + " Y" + Y.ToString(CultureInfo.InvariantCulture);
}
else
{
command = "G0 " + "X" + X.ToString(CultureInfo.InvariantCulture) + " Y" + Y.ToString(CultureInfo.InvariantCulture);
}
}
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
private void XYA_move(double X, double Y, double Am)
{
string command;
double dX = Math.Abs(X - CurrentX);
double dY = Math.Abs(Y - CurrentY);
double dA = Math.Abs(Am - CurrentA);
if ((dX < 0.004) && (dY < 0.004) && (dA < 0.01))
{
MainForm.DisplayText(" -- zero XYA movement command --", KnownColor.Gray);
MainForm.DisplayText("ReadyEvent: zero movement command", KnownColor.Gray);
_readyEvent.Set();
return; // already there
}
X = X + SquareCorrection * Y;
if ((dX < 1.0) && (dY < 1.0))
{
// small movement
// First do XY move, then A. This works always.
// (small moves and fast settings can sometimes cause problems)
if ((dX < 0.004) && (dY < 0.004))
{
MainForm.DisplayText(" -- XYA command, XY already there --", KnownColor.Gray);
}
else
{
if (SlowXY)
{
if ((double)Properties.Settings.Default.CNC_SmallMovementSpeed > SlowSpeedXY)
{
command = SmallMovementString + "X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture);
}
else
{
command = "G1 F" + SlowSpeedXY.ToString()
+ " X" + X.ToString(CultureInfo.InvariantCulture) + " Y" + Y.ToString(CultureInfo.InvariantCulture);
}
}
else
{
command = SmallMovementString + "X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture);
}
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
// then A:
if (dA < 0.01)
{
MainForm.DisplayText(" -- XYA command, XY already there --", KnownColor.Gray);
}
else
{
if (SlowA)
{
command = "G1 F" + SlowSpeedA.ToString() + " A" + Am.ToString(CultureInfo.InvariantCulture);
}
else
{
command = "G0 A" + Am.ToString(CultureInfo.InvariantCulture);
}
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
}
else
{
// normal case, large move
// Possibilities:
// SlowA, SlowXY
// SlowA, FastXY
// FastA, SlowXY
// Fast A, Fast XY
// To avoid side effects, we'll separate a and xy for first three cases
if (SlowA || (!SlowA && SlowXY))
{
// Do A first, then XY
if (dA < 0.01)
{
MainForm.DisplayText(" -- XYA command, XY already there --", KnownColor.Gray);
}
else
{
if (SlowA)
{
command = "G1 F" + SlowSpeedA.ToString() + " A" + Am.ToString(CultureInfo.InvariantCulture);
}
else
{
command = "G0 A" + Am.ToString(CultureInfo.InvariantCulture);
}
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
// A done, we know XY is slow and large
command = "G1 F" + SlowSpeedXY.ToString() +
" X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture);
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
else
{
// Fast A, Fast XY
command = "G0 " + "X" + X.ToString(CultureInfo.InvariantCulture) +
" Y" + Y.ToString(CultureInfo.InvariantCulture) +
" A" + Am.ToString(CultureInfo.InvariantCulture);
_readyEvent.Reset();
Com.Write("{\"gc\":\"" + command + "\"}");
_readyEvent.Wait();
}
}
}
