Diff: main.cpp

Revision:

25:7b3826dddcba

Parent:

24:92f612ca218b

Child:

26:f891ff6beb33

--- a/main.cpp	Tue May 15 18:38:50 2018 +0000
+++ b/main.cpp	Wed May 16 12:19:49 2018 +0000
@@ -299,6 +299,7 @@
 }
 
 void zeroX(int pps){
+    printf("Zero X\n\r");
     float time = 1.0/pps/2.0;
     
     if(dirX != x_minus){
@@ -317,6 +318,7 @@
     totalX = 0;
 }
 void zeroY(int pps){
+    printf("Zero Y\n\r");
     float time = 1.0/pps/2.0;
     
     if(dirY != y_minus){
@@ -335,6 +337,26 @@
     totalY = 0;
 }
 
+void zeroZ(int pps){
+    printf("Zero Z\n\r");
+    float time = 1.0/pps/2.0;
+    
+    if(dirZ != z_minus){
+        dirZ = z_minus;    
+    }
+    
+    while(!z_block_min){
+        stepZ = 1;
+        wait(time);
+        stepZ = 0;
+        wait(time);  
+    }
+    
+    printf("Z zero\n\r");
+    
+    totalZ = 0;
+}
+
 float steps_to_distance(int steps, float pitch){
     float delta_S = (((float)steps)/steps_by_rotation)*pitch;
     return delta_S;
@@ -549,13 +571,18 @@
 }
 
 void killJog(void){
-    saved = 0;
     kill_jog = 1; 
     printf("Jog killed\n\r"); 
 }
 
+void cancelProgram(void){
+    saved = 0;
+    killJog();    
+}
+
 void readSerial(void){
     char recv;
+    char last_recv;
     
     //save
     int save = 0;
@@ -571,6 +598,16 @@
     int jog_mode = 0;
     int kill_jog_mode = 0;
     
+    //reset
+    int reset = 0;
+    
+    //cancel
+    int cancel = 0;
+    
+    //zero
+    int zero = 0;
+    int machine_zero = 0;
+    
     printf("\n\nReceiving...\n\r");
     
     t.reset();
@@ -596,7 +633,24 @@
                 } else {
                     jog();    
                 }
-            }        
+            } else if(reset){
+                NVIC_SystemReset();
+            } else if(cancel){
+                cancel = 1;
+                cancelProgram();    
+            } else if(zero){
+                if(machine_zero){
+                    zeroX(ppsMax);
+                    zeroY(ppsMax);
+                    zeroZ(ppsMax);
+                } else if(last_recv == 'X'){
+                    totalX = 0;
+                } else if(last_recv == 'Y'){
+                    totalY = 0;
+                } else if(last_recv == 'Z'){
+                    totalZ = 0;
+                }
+            }
             break;
         }
         
@@ -612,6 +666,18 @@
             jog_mode = 1;    
         } 
         
+        if(recv == 'r'){
+            reset = 1;
+        }
+        
+        if(recv == 'c'){
+            cancel = 1;    
+        }
+        
+        if(recv == 'z'){
+            zero = 1; 
+        }
+        
         if(save){
             if(recv == 'M'){
                 mode = 1;
@@ -635,6 +701,12 @@
         if(jog_mode && recv == 'k'){
             kill_jog_mode = 1;    
         }
+        
+        if(zero && recv == 'm'){
+            machine_zero = 1;
+        } else if(zero && recv != 'm'){
+            last_recv = recv;    
+        }
     }
     t.reset();
 }
\ No newline at end of file