/// <summary>
/// Takes manual input parameters for a set axis command and outputs the command to the serial port.
/// </summary>
/// <param name="axisName"></param>
/// <param name="maxSpeed"></param>
/// <param name="acceleration"></param>
public void ProcessManualSetAxisCommand(string axisName, double maxSpeed, double acceleration)
{
try
{
List <string> outgoingMessagesList = new List <string>();
AxisModel axisModel = _printerModel.FindAxis(axisName);
int limitPinID = (axisModel.AttachedLimitSwitchGPIOPinModel == null) ? GlobalValues.PinIDNull : axisModel.AttachedLimitSwitchGPIOPinModel.PinID;
string setAxisString = _writeSetAxisModel.WriteSetAxis(axisModel.AxisID, axisModel.AttachedMotorStepGPIOPinModel.PinID, axisModel.AttachedMotorDirectionGPIOPinModel.PinID,
axisModel.StepPulseTime, limitPinID, maxSpeed, acceleration, axisModel.MmPerStep);
//If switching Z Axes, then retract the current Z Axis first.
if (axisModel.AxisID == 'Z')
{
outgoingMessagesList.Add(SerialMessageCharacters.SerialCommandSetCharacter + "RetractZ");
}
outgoingMessagesList.Add(setAxisString);
_serialCommunicationOutgoingMessagesModel.QueueNextProspectiveOutgoingMessage(outgoingMessagesList);
}
catch (NullReferenceException e)
{
_errorListViewModel.AddError("", "Actuator needs to be set in Printer Settings before setting the actuator in Control Menu.");
}
catch
{
_errorListViewModel.AddError("", "Unknown error while setting valve printhead.");
}
}
/// <summary>
/// Interpret a switch material command set and return an array of commands.
/// </summary>
/// <param name="commandSet"></param>
/// <returns></returns>
private List <string> InterpretSwitchMaterial(string commandSet)
{
//Remove "*SwitchMaterial" from the beginning of the command set.
commandSet = commandSet.Substring(14);
//Potentially pause before deactivating the current printhead.
bool pauseBeforeDeactivating = false;
if (commandSet.Contains('D'))
{
pauseBeforeDeactivating = true;
}
//Potentially pause after activating the next printhead.
bool pauseBeforeActivating = false;
if (commandSet.Contains('A'))
{
pauseBeforeActivating = true;
}
//Set of commands to be returned at the end of this method.
List <string> returnCommands = new List <string>();
//The name of the Material which will be switched to will be between quote characters.
int firstNameIndex = commandSet.IndexOf('"');
int nameLength = commandSet.Substring(firstNameIndex + 1).IndexOf('"');
string materialName = commandSet.Substring(firstNameIndex + 1, nameLength);
MaterialModel materialModel = _printModel.FindMaterialByName(materialName);
if (materialModel == null)
{
_errorListViewModel.AddError("Command Set Invalid", materialName + " Not Set");
return(null);
}
//References to the current and new Printheads.
PrintheadModel currentPrintheadModel = _printerModel.FindPrinthead(_realTimeStatusDataModel.ActivePrintheadModel.Name);
PrintheadModel newPrintheadModel = materialModel.PrintheadModel;
//References to the Z Axis on the current Printhead.
AxisModel currentZAxisModel = _printerModel.FindAxis(currentPrintheadModel.AttachedZAxisModel.Name);
int currentZLimitPinID = (currentZAxisModel.AttachedLimitSwitchGPIOPinModel != null) ? currentZAxisModel.AttachedLimitSwitchGPIOPinModel.PinID : GlobalValues.PinIDNull;
//References to the XY Axes and new Z Axis.
AxisModel xAxisModel = _printerModel.AxisModelList[0];
int xLimitPinID = (xAxisModel.AttachedLimitSwitchGPIOPinModel != null) ? xAxisModel.AttachedLimitSwitchGPIOPinModel.PinID : GlobalValues.PinIDNull;
AxisModel yAxisModel = _printerModel.AxisModelList[1];
int yLimitPinID = (yAxisModel.AttachedLimitSwitchGPIOPinModel != null) ? yAxisModel.AttachedLimitSwitchGPIOPinModel.PinID : GlobalValues.PinIDNull;
AxisModel zAxisModel = _printerModel.FindAxis(newPrintheadModel.AttachedZAxisModel.Name);
int zLimitPinID = (zAxisModel.AttachedLimitSwitchGPIOPinModel != null) ? zAxisModel.AttachedLimitSwitchGPIOPinModel.PinID : GlobalValues.PinIDNull;
//If a new Printhead is required...
if (newPrintheadModel.Name != currentPrintheadModel.Name)
{
//1. Set previous Z Axis at max speeds.
//2. Retract the previous Printhead / Z Axis.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('Z', currentZAxisModel.AttachedMotorStepGPIOPinModel.PinID, currentZAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
currentZAxisModel.StepPulseTime, currentZLimitPinID, currentZAxisModel.MaxSpeed, currentZAxisModel.MaxAcceleration, currentZAxisModel.MmPerStep));
List <string> retractZ = RetractZ("", currentPrintheadModel.AttachedZAxisModel);
foreach (string command in retractZ)
{
if (!String.IsNullOrWhiteSpace(command))
{
returnCommands.Add(command);
}
}
//Pause before deactivating.
if (pauseBeforeDeactivating == true)
{
returnCommands.Add(SerialMessageCharacters.SerialPrintPauseCharacter.ToString());
}
//3. Set new XYZ to max speeds and move to the new Offset.
//Set associated X Axis at max speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('X', xAxisModel.AttachedMotorStepGPIOPinModel.PinID, xAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
xAxisModel.StepPulseTime, xLimitPinID, xAxisModel.MaxSpeed, xAxisModel.MaxAcceleration, xAxisModel.MmPerStep));
//Set associated Y Axis at max speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('Y', yAxisModel.AttachedMotorStepGPIOPinModel.PinID, yAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
yAxisModel.StepPulseTime, yLimitPinID, yAxisModel.MaxSpeed, yAxisModel.MaxAcceleration, yAxisModel.MmPerStep));
//Set associated Z Axis at max speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('Z', zAxisModel.AttachedMotorStepGPIOPinModel.PinID, zAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
zAxisModel.StepPulseTime, zLimitPinID, zAxisModel.MaxSpeed, zAxisModel.MaxAcceleration, zAxisModel.MmPerStep));
//4.Move to the new Offset at max speeds.
double zPosition = _realTimeStatusDataModel.ZRealTimeStatusAxisModel.Position;
List <string> moveToOffset = WriteMoveToOffset(newPrintheadModel, currentPrintheadModel, zPosition, pauseBeforeActivating);
foreach (string command in moveToOffset)
{
if (!String.IsNullOrWhiteSpace(command))
{
returnCommands.Add(command);
}
}
}
//5.Set the print speed parameters for the new Material.
//Set associated X Axis at print speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('X', xAxisModel.AttachedMotorStepGPIOPinModel.PinID, xAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
xAxisModel.StepPulseTime, xLimitPinID, materialModel.XYPrintSpeed, materialModel.XYPrintAcceleration, xAxisModel.MmPerStep));
//Set associated Y Axis at print speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('Y', yAxisModel.AttachedMotorStepGPIOPinModel.PinID, yAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
yAxisModel.StepPulseTime, yLimitPinID, materialModel.XYPrintSpeed, materialModel.XYPrintAcceleration, yAxisModel.MmPerStep));
//Set associated Z Axis at print speeds.
returnCommands.Add(_writeSetAxisModel.WriteSetAxis('Z', zAxisModel.AttachedMotorStepGPIOPinModel.PinID, zAxisModel.AttachedMotorDirectionGPIOPinModel.PinID,
zAxisModel.StepPulseTime, zLimitPinID, materialModel.ZPrintSpeed, materialModel.ZPrintAcceleration, zAxisModel.MmPerStep));
//6. Set the new Printhead at print speeds.
string setNewPrinthead = _setWritePrintheadModel.SetWritePrinthead(newPrintheadModel);
returnCommands.Add(setNewPrinthead);
return(returnCommands);
}
/// <summary>
/// Sends outgoing commands that retracts all Z Axes and moves X and Y Axes to the limit switches.
/// </summary>
public void Home(double xCalibrationSpeed, double yCalibrationSpeed, double zCalibrationSpeed, double xDistanceFromCenter, double yDistanceFromCenter)
{
try
{
//Retract Z Axes.
RetractAllZ(zCalibrationSpeed);
//Z Axes should be in default positions.
AxisModel zAxisModel = _printerModel.ZAxisModelList[_printerModel.ZAxisModelList.Count - 1];
double zPosition = zAxisModel.MaxPosition - GlobalValues.LimitBuffer;
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(SerialMessageCharacters.SerialCommandSetCharacter + "SetMinMaxPos " + "Z" + zPosition);
//Set X Axis to calibration speeds.
AxisModel xAxis = _printerModel.AxisModelList[0];
int xLimitPinID = (xAxis.AttachedLimitSwitchGPIOPinModel == null) ? GlobalValues.PinIDNull : xAxis.AttachedLimitSwitchGPIOPinModel.PinID;
string switchX = _writeSetAxisModel.WriteSetAxis(xAxis.AxisID, xAxis.AttachedMotorStepGPIOPinModel.PinID, xAxis.AttachedMotorDirectionGPIOPinModel.PinID, xAxis.StepPulseTime,
xLimitPinID, xCalibrationSpeed, xAxis.MaxAcceleration, xAxis.MmPerStep);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(switchX);
//Set Y Axis to max speeds.
AxisModel yAxis = _printerModel.AxisModelList[1];
int yLimitPinID = (yAxis.AttachedLimitSwitchGPIOPinModel == null) ? GlobalValues.PinIDNull : yAxis.AttachedLimitSwitchGPIOPinModel.PinID;
string switchY = _writeSetAxisModel.WriteSetAxis(yAxis.AxisID, yAxis.AttachedMotorStepGPIOPinModel.PinID, yAxis.AttachedMotorDirectionGPIOPinModel.PinID, yAxis.StepPulseTime,
yLimitPinID, yCalibrationSpeed, yAxis.MaxAcceleration, yAxis.MmPerStep);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(switchY);
//Hit the min and max limit switches on X.
double unused = 0;
string xPositive = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
xAxis.MmPerStep, 0, 0,
5000, 0, 0,
xAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
string xNegative = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
xAxis.MmPerStep, 0, 0,
-5000, 0, 0,
xAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(xPositive);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(xNegative);
//Move away from the limit switch.
string xMoveAwayFromLimit = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
xAxis.MmPerStep, 0, 0,
GlobalValues.LimitBuffer, 0, 0,
xAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(xMoveAwayFromLimit);
//Hit the min and max limit switches on Y.
string yPositive = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
0, yAxis.MmPerStep, 0,
0, 5000, 0,
yAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
string yNegative = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
0, yAxis.MmPerStep, 0,
0, -5000, 0,
yAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(yPositive);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(yNegative);
//Move away from the limit switch.
string yMoveAwayFromLimit = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
0, yAxis.MmPerStep, 0,
0, GlobalValues.LimitBuffer, 0,
yAxis.IsDirectionInverted, false, false,
ref unused, ref unused, ref unused));
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(yMoveAwayFromLimit);
//Set X Axis to max speeds.
string switchXMax = _writeSetAxisModel.WriteSetAxis(xAxis);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(switchXMax);
//Set Y Axis to max speeds.
string switchYMax = _writeSetAxisModel.WriteSetAxis(yAxis);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(switchYMax);
//Center the X and Y actuators.
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(SerialMessageCharacters.SerialCommandSetCharacter + "Center X" + xDistanceFromCenter + " Y" + yDistanceFromCenter);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(SerialMessageCharacters.SerialCommandSetCharacter + "OriginXY");
//At the end, switch the Z actuator to the Printhead used at the beginning of the print.
if (_realTimeStatusDataModel.ZRealTimeStatusAxisModel.Name != "Unset")
{
AxisModel zAxisFinalModel = _printerModel.FindAxis(_realTimeStatusDataModel.ZRealTimeStatusAxisModel.Name);
int zFinalLimitPinID = (zAxisFinalModel.AttachedLimitSwitchGPIOPinModel == null) ? GlobalValues.PinIDNull : zAxisFinalModel.AttachedLimitSwitchGPIOPinModel.PinID;
string switchZFinal = _writeSetAxisModel.WriteSetAxis(zAxisFinalModel.AxisID, zAxisFinalModel.AttachedMotorStepGPIOPinModel.PinID, zAxisFinalModel.AttachedMotorDirectionGPIOPinModel.PinID,
zAxisFinalModel.StepPulseTime, zFinalLimitPinID, zCalibrationSpeed, zAxisFinalModel.MaxAcceleration, zAxisFinalModel.MmPerStep);
_serialCommunicationOutgoingMessagesModel.AppendProspectiveOutgoingMessage(switchZFinal);
}
OnCalibrationBegun();
}
catch
{
_errorListViewModel.AddError("", "Unkown error when homing");
}
}