/// <summary>
/// Add the deceleration steps parameter to all G commands.
/// Deceleration steps are calculated such that steppers move as quickly as possible without violating max speeds and junction speeds.
/// </summary>
/// <param name="convertedGCodeLinesList"></param>
public void AddDecelerationStepsParameter(ref List <ConvertedGCodeLine> convertedGCodeLinesList)
{
//Reset the progress bar.
_progressBarTick = 0;
//A list of all the indeces where a new Material is set.
List <int> materialIndecesList = new List <int>();
//The reference of the corresponding Material of the same index in the MaterialIndecesList.
List <MaterialModel> materialModelsList = new List <MaterialModel>();
//Starting from the beginning of the list...
//Search for the settings of a new Material.
for (int i = 0; i < convertedGCodeLinesList.Count; i++)
{
//Found a new Material.
if ((convertedGCodeLinesList[i].GCode.Length >= 15) &&
(convertedGCodeLinesList[i].GCode.Substring(1, 14) == "SwitchMaterial"))
{
materialIndecesList.Add(i);
int materialNameStartIndex = convertedGCodeLinesList[i].GCode.IndexOf('"') + 1;
string materialName = convertedGCodeLinesList[i].GCode.Substring(materialNameStartIndex, convertedGCodeLinesList[i].GCode.Length - (materialNameStartIndex + 1));
materialModelsList.Add(_printModel.FindMaterialByName(materialName));
}
}
//For each Material...
//Calculate the number of steps of each movement until deceleration such that smooth cornerning is possible.
for (int m = 0; m < materialIndecesList.Count; m++)
{
int materialStartIndex = materialIndecesList[m];
int materialEndIndex = ((m + 1) >= materialIndecesList.Count) ? (convertedGCodeLinesList.Count - 1) : materialIndecesList[m + 1];
List <List <MovementModel> > continuousMovementsList = FindContinuousMovements(convertedGCodeLinesList, materialModelsList[m], materialStartIndex, materialEndIndex);
CalculateJunctionSpeeds(continuousMovementsList, materialModelsList[m]);
CalculateVelocityProfile(continuousMovementsList, materialModelsList[m]);
WriteExitSpeed(continuousMovementsList, ref convertedGCodeLinesList, materialModelsList[m]);
}
}
/// <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);
}
