Diff: main.cpp

Revision:

1:f3fda065e614

Parent:

0:ba40c5f30cf0

--- a/main.cpp	Sat Apr 28 21:11:15 2012 +0000
+++ b/main.cpp	Fri May 04 06:25:59 2012 +0000
@@ -8,6 +8,10 @@
 #define PAN_RANGE 0.0009
 #define PAN_DEGREE 90
 #define PAN_CENTER 0.0002
+#define STEPS_PER_PIXEL_DEFAULT 600
+#define INITIAL_DELAY_DEFAULT 1200
+#define STEP_BUFFER_DEFAULT 4
+#define DEFAULT_FEEDRATE 200
 
 LocalFileSystem local("local");
 Serial pc(USBTX, USBRX);
@@ -79,10 +83,12 @@
     pc.baud(460800);
     printf("Test Airbrush!\r\n");
     linearMotion.setStepMotors(&x, &y, &z, &solenoid, &paused, &stopped);
+    linearMotion.updateSettings(STEPS_PER_PIXEL_DEFAULT, INITIAL_DELAY_DEFAULT, STEP_BUFFER_DEFAULT);
     wifi.createAdhocNetwork();
     wifi.attach_interrupt(0x09, pause, 0);
     wifi.attach_interrupt(0x0a, stop, 1);
     led = 1;
+    long paintingFeedrate = DEFAULT_FEEDRATE;
     while (1) {
         while (pc.readable()) {
             wifi.putc(pc.getc());
@@ -130,7 +136,7 @@
                                         cmd->l[4],
                                         cmd->l[5]};
                     pc.printf("Paint the image with corners at (x:%d, y:%d, z:%d), (x:%d, y:%d, z:%d) and (x:%d, y:%d, z:%d)\n\r", x.getPosition(), y.getPosition(), z.getPosition(),baseVector.x,baseVector.y,baseVector.z,heightVector.x,heightVector.y,heightVector.z);
-                    linearMotion.interpolateSquare(baseVector,heightVector,200,true);
+                    linearMotion.interpolateSquare(baseVector,heightVector,paintingFeedrate,true);
                     break;
                 }
                 case 0x04: { //change the pan
@@ -145,7 +151,12 @@
                     pc.printf("Change the tilt to %f\n\r",tilt);
                     break;
                 }
-
+                case 0x06: {
+                    linearMotion.updateSettings(cmd->l[0], cmd->l[1], cmd->l[2]);
+                    paintingFeedrate = cmd->l[3];
+                    break;
+                    
+                }
                 case 0x07: { //turn on the solenoid
                     long t = cmd->l[0];
                     if (t)