Implement xy movements

red/justfile

@@ -6,7 +6,7 @@ build:
 rrun:
   #scp -r ./src {{url}}:red/
   rsync -rvu --filter=':- .gitignore' ../red {{url}}: 
-  ssh {{url}} "cd red; /home/olimex/.cargo/bin/cargo run;"
+  ssh {{url}} "cd red; RUST_BACKTRACE=1 /home/olimex/.cargo/bin/cargo run;"
 
 rdown:
   ssh {{url}} "sudo /usr/sbin/poweroff"

red/src/jogger.rs

@@ -1,5 +1,6 @@
-use crate::printer::GcodeCommand;
+use crate::gamepad::Gamepad;
-use crate::{gamepad::Gamepad, printer::gcode::G0Command, printer::Printer};
+use crate::printer::gcode::{G0Command, G91Command};
+use crate::printer::{GcodeCommand, Printer};
 use euclid::{vec3, Vector3D};
 use futures::never::Never;
 use std::sync::Arc;
@@ -23,14 +24,25 @@ pub type PrinterVec = Vector3D<f64, PrinterUnits>;
 
 /// Jogging the gantry by pumping loads of gcode into the printer board
 pub async fn jog(gamepad: Arc<Gamepad>, mut printer: Printer) -> Never {
+    printer.send_gcode(Box::new(G91Command)).await.unwrap();
+    println!("Sent G91Command");
     loop {
         let (setpoint_x, setpoint_y, setpoint_z) = gamepad.speed_setpoint();
+        // We're bound by lower speed on z and have no way to go at separate speeds per axis
+        let full_scale_speed = if setpoint_z == 0.0 {
+            FULL_SCALE_SPEED_XY
+        } else {
+            FULL_SCALE_SPEED_Z
+        };
         let distance: PrinterVec = vec3(
-            (FULL_SCALE_SPEED_XY / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_x as f64),
+            full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_x as f64),
-            (FULL_SCALE_SPEED_XY / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_y as f64),
+            full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_y as f64),
-            (FULL_SCALE_SPEED_Z / 60.0) * TIME_PER_MOVEMENT.as_secs_f64() * (setpoint_z as f64),
+            full_scale_speed * (TIME_PER_MOVEMENT.as_secs_f64() / 60.0) * (setpoint_z as f64),
         );
-        let velocity = distance.length();
+        if distance.length() == 0.0 {
+            continue;
+        }
+        let velocity = distance.length() / (TIME_PER_MOVEMENT.as_secs_f64() / 60.0);
         let command = G0Command {
             x: distance.x.into(),
             y: distance.y.into(),
@@ -38,8 +50,7 @@ pub async fn jog(gamepad: Arc<Gamepad>, mut printer: Printer) -> Never {
             e: None,
             velocity: velocity.into(),
         };
-        // printer.send_gcode(Box::new(command)).await;
+        printer.send_gcode(Box::new(command)).await;
-        println!("{:?}", command.command());
         std::thread::sleep(TIME_PER_MOVEMENT);
     }
 }

red/src/main.rs

@@ -34,9 +34,9 @@ const I2C_REGISTER_SPINDLE_SPEED: u8 = 0;
 
 #[tokio::main]
 async fn main() -> Never {
-    print!("Entering App");
+    println!("Entering App");
     let gamepad = gamepad::Gamepad::new().await.unwrap();
-    let printer = Printer::connect(DEFAULT_TTY).await.unwrap();
+    let printer = Printer::connect("/dev/ttyUSB2").await.unwrap();
     // TODO: Make printer do relative movements
     jogger::jog(gamepad, printer).await
 }

red/src/printer/gcode/g28.rs

@@ -27,7 +27,7 @@ impl GcodeCommand for G28Command {
     }
 
     fn parse_reply(&self, reply: &str) -> Result<GcodeReply> {
-        if reply.is_empty() {
+        if !reply.is_empty() {
             Err(GcodeReplyError {
                 sent_command: self.command(),
                 parsed_input: reply.to_string(),

red/src/printer/gcode/g91.rs

@@ -0,0 +1,23 @@
+use super::*;
+
+/// Auto Home
+#[derive(Debug)]
+pub struct G91Command;
+
+impl GcodeCommand for G91Command {
+    fn command(&self) -> String {
+        "G91".into()
+    }
+
+    fn parse_reply(&self, reply: &str) -> Result<GcodeReply> {
+        if !reply.is_empty() {
+            Err(GcodeReplyError {
+                sent_command: self.command(),
+                parsed_input: reply.to_string(),
+                problem: "Expected no reply".to_string(),
+            })
+        } else {
+            Ok(GcodeReply::NoReply)
+        }
+    }
+}

red/src/printer/gcode/mod.rs

@@ -11,9 +11,11 @@
 /// ```
 mod g0;
 mod g28;
+mod g91;
 mod m114;
 pub use g0::G0Command;
 pub use g28::G28Command;
+pub use g91::G91Command;
 pub use m114::M114Command;
 use std::fmt::Debug;
 

red/src/printer/mod.rs

@@ -71,6 +71,7 @@ impl Printer {
 
             while let Some(command) = printer_in_rx.recv().await {
                 let command_text = format!("{}\n", command.command());
+                println!("sending in: {:?}", command_text);
                 serial_tx.send(command_text).await.unwrap();
                 let mut reply = "".to_string();
                 while let Some(line) = serial_rx.next().await {