Making a start on the movement code.

GCodes.h

@@ -26,10 +26,12 @@ class GCodes
 {   
   public:
   
-    GCodes(Platform* p, Move* m, Heat* h, Webserver* w);
+    GCodes(Platform* p, Webserver* w);
     void Spin();
     void Init();
     void Exit();
+    boolean ReadMove(float* m);
+    boolean ReadHeat(float* h);
     
   private:
   
@@ -37,12 +39,13 @@ class GCodes
   
     Platform* platform;
     boolean active;
-    Move* move;
-    Heat* heat;
     Webserver* webserver;
     unsigned long lastTime;
     char gcodeBuffer[GCODE_LENGTH];
     int gcodePointer;
+    boolean moveAvailable;
+    boolean heatAvailable;
+    float moveBuffer[DRIVES];
 };
 
 #endif

GCodes.ino

@@ -21,13 +21,11 @@ Licence: GPL
 
 #include "RepRapFirmware.h"
 
-GCodes::GCodes(Platform* p, Move* m, Heat* h, Webserver* w)
+GCodes::GCodes(Platform* p, Webserver* w)
 {
   active = false;
   //Serial.println("GCodes constructor"); 
   platform = p;
-  move = m;
-  heat = h;
   webserver = w;
 }
 
@@ -41,6 +39,8 @@ void GCodes::Init()
   lastTime = platform->Time();
   gcodePointer = 0;
   active = true;
+  moveAvailable = false;
+  heatAvailable = false;
 }
 
 
@@ -80,3 +80,20 @@ void GCodes::Spin()
   }
 }
 
+
+boolean GCodes::ReadMove(float* m)
+{
+    if(!moveAvailable)
+      return false; 
+    for(char i = 0; i < DRIVES; i++)
+      m[i] = moveBuffer[i];
+    moveAvailable = false;
+}
+
+
+boolean GCodes::ReadHeat(float* h)
+{
+
+}
+
+

Heat.h

@@ -36,19 +36,17 @@ class Heat
     
   public:
   
-    Heat(Platform* p);
+    Heat(Platform* p, GCodes* g);
     void Spin();
     void Init();
     void Exit();
     
   private:
   
-  Platform* platform;
-  boolean active;
-  unsigned long lastTime;
-  //float frac;
-  //float inc;
-  
+    Platform* platform;
+    GCodes* gCodes;
+    boolean active;
+    unsigned long lastTime;
 };
 
 

Heat.ino

@@ -20,10 +20,10 @@ Licence: GPL
 
 #include "RepRapFirmware.h"
 
-Heat::Heat(Platform* p)
+Heat::Heat(Platform* p, GCodes* g)
 {
-  //Serial.println("Heat constructor"); 
   platform = p;
+  gCodes = g;
   active = false;
 }
 
@@ -49,15 +49,4 @@ void Heat::Spin()
    if(t - lastTime < 3000)
      return;
    lastTime = t;
-/*   if(frac > 1 || frac < 0)
-   {
-     inc = -inc;
-     //Serial.print("Temps: ");
-     //Serial.print(platform->getTemperature(0));
-    // Serial.print(", ");
-     //Serial.println(platform->getTemperature(1));
-   }
-   platform->setHeater(0, frac);
-   platform->setHeater(1, 1 - frac);
-   frac += inc;*/
 }

Move.h

@@ -21,20 +21,29 @@ Licence: GPL
 #ifndef MOVE_H
 #define MOVE_H
 
+#define BUFFER_LENGTH 10
+
 class Move
 {   
   public:
   
-    Move(Platform* p);
+    Move(Platform* p, GCodes* g);
     void Init();
     void Spin();
     void Exit();
+    void Qmove();
     
   private:
   
     Platform* platform;
+    GCodes* gCodes;
     unsigned long lastTime;
     boolean active;
+    float currentPosition[AXES]; // Note - drives above AXES are always relative moves
+    float nextMove[DRIVES];
 };
 
+
+
+
 #endif

Move.ino

@@ -20,20 +20,19 @@ Licence: GPL
 
 #include "RepRapFirmware.h"
 
-Move::Move(Platform* p)
+Move::Move(Platform* p, GCodes* g)
 {
   //Serial.println("Move constructor"); 
   platform = p;
+  gCodes = g;
   active = false;
 }
 
 void Move::Init()
 {
   lastTime = platform->Time();
-  platform->SetDirection(X_AXIS, FORWARDS);
-  platform->SetDirection(Y_AXIS, FORWARDS);
-  platform->SetDirection(Z_AXIS, FORWARDS);
-  platform->SetDirection(3, FORWARDS);
+  for(char i = 0; i < DRIVES; i++)
+    platform->SetDirection(i, FORWARDS);
   active = true;  
 }
 
@@ -46,15 +45,13 @@ void Move::Spin()
 {
   if(!active)
     return;
-    
-   unsigned long t = platform->Time();
-   if(t - lastTime < 300)
-     return;
-   lastTime = t;
-   //Serial.println("tick");
-/*  platform->step(X_AXIS);
-   platform->step(Y_AXIS);
-   platform->step(Z_AXIS);
-   platform->step(3);
-   */
+  Qmove();
+}
+
+
+void Move::Qmove()
+{
+  if(!gCodes->ReadMove(nextMove))
+    return;
+  
 }

Platform.h

@@ -65,6 +65,9 @@ Licence: GPL
 #define ENABLE 0      // What to send to enable... 
 #define DISABLE 1     // ...and disable a drive
 #define DISABLE_DRIVES {false, false, true, false} // Set true to disable a drive when it becomes idle
+#define LOW_STOP_PINS {3, 14, 17, -1}
+#define HIGH_STOP_PINS {-1, -1, -1, -1}
+#define ENDSTOP_HIT 1 // when a stop == this it is hit
 #define MAX_FEEDRATES {300, 300, 3, 45}    // mm/sec   
 #define MAX_ACCELERATIONS {800, 800, 30, 250}    // mm/sec^2?? Maximum start speed for accelerated moves.
 #define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000, 929}
@@ -73,9 +76,7 @@ Licence: GPL
 
 // AXES
 
-#define LOW_STOP_PINS {3, 14, 17}
-#define HIGH_STOP_PINS {-1, -1, -1}
-#define ENDSTOP_HIT 1 // when a stop == this it is hit
+
 #define AXIS_LENGTHS {210, 210, 120} // mm
 #define FAST_HOME_FEEDRATES {50*60, 50*60, 1*60}  // mm/min
 
@@ -162,6 +163,8 @@ class Platform
 {   
   public:
   
+  friend class Move;
+  
   Platform(RepRap* r);
   
   RepRap* GetRepRap();
@@ -248,6 +251,8 @@ class Platform
   char directionPins[DRIVES];
   char enablePins[DRIVES];
   boolean disableDrives[DRIVES];
+  char lowStopPins[DRIVES];
+  char highStopPins[DRIVES];
   float maxFeedrates[DRIVES];  
   float maxAccelerations[DRIVES];
   float driveStepsPerUnit[DRIVES];
@@ -256,8 +261,6 @@ class Platform
 
 // AXES
 
-  char lowStopPins[AXES];
-  char highStopPins[AXES];
   float axisLengths[AXES];
   float fastHomeFeedrates[AXES];
 

Platform.ino

@@ -47,7 +47,6 @@ void Platform::Init()
   byte i;
   
   Serial.begin(BAUD_RATE);
-  //Serial.println("\n\n\nPlatform constructor");
   
   lastTime = Time();
   
@@ -59,6 +58,8 @@ void Platform::Init()
     directionPins = DIRECTION_PINS;
     enablePins = ENABLE_PINS;
     disableDrives = DISABLE_DRIVES;
+    lowStopPins = LOW_STOP_PINS;
+    highStopPins = HIGH_STOP_PINS;
     maxFeedrates = MAX_FEEDRATES;
     maxAccelerations = MAX_ACCELERATIONS;
     driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
@@ -67,8 +68,6 @@ void Platform::Init()
     
   // AXES
   
-    lowStopPins = LOW_STOP_PINS;
-    highStopPins = HIGH_STOP_PINS;
     axisLengths = AXIS_LENGTHS;
     fastHomeFeedrates = FAST_HOME_FEEDRATES;
    
@@ -491,8 +490,6 @@ void Platform::Spin()
    if(Time() - lastTime < 2000000)
      return;
    lastTime = Time();
-   //Serial.print("Client status: ");
-   //Serial.println(clientStatus);
 }
 
 

RepRapFirmware.h

@@ -42,12 +42,7 @@ class RepRap
     void Init();
     void Spin();
     void Exit();
-    
-//    Platform* getPlatform();
-//    Move* getMove();
-//    Heat* getHeat();
-//    GCodes* getGcodes();
-//    Webserver* getWebserver();    
+       
     void Interrupt();
     
     
@@ -57,34 +52,18 @@ class RepRap
     boolean active;
     Move* move;
     Heat* heat;
-    GCodes* gcodes;
+    GCodes* gCodes;
     Webserver* webserver;
 };
 
 #include "Configuration.h"
 #include "Platform.h"
+#include "Webserver.h" 
+#include "GCodes.h"
 #include "Move.h"
 #include "Heat.h"
-#include "GCodes.h"
-#include "Webserver.h"
 
-// Do nothing more in the constructor; put what you want in RepRap:Init()
 
-inline RepRap::RepRap() 
-{
-  active = false;
-  platform = new Platform(this);
-  move = new Move(platform);
-  heat = new Heat(platform);
-  webserver = new Webserver(platform);
-  gcodes = new GCodes(platform, move, heat, webserver);
-}
-
-//inline Platform* RepRap::getPlatform() { return platform; }
-//inline Move* RepRap::getMove() { return move; }
-//inline Heat* RepRap::getHeat() { return heat; }
-//inline GCodes* RepRap::getGcodes() { return gcodes; }
-//inline Webserver* RepRap::getWebserver() { return webserver; }  
 
 extern RepRap reprap;
 

RepRapFirmware.ino

@@ -52,14 +52,25 @@ RepRap reprap;
 
 //*************************************************************************************************
 
+// Do nothing more in the constructor; put what you want in RepRap:Init()
+
+RepRap::RepRap() 
+{
+  active = false;
+  platform = new Platform(this);
+  webserver = new Webserver(platform);
+  gCodes = new GCodes(platform, webserver);
+  move = new Move(platform, gCodes);
+  heat = new Heat(platform, gCodes);
+}
 
 void RepRap::Init()
 {
   platform->Init();
+  gCodes->Init();
+  webserver->Init();
   move->Init();
   heat->Init();
-  gcodes->Init();
-  webserver->Init();
   platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started<br>\n");
   active = true;
 }
@@ -67,10 +78,10 @@ void RepRap::Init()
 void RepRap::Exit()
 {
   active = false;
-  webserver->Exit();
-  gcodes->Exit();
   heat->Exit();
   move->Exit();
+  gCodes->Exit();
+  webserver->Exit();
   platform->Exit();  
 }
 
@@ -80,10 +91,10 @@ void RepRap::Spin()
     return;
     
   platform->Spin();
+  webserver->Spin();
+  gCodes->Spin();
   move->Spin();
   heat->Spin();
-  gcodes->Spin();
-  webserver->Spin();
 }
 
 

Webserver.ino

@@ -119,7 +119,7 @@ boolean Webserver::MatchBoundary(char c)
 
 //****************************************************************************************************
 
-// Handling G Codes for the rest of the software
+// Feeding G Codes to the GCodes class
 
 boolean Webserver::Available()
 {
@@ -182,15 +182,9 @@ boolean Webserver::LoadGcodeBuffer(char* gc, boolean convertWeb)
   gcodeBuffer[gcodePointer] = 0;
   gcodePointer = 0;  
   
-// We intercept two G Codes so we can deal with file manipulation.  That
+// We intercept a G Code so we can deal with file manipulation.  That
 // way things don't get out of sync.
   
-/*  if(StringStartsWith(gc, "M28")) // Upload file?
-  {
-    uploadFile(&gc[4]);
-    return;
-  }*/
-  
   if(StringStartsWith(gcodeBuffer, "M30 ")) // Delete file?
   {
     if(!platform->DeleteFile(&gcodeBuffer[4]))