public void ResetZRail()
{
while (!printer.LimitSwitchPressed())
{
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
}
for (int i = 0; i < 39800; i++)
{
printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
}
}
public void LimitVelocity()
{
int currentVelocity = 0;
while (printer.StepStepper(PrinterControl.StepperDir.STEP_UP) ||
printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN))
{
while (currentVelocity < MaxZRailVelocity)
{
}
}
}
public void StepStepperUp(int steps)
{
int stepCount = 0;
for (int i = 0; i < steps; i++)
{
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
stepCount++;
if (stepCount == 40)
{
Thread.Sleep(20);
stepCount = 0;
}
}
}
void RetractPlate()
{
ResetAccelStepper();
while (!printer.LimitSwitchPressed())
{
if (!printer.StepStepper(PrinterControl.StepperDir.STEP_UP))
{
break;
}
WaitForNextStep();
}
plateZ = printer.GetPrinterHeight();
}
public void ToLimit()
{
var switch_pressed = printer.LimitSwitchPressed();
var delay = 0;
var stepperSpeed = 1;
var totalDelay = 0; //Too keep track of the number of uS before increasing speed.
while (switch_pressed != true)
{
totalDelay += delay;
if (totalDelay >= 1010000)
{
stepperSpeed = IncreaseStepperSpeed(stepperSpeed);
totalDelay = 0;
}
delay = CalculateStepperDelay(stepperSpeed);
printer.WaitMicroseconds(delay);
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
switch_pressed = printer.LimitSwitchPressed();
}
}
public void GoToBuildSurface()
{
double currentDelay = 625;
double microsecondsPassed = 0;
for (int i = 0; i < 40000; i++)
{
printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
printer.WaitMicroseconds((long)currentDelay);
microsecondsPassed = microsecondsPassed + currentDelay;
if (microsecondsPassed > 1000000L)
{
currentDelay = currentDelay - 100;
if (currentDelay < 150)
{
currentDelay = 150;
}
microsecondsPassed = 0;
}
}
}
public void movementWithSpeed(PrinterControl printer, PrinterControl.StepperDir dir, float distance)
{
float velocity = 0;
float distanceTraveled = 0;
while (currentLocation == -1 && !(printer.LimitSwitchPressed()))
{
velocity += Acceleration;
//Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (printer.LimitSwitchPressed())
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (printer.LimitSwitchPressed())
{
break;
}
}
//printer.StepStepper(dir);
}
if (((dir == PrinterControl.StepperDir.STEP_DOWN) && (currentLocation - distance > 0) && (!printer.LimitSwitchPressed() || (currentLocation != -1))))
{
while (distanceTraveled < distance)
{
if (velocity < maxVelocity && (velocity + Acceleration < maxVelocity))
{
velocity += Acceleration;
}
else if (velocity < maxVelocity && (maxVelocity - velocity < Acceleration)) //allows us to reach max velocity without overshooting
{
velocity = maxVelocity;
}
//Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (distanceTraveled >= distance || (printer.LimitSwitchPressed() && (currentLocation == -1)))
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
}/*
* if (distanceTraveled + velocity < distance) //if we wont over shoot
* {
* distanceTraveled += velocity;
* }
* else //this happens if we're close but the velocity will over shoot it should move the rest of the way without overshooting
* {
* //distanceTraveled += (velocity - distance);
* velocity = 0;
* }
*/
}
currentLocation -= distanceTraveled;
}
if ((dir == PrinterControl.StepperDir.STEP_UP) && currentLocation + distance < 100 && !printer.LimitSwitchPressed())
{
while (distanceTraveled < distance)
{
if (velocity < maxVelocity && (velocity + Acceleration < maxVelocity))
{
velocity += Acceleration;
}
else if (velocity < maxVelocity && (maxVelocity - velocity < Acceleration))
{
velocity = maxVelocity;
}
// Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
}
}
currentLocation += distanceTraveled;
}
}
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);
}
}