46 lines
1.8 KiB
Rust
46 lines
1.8 KiB
Rust
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use crate::printer::GcodeCommand;
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use crate::{gamepad::Gamepad, printer::gcode::G0Command, printer::Printer};
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use euclid::{vec3, Vector3D};
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use futures::never::Never;
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use std::sync::Arc;
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use std::time::Duration;
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/// Time that a single movement command should take
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///
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/// For a given GCode buffer size on the machine, we can assume
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/// a maximum delay of `TIME_PER_MOVEMENT * BUFFER_COUNT`
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const TIME_PER_MOVEMENT: Duration = Duration::from_millis(20);
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/// Movement speed of gantry when going full throttle in x/y-direction
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/// in units/min (mm/min)
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const FULL_SCALE_SPEED_XY: f64 = 1000.0;
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/// Movement speed of gantry when going full throttle in z-direction
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/// in units/min (mm/min)
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const FULL_SCALE_SPEED_Z: f64 = 10.0;
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/// Should be mm on most machine including the Leapfrog
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pub struct PrinterUnits;
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pub type PrinterVec = Vector3D<f64, PrinterUnits>;
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/// Jogging the gantry by pumping loads of gcode into the printer board
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pub async fn jog(gamepad: Arc<Gamepad>, mut printer: Printer) -> Never {
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loop {
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let (setpoint_x, setpoint_y, setpoint_z) = gamepad.speed_setpoint();
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let distance: PrinterVec = vec3(
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(FULL_SCALE_SPEED_XY / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_x as f64),
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(FULL_SCALE_SPEED_XY / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_y as f64),
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(FULL_SCALE_SPEED_Z / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_z as f64),
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);
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let velocity = distance.length();
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let command = G0Command {
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x: distance.x.into(),
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y: distance.y.into(),
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z: distance.z.into(),
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e: None,
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velocity: velocity.into(),
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};
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// printer.send_gcode(Box::new(command)).await;
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println!("{:?}", command.command());
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std::thread::sleep(TIME_PER_MOVEMENT);
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}
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}
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