diff --git a/README.md b/README.md
index 3823dfec65e14e59de1720fa00b7d52096cc446b..90a1fe5fcee3a8b98b44c5187d17c1fd933dd7ea 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,9 @@ aka project consistent-sandbox
## oy
- - wait return -> planner
+ - cooler demo
+ - jog option
+
- port flushing ?
- want a test / reset set
- really, should be built into bridge (or hardware default objs)
diff --git a/load/ico.gcode b/load/ico.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..1cd1d2b93c35e699afc26ad467bc50f851e5247e
--- /dev/null
+++ b/load/ico.gcode
@@ -0,0 +1,234 @@
+G0 Z5.0000 F100
+G0 X87.7230Y8.0230
+G1 Z0.0000 F50
+G1 X0.9540Y126.8930
+G0 Z5.0000
+G0 X0.9540Y126.8930
+G1 Z0.0000
+G1 X29.2600Y54.1250
+G1 X87.6220Y8.0230
+G1 X87.7230Y8.0230
+G0 Z5.0000
+G0 X87.7230Y8.0230
+G1 Z0.0000
+G1 X87.7320Y8.0230
+G1 X91.6956Y21.1580
+G0 Z5.0000
+G0 X91.6956Y21.1580
+G1 Z0.0000
+G1 X123.4990Y126.5520
+G1 X123.4990Y126.5606
+G0 Z5.0000
+G0 X123.4990Y126.5606
+G1 Z0.0000
+G1 X91.6956Y21.1580
+G0 Z5.0000
+G0 X91.6956Y21.1580
+G1 Z0.0000
+G1 X87.7323Y8.0228
+G0 Z5.0000
+G0 X87.7323Y8.0228
+G1 Z0.0000
+G1 X169.6749Y9.3584
+G1 X227.8618Y53.8484
+G0 Z5.0000
+G0 X227.8618Y53.8484
+G1 Z0.0000
+G1 X87.7323Y8.0228
+G0 Z5.0000
+G0 X123.4990Y126.5606
+G1 Z0.0000
+G1 X123.4997Y126.5611
+G0 Z5.0000
+G0 X123.4997Y126.5611
+G1 Z0.0000
+G1 X123.5012Y126.5600
+G0 Z5.0000
+G0 X123.5012Y126.5600
+G1 Z0.0000
+G1 X123.5000Y126.5600
+G1 X123.4997Y126.5611
+G0 Z5.0000
+G0 X123.4997Y126.5611
+G1 Z0.0000
+G1 X93.7777Y223.2278
+G0 Z5.0000
+G0 X93.7777Y223.2278
+G1 Z0.0000
+G1 X86.5717Y246.6659
+G0 Z5.0000
+G0 X86.5717Y246.6659
+G1 Z0.0000
+G1 X86.5713Y246.6656
+G0 Z5.0000
+G0 X86.5713Y246.6656
+G1 Z0.0000
+G1 X86.4979Y246.6105
+G0 Z5.0000
+G0 X86.4979Y246.6105
+G1 Z0.0000
+G1 X0.9907Y127.1050
+G0 Z5.0000
+G0 X0.9907Y127.1050
+G1 Z0.0000
+G1 X0.9906Y127.1048
+G0 Z5.0000
+G0 X0.9906Y127.1048
+G1 Z0.0000
+G1 X86.4979Y246.6105
+G0 Z5.0000
+G0 X86.4979Y246.6105
+G1 Z0.0000
+G1 X28.2465Y201.8719
+G1 X0.9907Y127.1050
+G0 Z5.0000
+G0 X0.9907Y127.1050
+G1 Z0.0000
+G1 X0.9630Y127.0220
+G1 X7.7722Y126.9995
+G0 Z5.0000
+G0 X7.7722Y126.9995
+G1 Z0.0000
+G1 X0.9630Y127.0220
+G1 X0.9350Y126.9390
+G1 X0.9540Y126.8930
+G0 Z5.0000
+G0 X7.7722Y126.9995
+G1 Z0.0000
+G1 X123.4807Y126.6170
+G0 Z5.0000
+G0 X123.4807Y126.6170
+G1 Z0.0000
+G1 X7.7722Y126.9995
+G0 Z5.0000
+G0 X123.4807Y126.6170
+G1 Z0.0000
+G1 X123.4810Y126.6170
+G0 Z5.0000
+G0 X123.4810Y126.6170
+G1 Z0.0000
+G1 X123.4990Y126.5606
+G0 Z5.0000
+G0 X123.5012Y126.5600
+G1 Z0.0000
+G1 X205.3440Y69.7019
+G0 Z5.0000
+G0 X205.3440Y69.7019
+G1 Z0.0000
+G1 X123.5100Y126.5600
+G0 Z5.0000
+G0 X123.5100Y126.5600
+G1 Z0.0000
+G1 X227.0000Y201.4800
+G0 Z5.0000
+G0 X227.0000Y201.4800
+G1 Z0.0000
+G1 X226.9900Y201.5000
+G1 X226.9018Y201.5686
+G0 Z5.0000
+G0 X226.9018Y201.5686
+G1 Z0.0000
+G1 X201.5364Y209.7327
+G0 Z5.0000
+G0 X201.5364Y209.7327
+G1 Z0.0000
+G1 X226.9000Y201.5700
+G1 X226.9018Y201.5686
+G0 Z5.0000
+G0 X226.9018Y201.5686
+G1 Z0.0000
+G1 X226.9039Y201.5680
+G1 X168.2011Y247.8725
+G0 Z5.0000
+G0 X168.2011Y247.8725
+G1 Z0.0000
+G1 X86.6730Y246.7027
+G1 X201.5364Y209.7327
+G0 Z5.0000
+G0 X201.5364Y209.7327
+G1 Z0.0000
+G1 X86.6700Y246.7000
+G1 X86.6300Y246.7000
+G1 X86.5700Y246.6700
+G0 Z5.0000
+G0 X86.5700Y246.6700
+G1 Z0.0000
+G1 X86.5713Y246.6656
+G0 Z5.0000
+G0 X86.5713Y246.6656
+G1 Z0.0000
+G1 X93.7777Y223.2278
+G0 Z5.0000
+G0 X93.7777Y223.2278
+G1 Z0.0000
+G1 X123.4807Y126.6170
+G0 Z5.0000
+G0 X123.5012Y126.5600
+G1 Z0.0000
+G1 X123.5100Y126.5600
+G0 Z5.0000
+G0 X205.3440Y69.7019
+G1 Z0.0000
+G1 X227.8979Y54.0315
+G0 Z5.0000
+G0 X227.8979Y54.0315
+G1 Z0.0000
+G1 X227.8982Y53.9686
+G0 Z5.0000
+G0 X227.8982Y53.9686
+G1 Z0.0000
+G1 X227.8982Y53.8944
+G1 X227.8892Y53.8670
+G1 X227.8618Y53.8484
+G0 Z5.0000
+G0 X227.8982Y53.9686
+G1 Z0.0000
+G1 X227.8987Y53.8944
+G1 X255.3111Y129.1221
+G1 X227.0236Y201.4114
+G0 Z5.0000
+G0 X227.0236Y201.4114
+G1 Z0.0000
+G1 X227.5750Y108.4543
+G0 Z5.0000
+G0 X227.5750Y108.4543
+G1 Z0.0000
+G1 X227.8979Y54.0332
+G0 Z5.0000
+G0 X227.8979Y54.0332
+G1 Z0.0000
+G1 X227.8979Y54.0315
+G0 Z5.0000
+G0 X227.8979Y54.0315
+G1 Z0.0000
+G1 X227.8982Y54.0312
+G0 Z5.0000
+G0 X227.8982Y54.0312
+G1 Z0.0000
+G1 X227.8982Y53.9686
+G0 Z5.0000
+G0 X227.8982Y54.0312
+G1 Z0.0000
+G1 X227.9000Y54.0300
+G1 X227.5750Y108.4543
+G0 Z5.0000
+G0 X227.5750Y108.4543
+G1 Z0.0000
+G1 X227.0200Y201.4100
+G1 X227.0000Y201.4800
+G0 Z5.0000
+G0 X205.3440Y69.7019
+G1 Z0.0000
+G1 X227.8979Y54.0332
+G0 Z5.0000
+G0 X227.8979Y54.0332
+G1 Z0.0000
+G1 X227.8987Y54.0326
+G0 Z5.0000
+G0 X227.8987Y54.0326
+G1 Z0.0000
+G1 X227.8982Y54.0312
+G0 Z5.0000
+G0 Z5.0000
+G0 X0Y0
+M05
diff --git a/server.js b/server.js
index 82f084b95288cdb1529fa1aeca6fcc9f32ca1986..e9bea40b2b1309fe04c95a0e08fd20f57c82fca1 100644
--- a/server.js
+++ b/server.js
@@ -116,7 +116,7 @@ var term = addModule('./src/ui/terminal.js')
var multiline = addModule('./src/ui/multiline.js')
var button = addModule('./src/ui/button.js')
var numOut = addModule('./src/ui/number.js')
-var delay = addModule('./src/util/delay.js')
+var delay = addModule('./src/util/delay.js')
var gcode = addModule('./src/parsing/gcode.js')
var planner = addModule('./src/motion/planner.js')
@@ -157,8 +157,11 @@ planner.outputs.moves.attach(ymb.inputs.move)
planner.outputs.moves.attach(zm.inputs.move)
zm.outputs.ack.attach(planner.inputs.acks)
+planner.outputs.moveComplete.attach(multiline.inputs.req)
+
// same motors / bridge
xm.state.axis = 'X'
+xm.state.spu = 100
xm.outputs.packet.attach(bridge.inputs.A)
bridge.outputs.A.attach(xm.inputs.packet)
bridge.state.rA = '0,3'
@@ -166,7 +169,7 @@ t1.outputs.packet.attach(bridge.inputs.A)
bridge.outputs.A.attach(t1.inputs.packet)
yma.state.axis = 'Y'
-yma.state.spu = -200
+yma.state.spu = -100
yma.outputs.packet.attach(bridge.inputs.B)
bridge.outputs.B.attach(yma.inputs.packet)
bridge.state.rB = '0,0'
@@ -175,7 +178,7 @@ bridge.outputs.B.attach(t2.inputs.packet)
ymb.state.axis = 'Y'
// should have to reverse this but did it with wires :|
-ymb.state.spu = -200
+ymb.state.spu = -100
ymb.outputs.packet.attach(bridge.inputs.C)
bridge.outputs.C.attach(ymb.inputs.packet)
bridge.state.rC = '0,5'
@@ -183,7 +186,7 @@ t3.outputs.packet.attach(bridge.inputs.C)
bridge.outputs.C.attach(t3.inputs.packet)
zm.state.axis = 'Z'
-zm.state.spu = -200
+zm.state.spu = -100
zm.outputs.packet.attach(bridge.inputs.D)
bridge.outputs.D.attach(zm.inputs.packet)
bridge.state.rD = '0,1'
diff --git a/src/hardware/bridge.js b/src/hardware/bridge.js
index f355ec73944005997344806ea213f667578bd05e..ff3af69fe7e904395236ddf560b2e45770af8672 100644
--- a/src/hardware/bridge.js
+++ b/src/hardware/bridge.js
@@ -80,7 +80,15 @@ function ATKBridge() {
function sendToHardware(pckt) {
if (port != null && port.writable) {
- port.write(pckt)
+ if(port.write(pckt)){
+ return true
+ } else {
+ console.log('------------------ !ACHTUNG! -------------------')
+ console.log('------------------ !ACHTUNG! -------------------')
+ console.log('---------- port.write(pckt) false --------------')
+ // https://nodejs.org/api/stream.html#stream_event_drain
+ // https://serialport.io/docs/api-stream
+ }
return true
} else {
return false
@@ -196,7 +204,7 @@ function ATKBridge() {
function onPortData(data) {
// we'll make sure it's what we think it will be
- console.log("PORT DATA")
+ // console.log("PORT DATA")
var dtArray = new Array()
if (Buffer.isBuffer(data)) {
for (var i = 0; i < data.length; i++) {
@@ -249,7 +257,7 @@ function ATKBridge() {
var outKey = key.toString().charAt(1)
match = outKey
var headless = pckt.slice(pckt.indexOf(255) + 1)
- console.log('headless', headless)
+ //console.log('headless', headless)
bridge.outputs[outKey].emit(headless)
return true
}
diff --git a/src/hardware/stepper.js b/src/hardware/stepper.js
index 1a2f78cbb5afecf33bdb9f377f37f2e55ba1741b..7e9f1e8177fc670023e4ec9a7f0cce3f53de60ce 100644
--- a/src/hardware/stepper.js
+++ b/src/hardware/stepper.js
@@ -50,7 +50,6 @@ function Stepper() {
}
function onHardwareIn(pckt) {
- console.log("PCKT TO STEP", pckt)
var debug = false
if (debug) console.log('PCKT into stepper', pckt)
var key = pckt[0]
@@ -90,7 +89,7 @@ function Stepper() {
}
function onRawMove() {
- console.log('raw move for', state.rawMove)
+ console.log('TEST move for', state.rawMove)
// finds type of ramp, calculates entry and exit ramp lengths
var len = Math.abs(state.rawMove)
var delta = state.rawMove
@@ -117,7 +116,7 @@ function Stepper() {
} else {
// have to watch out for zero-lengths on this axis, also
var delta = move.vector[axisIndex]
- console.log('DELTA', delta)
+ //console.log('DELTA', delta)
if (Math.abs(delta) <= 0) {
// find a DOF w/o zlv
var fnd = false
diff --git a/src/hardware/test.js b/src/hardware/test.js
index 139c94b0cad0c8dbe68a4ab340e2059452e80ee5..7be7a80842f87ac2224753971687b0382df01f5b 100644
--- a/src/hardware/test.js
+++ b/src/hardware/test.js
@@ -40,7 +40,6 @@ function Test() {
}
function onPacketReturn(evt) {
- console.log("EVT", evt)
if (evt[0] == '127') {
state.message = 'packet return OK'
} else {
diff --git a/src/motion/planner.js b/src/motion/planner.js
index fecba5d4a58ff7aaa9efcdc6199d43b2f225daff..7d6115af8dbed5e7eb2b0239e68d433bb211f540 100644
--- a/src/motion/planner.js
+++ b/src/motion/planner.js
@@ -26,9 +26,9 @@ function Planner() {
state.reset = Button('reset planner')
state.onChange('reset', onPlannerReset)
- state.accel = 50 // units/s/s
- state.jd = 1 // units to arc about
- state.minSpeed = 5 // units/s
+ state.accel = 100 // units/s/s
+ state.jd = 0.5 // units to arc about
+ state.minSpeed = 10 // units/s
state.startStop = Button('start / stop planner')
state.onChange('startStop', onStartStop)
@@ -60,7 +60,7 @@ function Planner() {
*/
function onAck(msg) {
- console.log("Planner onAck:", msg)
+ //console.log("Planner onAck:", msg)
// update position, net states, run netCheck
var axes = state.axisIDs.split(',')
var match = axes.indexOf(msg.axis)
@@ -135,18 +135,18 @@ function Planner() {
// check equality
while (ns[i] == ns[i + 1]) {
i++
- console.log('EQUALITY LOOP')
+ // console.log('EQUALITY LOOP')
if (i > ns.length - 1) {
break
}
}
if (i == ns.length - 1) {
while (ns[i] < state.netWindow) {
- console.log('loop 2')
+ // console.log('loop 2')
sendMoveToNetwork()
- if(mq.length <= 0){
+ if (mq.length <= 0) {
planner.isRunning = 0
- break
+ break
}
}
}
@@ -162,6 +162,7 @@ function Planner() {
var move = JSON.parse(JSON.stringify(mq.shift()))
console.log("MOVE FROM PLANNER", move)
planner.outputs.moves.emit(move)
+ planner.outputs.moveComplete.emit(1)
} else {
planner.isRunning = 0
}
@@ -176,6 +177,8 @@ function Planner() {
// the move que, of which it is nice to have shorthand
var mq = new Array()
+ var zlcounter = 0
+
function onNewInstruction(move) {
// our axis
var axes = state.axisIDs.split(',')
@@ -205,7 +208,13 @@ function Planner() {
}
// check for zero-length vector
if (MJS.distance(p1, p2) == 0) {
+ console.log('------------------ !ACHTUNG! -------------------')
+ console.log('------------------ !ACHTUNG! -------------------')
console.log('planner throwing zero length vector')
+ zlcounter ++
+ console.log(zlcounter)
+ // this means we need another one from the queue
+ planner.outputs.moveComplete.emit(1)
} else {
// starting with basics
var newMove = {
@@ -307,6 +316,8 @@ function Planner() {
for (var i = 0; i < mq.length; i++) {
calcTrap(mq[i], accel, false)
if (moveTime(mq[i]) < 0.1) {
+ console.log('------------------ !ACHTUNG! -------------------')
+ console.log('------------------ !ACHTUNG! -------------------')
console.log("WARN! move time here", moveTime(mq[i]))
}
console.log(moveTime(mq[i]))
diff --git a/src/ui/multiline.js b/src/ui/multiline.js
index 2ab55f43c4f161db40ad52d843f62770b7405ec9..f430342fc050bd0eb7675853bef403d1f6592047 100644
--- a/src/ui/multiline.js
+++ b/src/ui/multiline.js
@@ -7,6 +7,8 @@ let State = InOut.State
let MultiLine = InOut.MultiLine
let Button = InOut.Button
+const fs = require('fs')
+
// a constructor, a fn, a javascript mess
function MultiLineIn() {
@@ -21,13 +23,18 @@ function MultiLineIn() {
multilinein.state = State()
// alias !
var state = multilinein.state
-
+ state.load = Button('LOAD')
+ state.onChange('load', onLoadFile)
state.thru = Button('WHAM')
state.previously = MultiLine('lines complete', 11) // = Multiline(rows)
state.now = MultiLine('line just out', 1)
state.onChange('thru', lineThru)
+
state.incoming = MultiLine('future lines', 36)
- state.incoming.value = "G0 F50 X10\nG0 Y10\nG0 X0\nG0 Z5\nG0 X10Y10\nG0 X0Y20\nG0 X0Y0Z0"
+ state.incoming.value = "G0 Z5.0000 F100\nG0 X87.7230Y8.0230\nG1 Z0.0000 F50\nG1 X0.9540Y126.8930\nG0 Z5.0000\nG0 X0.9540Y126.8930\nG1 Z0.0000\nG1 X29.2600Y54.1250\nG1 X87.6220Y8.0230\nG1 X87.7230Y8.0230\nG0 Z5.0000\nG0 X87.7230Y8.0230\nG1 Z0.0000\nG1 X87.7320Y8.0230\nG1 X91.6956Y21.1580\nG0 Z5.0000\nG0 X91.6956Y21.1580\nG1 Z0.0000\nG1 X123.4990Y126.5606\nG0 Z5.0000\n"
+ /*
+ G0 F50 X100\nG0 Y100\nG0 X0\nG0 Z5\nG0 X10Y10\nG0 X0Y20\nG0 X0Y0Z0"
+ */
multilinein.inputs = {
req: Input('number', onLineRequest),
@@ -57,7 +64,7 @@ function MultiLineIn() {
state.previously.value = outBox.join('\n')
state.incoming.value = inBox.join('\n')
// HERE is another hack for busted state-passing system
- state.now = state.now
+ state.now = state.now
if (inBox.length < 1 && box == '') {
console.log("END OF MULTILINE")
@@ -68,18 +75,24 @@ function MultiLineIn() {
}
function onLineRequest(num) {
- console.log('ON LINE REQ', num)
+ console.log('-------------------------- ON LINE REQ', num)
for (var i = 0; i < num; i++) {
lineThru()
}
}
- function onExternalLine(str) {
- // push new str to bottom of queue
+ function onLoadFile() {
+ console.log('!!!!!!')
+ fs.readFile('load/ico.gcode', 'utf8', (err, data) => {
+ if (err) throw err;
+ console.log(data);
+ state.incoming.value = data
+ state.incoming = state.incoming
+ })
}
- function onLoadFile(path) {
- // reset, git big string from file
+ function onExternalLine(str) {
+ // push new str to bottom of queue
}
return multilinein