Diff: modules/tools/laser/Laser.cpp

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/tools/laser/Laser.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,73 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+      Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/communication/utils/Gcode.h"
+#include "modules/robot/Stepper.h"
+#include "Laser.h"
+#include "libs/nuts_bolts.h"
+
+Laser::Laser(PinName pin) : laser_pin(pin){
+    this->laser_pin.period_us(10);
+}
+
+void Laser::on_module_loaded() {
+    if( !this->kernel->config->value( laser_module_enable_checksum )->by_default(false)->as_bool() ){ return; } 
+    this->register_for_event(ON_GCODE_EXECUTE);
+    this->register_for_event(ON_SPEED_CHANGE);
+    this->register_for_event(ON_PLAY);
+    this->register_for_event(ON_PAUSE);
+    this->register_for_event(ON_BLOCK_BEGIN);
+    this->register_for_event(ON_BLOCK_END);
+}
+
+// Turn laser off laser at the end of a move
+void  Laser::on_block_end(void* argument){
+    this->laser_pin = 0;
+}
+
+// Set laser power at the beginning of a block
+void Laser::on_block_begin(void* argument){
+    this->set_proportional_power();
+}
+
+// When the play/pause button is set to pause, or a module calls the ON_PAUSE event
+void Laser::on_pause(void* argument){
+    this->laser_pin = 0;
+}
+
+// When the play/pause button is set to play, or a module calls the ON_PLAY event
+void Laser::on_play(void* argument){
+    this->set_proportional_power();
+}
+
+// Turn laser on/off depending on received GCodes
+void Laser::on_gcode_execute(void* argument){
+    Gcode* gcode = static_cast<Gcode*>(argument);
+    this->laser_on = false;
+    if( gcode->has_letter('G' )){
+        int code = gcode->get_value('G');
+        if( code == 0 ){                    // G0
+            this->laser_pin = 0;
+            this->laser_on =  false;
+        }else if( code >= 1 && code <= 3 ){ // G1, G2, G3
+            this->laser_on =  true;
+        }
+    }
+}
+
+// We follow the stepper module here, so speed must be proportional
+void Laser::on_speed_change(void* argument){
+    this->set_proportional_power();
+}
+
+void Laser::set_proportional_power(){
+    if( this->laser_on && this->kernel->stepper->current_block ){ 
+        this->laser_pin = double(this->kernel->stepper->trapezoid_adjusted_rate)/double(this->kernel->stepper->current_block->nominal_rate);
+    }
+}