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package org.reprap.devices.pseudo;
import java.io.IOException;
import org.reprap.Extruder;
import org.reprap.devices.GenericStepperMotor;
/**
* This is a pseudo device that provides an apparent single device
* for plotting lines.
*/
public class LinePrinter {
/**
* Stepper motors
*/
private GenericStepperMotor motorX;
private GenericStepperMotor motorY;
private Extruder extruder;
/**
*
*/
private boolean initialisedXY = false;
/**
*
*/
private int currentX, currentY;
/**
* @param motorX
* @param motorY
* @param extruder
*/
public LinePrinter(GenericStepperMotor motorX, GenericStepperMotor motorY, Extruder extruder) {
this.motorX = motorX;
this.motorY = motorY;
this.extruder = extruder;
}
/**
* @throws IOException
*/
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.
* @param endX
* @param endY
* @param movementSpeed
* @throws IOException
*/
public void moveTo(int endX, int endY, int movementSpeed) throws IOException {
initialiseXY();
if (currentX == endX && currentY == endY)
return;
GenericStepperMotor master, slave;
int x0, 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;
x0 = currentX;
x1 = endX;
y0 = currentY;
y1 = endY;
} else {
master = motorY;
slave = motorX;
x0 = currentY;
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;
}
/**
* Correct the speed for the angle of the line to the axes
* @param movementSpeed
* @param dx
* @param dy
* @return
*/
private int angleSpeed(int movementSpeed, double dx, double dy) {
double length = Math.sqrt(dx*dx + dy*dy);
if(length == 0)
return movementSpeed;
double longSide = Math.max(Math.abs(dx), Math.abs(dy));
return (int)Math.round((movementSpeed*longSide)/length);
}
/**
* @param endX
* @param endY
* @param movementSpeed
* @param extruderSpeed
* @param turnOff True if extruder should be turned off after this segment is printed.
* @throws IOException
*/
public void printTo(int endX, int endY, int movementSpeed,
int extruderSpeed, boolean turnOff) throws IOException {
// Determine the extruder speed, based on the geometry of the line
// to be printed
double dx = endX - currentX;
double dy = endY - currentY;
// double h = Math.sqrt(dx * dx + dy * dy);
// double speedFraction;
// if (dx > dy)
// speedFraction = h / (dx * Math.sqrt(2.0));
// else
// speedFraction = h / (dy * Math.sqrt(2.0));
//extruder.setExtrusion((int)Math.round(extruderSpeed * speedFraction));
extruder.setExtrusion(extruderSpeed);
moveTo(endX, endY, angleSpeed(movementSpeed, dx, dy));
if(turnOff)
extruder.setExtrusion(0);
}
public void stopExtruding() throws IOException
{
extruder.setExtrusion(0);
}
/**
* @param startX
* @param startY
* @param endX
* @param endY
* @param movementSpeed
* @param extruderSpeed
* @param turnOff True if the extruder should be turned off at the end of this segment.
* @throws IOException
*/
public void printLine(int startX, int startY, int endX, int endY,
int movementSpeed, int extruderSpeed, boolean turnOff) throws IOException {
moveTo(startX, startY, movementSpeed);
printTo(endX, endY, movementSpeed, extruderSpeed, turnOff);
}
/**
* @return Returns the currentX.
*/
public int getCurrentX() {
return currentX;
}
/**
* @return Returns the currentY.
*/
public int getCurrentY() {
return currentY;
}
}
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