Exemple #1
0
func (vm *Machine) setMoveMode(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("motionGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("motionGroup", w)
			}

			switch w.Command {
			case 0:
				vm.State.MoveMode = MoveModeRapid
			case 1:
				vm.State.MoveMode = MoveModeLinear
			case 2:
				vm.State.MoveMode = MoveModeCWArc
			case 3:
				vm.State.MoveMode = MoveModeCCWArc
			case 80:
				vm.State.MoveMode = MoveModeNone
			default:
				unknownCommand("motionGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #2
0
func (vm *Machine) setCoolant(stmt *gcode.Block) {
	// TODO Handle M7 and M8 on same line
	if w, err := stmt.GetModalGroup("coolantGroup"); err == nil {
		if w != nil {
			if w.Address != 'M' {
				unknownCommand("coolantGroup", w)
			}

			switch w.Command {
			case 7:
				vm.State.MistCoolant = true
			case 8:
				vm.State.FloodCoolant = true
			case 9:
				vm.State.MistCoolant = false
				vm.State.FloodCoolant = false
			default:
				unknownCommand("coolantGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #3
0
func (vm *Machine) setSpindle(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("spindleGroup"); err == nil {
		if w != nil {
			if w.Address != 'M' {
				unknownCommand("spindleGroup", w)
			}

			switch w.Command {
			case 3:
				vm.State.SpindleEnabled = true
				vm.State.SpindleClockwise = true
			case 4:
				vm.State.SpindleEnabled = true
				vm.State.SpindleClockwise = false
			case 5:
				vm.State.SpindleEnabled = false
			default:
				unknownCommand("spindleGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}

}
Exemple #4
0
func (vm *Machine) feedRateMode(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("feedRateModeGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("feedRateModeGroup", w)
			}

			oldMode := vm.State.FeedMode
			switch w.Command {
			case 93:
				vm.State.FeedMode = FeedModeInvTime
			case 94:
				vm.State.FeedMode = FeedModeUnitsMin
			case 95:
				vm.State.FeedMode = FeedModeUnitsRev
			default:
				unknownCommand("feedRateModeGroup", w)
			}
			if vm.State.FeedMode != oldMode {
				// Ensure that feedrate is cleared
				vm.State.Feedrate = 0
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}

}
Exemple #5
0
func (vm *Machine) setCoordinateSystem(stmt *gcode.Block) {
	// TODO Implement coordinate system offsets!
	if w, err := stmt.GetModalGroup("coordinateSystemGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("coordinateSystemGroup", w)
			}

			if vm.State.CutterCompensation != CutCompModeNone {
				invalidCommand("coordinateSystemGroup", "coordinate system select", "Coordinate system change attempted with cutter compensation enabled")
			}

			switch w.Command {
			case 54:
				vm.CoordinateSystem.SelectCoordinateSystem(1)
			case 55:
				vm.CoordinateSystem.SelectCoordinateSystem(2)
			case 56:
				vm.CoordinateSystem.SelectCoordinateSystem(3)
			case 57:
				vm.CoordinateSystem.SelectCoordinateSystem(4)
			case 58:
				vm.CoordinateSystem.SelectCoordinateSystem(5)
			case 59:
				vm.CoordinateSystem.SelectCoordinateSystem(6)
			case 59.1:
				vm.CoordinateSystem.SelectCoordinateSystem(7)
			case 59.2:
				vm.CoordinateSystem.SelectCoordinateSystem(8)
			case 59.3:
				vm.CoordinateSystem.SelectCoordinateSystem(9)
			default:
				unknownCommand("coordinateSystemGroup", w)
			}

			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #6
0
func (vm *Machine) setArcDistanceMode(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("arcDistanceModeGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("arcDistanceModeGroup", w)
			}

			switch w.Command {
			case 90.1:
				vm.AbsoluteArc = true
			case 91.1:
				vm.AbsoluteArc = false
			default:
				unknownCommand("arcDistanceModeGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #7
0
func (vm *Machine) setToolLength(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("toolLengthGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("toolLengthGroup", w)
			}

			switch w.Command {
			case 43:
				// Ignore!
				fmt.Fprintf(os.Stderr, "Warning: G43 issued and ignored.\n")
				stmt.RemoveAddress('H')
			default:
				unknownCommand("toolLengthGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #8
0
func (vm *Machine) setUnits(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("unitsGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("unitsGroup", w)
			}

			switch w.Command {
			case 20:
				vm.Imperial = true
			case 21:
				vm.Imperial = false
			default:
				unknownCommand("unitsGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #9
0
func (vm *Machine) setStop(stmt *gcode.Block) {
	// TODO implement
	if w, err := stmt.GetModalGroup("stoppingGroup"); err == nil {
		if w != nil {
			if w.Address != 'M' {
				unknownCommand("stoppingGroup", w)
			}

			switch w.Command {
			case 2:
				vm.Completed = true
			case 30:
				vm.Completed = true
			default:
				unknownCommand("stoppingGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #10
0
func (vm *Machine) setCutterCompensation(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("cutterCompensationModeGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("cutterCompensationModeGroup", w)
			}

			switch w.Command {
			case 40:
				vm.State.CutterCompensation = CutCompModeNone
			case 41:
				vm.State.CutterCompensation = CutCompModeOuter
			case 42:
				vm.State.CutterCompensation = CutCompModeInner
			default:
				unknownCommand("cutterCompensationModeGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #11
0
func (vm *Machine) setPlane(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("planeSelectionGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("planeSelectionGroup", w)
			}

			switch w.Command {
			case 17:
				vm.MovePlane = PlaneXY
			case 18:
				vm.MovePlane = PlaneXZ
			case 19:
				vm.MovePlane = PlaneYZ
			default:
				unknownCommand("planeSelectionGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}
Exemple #12
0
func (vm *Machine) toolChange(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("toolChangeGroup"); err == nil {
		if w != nil {
			if w.Address != 'M' {
				unknownCommand("toolChangeGroup", w)
			}

			switch w.Command {
			case 6:
				if vm.NextTool == -1 {
					panic("Toolchange attempted without a defined tool")
				}
				vm.State.Tool = vm.NextTool
			default:
				unknownCommand("toolChangeGroup", w)
			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}

}
Exemple #13
0
func (vm *Machine) nonModals(stmt *gcode.Block) {
	if w, err := stmt.GetModalGroup("nonModalGroup"); err == nil {
		if w != nil {
			if w.Address != 'G' {
				unknownCommand("nonModalGroup", w)
			}

			switch w.Command {
			case 4:
				if val, err := stmt.GetWord('P'); err == nil {
					if val < 0 {
						invalidCommand("nonModalGroup", "dwell", "P word negative")
					}
					vm.dwell(val)
				} else {
					invalidCommand("nonModalGroup", "dwell", "P word not specified or specified multiple times")
				}
				stmt.RemoveAddress('P')

			case 10:
				if val, err := stmt.GetWord('L'); err == nil {
					if val == 2 {
						// Set coordinate system offsets
						if cs, err := stmt.GetWord('P'); err == nil {
							cs := int(cs)
							x, y, z := stmt.GetWordDefault('X', 0), stmt.GetWordDefault('Y', 0), stmt.GetWordDefault('Z', 0)
							x, y, z = vm.axesToMetric(x, y, z)

							vm.CoordinateSystem.SetCoordinateSystem(x, y, z, cs)
							stmt.RemoveAddress('X', 'Y', 'Z')
						} else {
							invalidCommand("nonModalGroup", "coordinate system configuration", "P word not specified or specified multiple times")
						}
						stmt.RemoveAddress('P')
					}
				} else {
					invalidCommand("nonModalGroup", "G10 configuration", "L word not specified or specified multiple times")
				}
				stmt.RemoveAddress('L')

			case 28:

				oldMode := vm.State.MoveMode
				vm.State.MoveMode = MoveModeRapid
				if stmt.IncludesOneOf('X', 'Y', 'Z') {
					newX, newY, newZ, _, _, _ := vm.calcPos(*stmt)
					vm.move(newX, newY, newZ)
					stmt.RemoveAddress('X', 'Y', 'Z')
				}
				vm.move(vm.StoredPos1.X, vm.StoredPos1.Y, vm.StoredPos1.Z)
				vm.State.MoveMode = oldMode

			case 28.1:
				pos := vm.curPos()
				vm.StoredPos1 = pos.Vector()

			case 30:
				oldMode := vm.State.MoveMode
				vm.State.MoveMode = MoveModeRapid
				if stmt.IncludesOneOf('X', 'Y', 'Z') {
					newX, newY, newZ, _, _, _ := vm.calcPos(*stmt)
					vm.move(newX, newY, newZ)
					stmt.RemoveAddress('X', 'Y', 'Z')
				}
				vm.move(vm.StoredPos2.X, vm.StoredPos2.Y, vm.StoredPos2.Z)
				vm.State.MoveMode = oldMode

			case 30.1:
				pos := vm.curPos()
				vm.StoredPos2 = pos.Vector()

			case 53:
				vm.CoordinateSystem.Override()

			case 92:
				if stmt.IncludesOneOf('X', 'Y', 'Z') {
					cp := vm.curPos()
					x, y, z := stmt.GetWordDefault('X', 0), stmt.GetWordDefault('Y', 0), stmt.GetWordDefault('Z', 0)
					x, y, z = vm.axesToMetric(x, y, z)

					vm.CoordinateSystem.DisableOffset()
					x, y, z = vm.CoordinateSystem.ApplyCoordinateSystem(x, y, z)
					diffX, diffY, diffZ := cp.X-x, cp.Y-y, cp.Z-z
					vm.CoordinateSystem.SetOffset(diffX, diffY, diffZ)
					vm.CoordinateSystem.EnableOffset()

					stmt.RemoveAddress('X', 'Y', 'Z')
				} else {
					invalidCommand("nonModalGroup", "G92 configuration", "No axis words specified")
				}
			case 92.1:
				vm.CoordinateSystem.EraseOffset()

			case 92.2:
				vm.CoordinateSystem.DisableOffset()

			case 92.3:
				vm.CoordinateSystem.EnableOffset()

			default:
				unknownCommand("nonModalGroup", w)

			}
			stmt.Remove(w)
		}
	} else {
		propagate(err)
	}
}