Laser.cpp

00001 /*  
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
00006 */
00007 
00008 #include "libs/Module.h"
00009 #include "libs/Kernel.h"
00010 #include "modules/communication/utils/Gcode.h"
00011 #include "modules/robot/Stepper.h"
00012 #include "Laser.h"
00013 #include "libs/nuts_bolts.h"
00014 
00015 Laser::Laser(PinName pin) : laser_pin(pin){
00016     this->laser_pin.period_us(10);
00017 }
00018 
00019 void Laser::on_module_loaded() {
00020     if( !this->kernel->config->value( laser_module_enable_checksum )->by_default(false)->as_bool() ){ return; } 
00021     this->register_for_event(ON_GCODE_EXECUTE);
00022     this->register_for_event(ON_SPEED_CHANGE);
00023     this->register_for_event(ON_PLAY);
00024     this->register_for_event(ON_PAUSE);
00025     this->register_for_event(ON_BLOCK_BEGIN);
00026     this->register_for_event(ON_BLOCK_END);
00027 }
00028 
00029 // Turn laser off laser at the end of a move
00030 void  Laser::on_block_end(void* argument){
00031     this->laser_pin = 0;
00032 }
00033 
00034 // Set laser power at the beginning of a block
00035 void Laser::on_block_begin(void* argument){
00036     this->set_proportional_power();
00037 }
00038 
00039 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
00040 void Laser::on_pause(void* argument){
00041     this->laser_pin = 0;
00042 }
00043 
00044 // When the play/pause button is set to play, or a module calls the ON_PLAY event
00045 void Laser::on_play(void* argument){
00046     this->set_proportional_power();
00047 }
00048 
00049 // Turn laser on/off depending on received GCodes
00050 void Laser::on_gcode_execute(void* argument){
00051     Gcode* gcode = static_cast<Gcode*>(argument);
00052     this->laser_on = false;
00053     if( gcode->has_letter('G' )){
00054         int code = gcode->get_value('G');
00055         if( code == 0 ){                    // G0
00056             this->laser_pin = 0;
00057             this->laser_on =  false;
00058         }else if( code >= 1 && code <= 3 ){ // G1, G2, G3
00059             this->laser_on =  true;
00060         }
00061     }
00062 }
00063 
00064 // We follow the stepper module here, so speed must be proportional
00065 void Laser::on_speed_change(void* argument){
00066     this->set_proportional_power();
00067 }
00068 
00069 void Laser::set_proportional_power(){
00070     if( this->laser_on && this->kernel->stepper->current_block ){ 
00071         this->laser_pin = double(this->kernel->stepper->trapezoid_adjusted_rate)/double(this->kernel->stepper->current_block->nominal_rate);
00072     }
00073 }