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package org.reprap.devices.pseudo;
import java.io.IOException;
import org.reprap.devices.GenericExtruder;
import org.reprap.devices.GenericStepperMotor;
/**
* This is pseudo device that provides an apparent single device
* for plotting lines.
*/
public class LinePrinter {
private GenericStepperMotor motorX;
private GenericStepperMotor motorY;
private GenericExtruder extruder;
private boolean initialisedXY = false;
private int currentX, currentY;
public LinePrinter(GenericStepperMotor motorX, GenericStepperMotor motorY, GenericExtruder extruder) {
this.motorX = motorX;
this.motorY = motorY;
this.extruder = extruder;
}
public void initialiseXY() throws IOException {
if (!initialisedXY) {
currentX = motorX.getPosition();
currentY = motorY.getPosition();
initialisedXY = true;
}
}
/**
* Move to a 2-space point in a direct line. At the moment this is just the pure 2D Bresenham algorithm.
* It would be good to generalise this to a 3D DDA.
*/
public void moveTo(int endX, int endY, int movementSpeed) throws IOException {
initialiseXY();
if (currentX == endX && currentY == endY)
return;
GenericStepperMotor master, slave;
int x1, y0, y1;
// Whichever is the greater distance will be the master
// From an algorithmic point of view, we'll just consider
// the master to be X and the slave to be Y, which eliminates
// the need for mapping quadrants.
if (Math.abs(endX - currentX) > Math.abs(endY - currentY)) {
master = motorX;
slave = motorY;
x1 = endX;
y0 = currentY;
y1 = endY;
} else {
master = motorY;
slave = motorX;
x1 = endY;
y0 = currentX;
y1 = endX;
}
master.setSync(GenericStepperMotor.SYNC_NONE);
if (y0 < y1)
slave.setSync(GenericStepperMotor.SYNC_INC);
else
slave.setSync(GenericStepperMotor.SYNC_DEC);
int deltaY = Math.abs(y1 - y0);
//int deltaX = Math.abs(x1 - x0);
master.dda(movementSpeed, x1, deltaY);
slave.setSync(GenericStepperMotor.SYNC_NONE);
currentX = endX;
currentY = endY;
}
public void printTo(int endX, int endY, int movementSpeed, int extruderSpeed) throws IOException {
extruder.setExtrusion(extruderSpeed);
moveTo(endX, endY, movementSpeed);
extruder.setExtrusion(0);
}
public void printLine(int startX, int startY, int endX, int endY, int movementSpeed, int extruderSpeed) throws IOException {
moveTo(startX, startY, movementSpeed);
printTo(endX, endY, movementSpeed, extruderSpeed);
}
/**
* @return Returns the currentX.
*/
public int getCurrentX() {
return currentX;
}
/**
* @return Returns the currentY.
*/
public int getCurrentY() {
return currentY;
}
}
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