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/*
* Cartesian Robot driver - Test program
*
* Adrian Bowyer
* 24 September 2005
*
*/
class cart_test
{
// Main program is just a big command loop
public static void main(String[] args)
{
cartesian c = new cartesian(false);
double x1, y1, z1, rad, theta;
int speedcount, acccount, inccount, stcount, loopcount;
byte b;
int stp, lp, rz;
String f_name;
String k;
rr_3point r = new rr_3point(c.envelope());
rr_3point rr = new rr_3point(c.envelope());
rr_3point rrr;
System.out.println("envelope: " + r.toString());
// Loop, reading commands and acting on them
TextReader in = new TextReader(System.in);
c.user_port((byte)4);
do
{
System.out.print("\nCommand: ");
k = in.getWord();
if(k.equals("p"))
{
r = new rr_3point(c.pos());
System.out.print("Position: (" + r.toString() + ") mm");
} else if( k.equals("a"))
{
System.out.print("X, Y, Z to accelerate and decelerate to (mm): ");
r.x = in.getDouble();
r.y = in.getDouble();
r.z = in.getDouble();
if(!c.quick(r))
{
System.out.println("Illegal position.");
r = new rr_3point(c.envelope());
System.out.println("Robot's envelope is: (" + r.toString() + ")");
}
} else if( k.equals("b"))
{
b = c.user_port();
System.out.println("User port byte: " + Byte.toString(b));
} else if( k.equals("B"))
{
System.out.print("Byte to send: ");
b = in.getByte();
c.user_port(b);
} else if( k.equals("g"))
{
System.out.print("X, Y, Z to move at constant speed to (mm): ");
r.x = in.getDouble();
r.y = in.getDouble();
r.z = in.getDouble();
if(!c.go(r))
{
System.out.println("Illegal position.");
r = new rr_3point(c.envelope());
System.out.println("Robot's envelope is: (" + r.toString() + ")");
}
} else if( k.equals("r"))
{
System.out.print("X, Y, Z for start: ");
r.x = in.getDouble();
r.y = in.getDouble();
r.z = in.getDouble();
System.out.print("X, Y, Z for end: ");
rr.x = in.getDouble();
rr.y = in.getDouble();
rr.z = in.getDouble();
if(!c.go(r))
{
System.out.println("Illegal position.");
r = new rr_3point(c.envelope());
System.out.println("Robot's envelope is: (" + r.toString() + ")");
}
System.out.print("Number of times to loop: ");
loopcount = in.getInt();
for(int i = 0; i < loopcount; i++)
{
c.go(rr);
c.go(r);
}
} else if(k.equals("G"))
{
System.out.print("X, Y, Z to move at constant speed to (mm): ");
r.x = in.getDouble();
r.y = in.getDouble();
r.z = in.getDouble();
c.user_port((byte)0);
if(!c.go(r))
{
System.out.println("Illegal position.");
r = c.envelope();
System.out.println("Robot's envelope is: (" + r.toString() + ")");
}
c.user_port((byte)4);
} else if(k.equals("s"))
{
c.safe();
} else if(k.equals("0"))
{
c.re_zero();
} else if(k.equals("v"))
{
System.out.print("Velocity (mm/s): ");
r.x = in.getDouble();
System.out.print("Rate (mm/s^2): ");
r.y = in.getDouble();
System.out.print("Time (s): ");
r.z = in.getDouble();
//c.speed(r.x, r.y, r.z);
c.speed(r.x); //*****new_cartesian
} else if( k.equals("c"))
{
System.out.print("Centre (x, y): ");
r.x = in.getDouble();
r.y = in.getDouble();
System.out.print("Height (z): ");
r.z = in.getDouble();
System.out.print("Radius: ");
rad = in.getDouble();
System.out.print("Steps: ");
stp = in.getInt();
rr = new rr_3point(c.pos());
rrr = new rr_3point(rr);
rr.x = r.x + rad;
rr.y = r.y;
c.quick(rr);
rr.z = r.z;
c.go(rr);
for(int i = 0; i <= stp; i++)
{
theta = 2*Math.PI*(double)i/(double)stp;
rr.x = r.x + rad*Math.cos(theta);
rr.y = r.y + rad*Math.sin(theta);
c.go(rr);
}
rr.z = rrr.z;
c.go(rr);
c.quick(rrr);
} else if( k.equals("D"))
{
System.out.print("File name for debugging information: ");
f_name = in.getWord();
c.debug(f_name);
System.out.println("Debugging is ON.");
} else if( k.equals("d"))
{
c.debug("");
System.out.println( "Debugging is OFF.");
} else if( k.equals("f") || k.equals("F"))
{
System.out.print("Name of the coordinate file: ");
f_name = in.getWord();
if(k.equals("F"))
{
System.out.print("Number of times to loop file: ");
lp = in.getInt();
for(int i = 0; i < lp; i++)
c.do_file(f_name);
} else
c.do_file(f_name);
} else if( k.equals("t"))
{
c.zero_test();
} else if( k.equals("H"))
{
c.half(true);
System.out.println("Half stepping is ON.");
} else if( k.equals("h"))
{
c.half(false);
System.out.println("Half stepping is OFF.");
} else if( k.equals("z"))
{
System.out.print("Re-zero after how many moves (-ve to supress)? ");
rz = in.getInt();
c.repeat_zero(rz);
} else if( k.equals("n"))
{
System.out.println("Steps per delay: " + c.get_speedcount());
//System.out.println("Steps to accelerate/decelerate for: " + c.get_acccount());
//System.out.println("Change speed every " + c.get_inccount() + " steps");
//System.out.println("Change speed by " + c.get_stcount() + " steps");
} else if( k.equals("N"))
{
System.out.print("Steps per delay: ");
speedcount = in.getInt();
/*System.out.print("Steps to accelerate/decelerate for: ");
acccount = in.getInt();
System.out.print("When accelerating, change speed after how many steps: ");
inccount = in.getInt();
System.out.print("When accelerating, change speed by how many steps: ");
stcount = in.getInt();*/
c.set_speed(speedcount);
} else if( k.equals("q"))
{
} else
{
System.out.println("Commands are:");
System.out.println("D - debug on");
System.out.println("d - debug off");
System.out.println("p - print position");
System.out.println("a - accelerate and decelerate to a position");
System.out.println("g - move at constant speed to a position");
System.out.println("G - move at constant speed to a position with user on/off");
System.out.println("H - half-stepping ON");
System.out.println("h - half-stepping OFF");
System.out.println("n - print the accelleration parameters");
System.out.println("r - loop to and fro between 2 points");
System.out.println("N - set the acceleration parameters");
System.out.println("s - move to the safe position");
System.out.println("b - reat a byte from the user port");
System.out.println("B - write a byte to the user port");
System.out.println("0 - re-establish the origin");
System.out.println("v - set speed and acceleration");
System.out.println("c - describe a circle");
System.out.println("f - read moves from a file and execute them");
System.out.println("F - read moves from a file and execute them in a loop");
System.out.println("t - test and re-establish the zero position");
System.out.println("z - test and re-establish the zero position every n moves");
System.out.println("q - quit");
}
} while(!k.equals("q"));
c.save();
}
}
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