private void RelativeJog(JogDirections direction)
{
Machine.SendCommand("G91");
switch (direction)
{
case JogDirections.XPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} X{XYStepSize.ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.YPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Y{(XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.ZPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.XMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} X{(-XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.YMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Y{(-XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.ZMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(-ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T0Minus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(-ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T0Plus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T1Minus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(-ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T1Plus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
}
Machine.SendCommand("G90");
}
public void Jog(JogDirections direction)
{
if ((Machine.Settings.MachineType == FirmwareTypes.Repeteir_PnP ||
Machine.Settings.MachineType == FirmwareTypes.Marlin_Laser ||
Machine.Settings.MachineType == FirmwareTypes.Marlin ||
Machine.Settings.MachineType == FirmwareTypes.GRBL1_1) &&
(direction != JogDirections.CMinus && direction != JogDirections.CPlus)
)
{
RelativeJog(direction);
}
else
{
AbsoluteJog(direction);
}
}
private void AbsoluteJog(JogDirections direction)
{
var current = Machine.WorkspacePosition;
switch (direction)
{
case JogDirections.XPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} X{(current.X + XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.YPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Y{(current.Y + XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.ZPlus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(current.Z + ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.XMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} X{(current.X - XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.YMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Y{(current.Y - XYStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.ZMinus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(current.Z - ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T0Minus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(Machine.Tool0 - ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T0Plus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(Machine.Tool0 + ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T1Minus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(Machine.Tool1 - ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.T1Plus:
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} Z{(Machine.Tool1 + ZStepSize).ToDim()} F{Machine.Settings.JogFeedRate}");
break;
case JogDirections.CMinus:
{
var newAngle = Math.Round(Machine.Tool2 - 90);
var normalizedAngle = newAngle % 360;
if (normalizedAngle < 0)
{
normalizedAngle += 360;
}
var xOffset = -(Math.Sin(normalizedAngle.ToRadians()) * ShaftOffsetCorrection);
var yOffset = -(Math.Cos(normalizedAngle.ToRadians()) * ShaftOffsetCorrection);
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} E{(newAngle).ToDim()} F5000");
Machine.SendCommand("G90");
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} E{(newAngle).ToDim()} F5000");
Machine.SendCommand("G91");
Machine.SendCommand($"G0 X{xOffset.ToDim()} Y{yOffset.ToDim()}");
Machine.SendCommand("G90");
Debug.WriteLine($"New Angle {newAngle}°, Normalized {normalizedAngle}° Correction: ({xOffset.ToDim()} - {yOffset.ToDim()})");
}
break;
case JogDirections.CPlus:
{
var newAngle = Math.Round(Machine.Tool2 + 90);
var normalizedAngle = newAngle % 360;
if (normalizedAngle < 0)
{
normalizedAngle += 360;
}
var xOffset = -(Math.Sin(normalizedAngle.ToRadians()) * ShaftOffsetCorrection);
var yOffset = -(Math.Cos(normalizedAngle.ToRadians()) * ShaftOffsetCorrection);
Machine.SendCommand($"{Machine.Settings.JogGCodeCommand} E{(newAngle).ToDim()} F5000");
Machine.SendCommand("G91");
Machine.SendCommand($"G0 X{xOffset.ToDim()} Y{yOffset.ToDim()}");
Machine.SendCommand("G90");
Debug.WriteLine($"New Angle {newAngle}°, Normalized {normalizedAngle}° Correction: ({xOffset.ToDim()} - {yOffset.ToDim()})");
}
break;
}
}