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/*
* StepperPositionJPanel.java
*
* Created on June 30, 2008, 4:59 PM
*/
package org.reprap.gui.botConsole;
import java.io.IOException;
import javax.swing.JOptionPane;
import org.reprap.Preferences;
import org.reprap.Printer;
//import org.reprap.AxisMotor;
//import org.reprap.comms.Communicator;
//import org.reprap.comms.snap.SNAPAddress;
//import org.reprap.devices.GenericStepperMotor;
/**
*
* @author ensab
*/
public class StepperPositionJPanel extends javax.swing.JPanel {
private static final long serialVersionUID = 1L;
//private Communicator communicator;
private int motorID;
private String axis;
//private GenericStepperMotor motor;
private Printer printer;
private double currentSpeed;
@SuppressWarnings("unused")
private double motorStepsPerMM;
private double axisLength;
private double nudgeSize;
private double newTargetAfterNudge;
private BotConsoleFrame parentBotConsoleFrame = null;
/**
* Really set it up under control...
* @param m
* @throws java.io.IOException
*/
public void postSetUp(int m) throws IOException {
//communicator = org.reprap.Main.getCommunicator();
motorID = m;
printer = org.reprap.Main.gui.getPrinter();
switch(motorID)
{
case 1:
axis = "X";
//motor = printer.getXMotor();
axisLength = 160; // TODO: Replace with Prefs when Java3D parameters work for small wv's.
break;
case 2:
axis = "Y";
//motor = printer.getYMotor();
axisLength = 160; // TODO: Replace with Prefs when Java3D parameters work for small wv's.
break;
case 3:
axis = "Z";
//motor = printer.getZMotor();
axisLength = 80; // TODO: Replace with Prefs when Java3D parameters work for small wv's.
break;
default:
axis = "X";
//motor = printer.getXMotor();
System.err.println("StepperPanel - dud axis id:" + motorID);
}
// if(!motor.isAvailable())
// {
// deactivateMotorPanel();
// return;
// }
targetPosition.setEnabled(true);
stepDownButton.setEnabled(true);
stepUpButton.setEnabled(true);
axisLabel.setText(axis);
targetPosition.setText("0");
storedPosition.setText("0");
//int address = Preferences.loadGlobalInt(axis + "Axis" + "Address");
//motor = new GenericStepperMotor(communicator, new SNAPAddress(address), Preferences.getGlobalPreferences(), motorID);
motorStepsPerMM = Preferences.loadGlobalDouble(axis + "AxisScale(steps/mm)");
// TODO: Activate this code when the Java3D parameters allow a small enough working volume. Currently I get a black screen.
// axisLength = Preferences.loadGlobalDouble("Working" + axis + "(mm)");
}
public void setConsoleFrame(BotConsoleFrame b)
{
parentBotConsoleFrame = b;
}
// private void deactivateMotorPanel() {
// //motor.dispose();
// //motor = null;
// axisLabel.setEnabled(false);
// targetPosition.setEnabled(false);
// //endButton.setEnabled(false);
// homeButton.setEnabled(false);
// storeButton.setEnabled(false);
// recallButton.setEnabled(false);
// stepDownButton.setEnabled(false);
// stepUpButton.setEnabled(false);
// }
// private int getSpeedFromFeed(double f)
// {
// if (axis.equals("Z"))
// return printer.convertFeedrateToSpeedZ(f);
// else
// return printer.convertFeedrateToSpeedXY(f);
// }
public void zeroBox()
{
targetPosition.setText("0");
}
public void homeAxis() {
parentBotConsoleFrame.suspendPolling();
try {
setSpeed();
switch(motorID)
{
case 1:
printer.homeToZeroX();
break;
case 2:
printer.homeToZeroY();
break;
case 3:
printer.homeToZeroZ();
break;
default:
System.err.println("StepperPositionPanel - homeReset. Dud motor id: " + motorID);
}
//motor.homeReset(getSpeedFromFeed(currentSpeed));
zeroBox();
} catch (Exception ex) {
JOptionPane.showMessageDialog(null, "Could not home motor: " + ex);
}
parentBotConsoleFrame.resumePolling();
}
public void setSpeed() {
if (motorID == 3)
{
currentSpeed = Double.parseDouble(org.reprap.gui.botConsole.XYZTabPanel.zSpeedField.getText());
//printer.setFeedrate(currentSpeed);
} else
{
currentSpeed = Double.parseDouble(org.reprap.gui.botConsole.XYZTabPanel.xySpeedField.getText());
//printer.setFeedrate(currentSpeed);
}
}
public double getTargetPositionInMM() {
double targetMM = Double.parseDouble(targetPosition.getText());
if (targetMM > axisLength) {
targetMM = axisLength;
targetPosition.setText("" + round(targetMM, 2));
}
if (targetMM < 0) {
targetMM = 0;
targetPosition.setText("" + round(targetMM, 2));
}
return targetMM;
}
// private int getTargetPositionInSteps() {
// double targetMM = getTargetPositionInMM();
// return (int)Math.round(targetMM * motorStepsPerMM);
// }
//
// private double stepsToMM(int steps)
// {
// return (double)steps/motorStepsPerMM;
// }
public void moveToTarget() {
parentBotConsoleFrame.suspendPolling();
setSpeed();
double x, y, z, p;
x = printer.getX();
y = printer.getY();
z = printer.getZ();
p = getTargetPositionInMM();
try
{
switch(motorID)
{
case 1:
x = p;
break;
case 2:
y = p;
break;
case 3:
z = p;
break;
default:
System.err.println("moveToTarget() Dud motor id: " + motorID);
}
printer.singleMove(x, y, z, currentSpeed);
//printer.moveTo(x, y, z, currentSpeed, false, false);
} catch (Exception ex)
{}
// try {
// motor.seek(getSpeedFromFeed(currentSpeed), getTargetPositionInSteps());
// }
// catch (Exception ex) {
// JOptionPane.showMessageDialog(null, axis + " motor could not seek: " + ex);
// }
parentBotConsoleFrame.resumePolling();
}
// public void moveToTargetBlocking() {
// setSpeed();
// try {
// motor.seekBlocking(getSpeedFromFeed(currentSpeed), getTargetPositionInSteps());
// }
// catch (Exception ex) {
// JOptionPane.showMessageDialog(null, axis + " motor could not block: " + ex);
// }
// }
public double round(double Rval, int r2dp) {
double p = (Double)Math.pow(10,r2dp);
Rval = Rval * p;
float tmp = Math.round(Rval);
return (double)tmp/p;
}
// public void updateCurrentPositionLabels() {
// currentPositionLabel.setText("(" + getTargetPositionInMM() + ")");
//
// }
public void setNudgeSize(double size) {
nudgeSize = size;
}
public void setTargetPositionField(int coord) {
targetPosition.setText("" + coord);
}
/** Creates new form StepperPositionJPanel */
public StepperPositionJPanel() {
initComponents();
}
/** This method is called from within the constructor to
* initialize the form.
* WARNING: Do NOT modify this code. The content of this method is
* always regenerated by the Form Editor.
*/
// <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
private void initComponents() {
stepUpButton = new javax.swing.JButton();
stepDownButton = new javax.swing.JButton();
homeButton = new javax.swing.JButton();
mmLabel1 = new javax.swing.JLabel();
targetPosition = new javax.swing.JTextField();
axisLabel = new javax.swing.JLabel();
storeButton = new javax.swing.JButton();
recallButton = new javax.swing.JButton();
storedPosition = new javax.swing.JLabel();
mmLabel2 = new javax.swing.JLabel();
stepUpButton.setText(">");
stepUpButton.setEnabled(false);
stepUpButton.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
stepUpButtonActionPerformed(evt);
}
});
stepDownButton.setText("<");
stepDownButton.setEnabled(false);
stepDownButton.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
stepDownButtonActionPerformed(evt);
}
});
homeButton.setText("Home");
homeButton.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
homeButtonActionPerformed(evt);
}
});
mmLabel1.setFont(new java.awt.Font("Tahoma", 0, 12));
mmLabel1.setText("mm");
targetPosition.setColumns(4);
targetPosition.setFont(targetPosition.getFont().deriveFont((float)12));
targetPosition.setHorizontalAlignment(javax.swing.JTextField.RIGHT);
targetPosition.setText("0");
targetPosition.setEnabled(false);
axisLabel.setFont(new java.awt.Font("Tahoma", 0, 12));
axisLabel.setText("X");
storeButton.setText("Sto");
storeButton.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
storeButtonActionPerformed(evt);
}
});
recallButton.setText("Rcl");
recallButton.addActionListener(new java.awt.event.ActionListener() {
public void actionPerformed(java.awt.event.ActionEvent evt) {
recallButtonActionPerformed(evt);
}
});
storedPosition.setFont(new java.awt.Font("Tahoma", 0, 12));
storedPosition.setHorizontalAlignment(javax.swing.SwingConstants.RIGHT);
storedPosition.setText("(?)");
storedPosition.setHorizontalTextPosition(javax.swing.SwingConstants.RIGHT);
storedPosition.setMaximumSize(new java.awt.Dimension(50, 15));
storedPosition.setPreferredSize(new java.awt.Dimension(50, 15));
mmLabel2.setFont(new java.awt.Font("Tahoma", 0, 12));
mmLabel2.setText("mm");
org.jdesktop.layout.GroupLayout layout = new org.jdesktop.layout.GroupLayout(this);
this.setLayout(layout);
layout.setHorizontalGroup(
layout.createParallelGroup(org.jdesktop.layout.GroupLayout.LEADING)
.add(layout.createSequentialGroup()
.addContainerGap()
.add(axisLabel)
.add(4, 4, 4)
.add(targetPosition, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE, org.jdesktop.layout.GroupLayout.DEFAULT_SIZE, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE)
.add(3, 3, 3)
.add(mmLabel1)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.RELATED)
.add(stepDownButton)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.RELATED)
.add(stepUpButton)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.UNRELATED)
.add(homeButton)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.UNRELATED)
.add(storeButton, org.jdesktop.layout.GroupLayout.DEFAULT_SIZE, 64, Short.MAX_VALUE)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.RELATED)
.add(recallButton)
.add(3, 3, 3)
.add(storedPosition, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE, 50, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE)
.addPreferredGap(org.jdesktop.layout.LayoutStyle.RELATED)
.add(mmLabel2)
.addContainerGap())
);
layout.setVerticalGroup(
layout.createParallelGroup(org.jdesktop.layout.GroupLayout.LEADING)
.add(layout.createSequentialGroup()
.addContainerGap()
.add(layout.createParallelGroup(org.jdesktop.layout.GroupLayout.BASELINE)
.add(axisLabel)
.add(targetPosition, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE, org.jdesktop.layout.GroupLayout.DEFAULT_SIZE, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE)
.add(mmLabel1)
.add(stepDownButton)
.add(stepUpButton)
.add(homeButton)
.add(storeButton)
.add(recallButton)
.add(storedPosition, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE, 15, org.jdesktop.layout.GroupLayout.PREFERRED_SIZE)
.add(mmLabel2))
.addContainerGap(org.jdesktop.layout.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
);
}// </editor-fold>//GEN-END:initComponents
private void stepUpButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_stepUpButtonActionPerformed
setSpeed();
newTargetAfterNudge = getTargetPositionInMM() + nudgeSize;
targetPosition.setText("" + round(newTargetAfterNudge, 2));
moveToTarget();
}//GEN-LAST:event_stepUpButtonActionPerformed
private void stepDownButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_stepDownButtonActionPerformed
setSpeed();
//System.out.println(nudgeSize);
double newTargetAfterNudge = getTargetPositionInMM() - nudgeSize;
targetPosition.setText("" + round(newTargetAfterNudge, 2));
moveToTarget();
}//GEN-LAST:event_stepDownButtonActionPerformed
private void homeButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_homeButtonActionPerformed
homeAxis();
}//GEN-LAST:event_homeButtonActionPerformed
public void store()
{
double pos = 0;
switch(motorID)
{
case 1:
pos = printer.getX();
break;
case 2:
pos = printer.getY();
break;
case 3:
pos = printer.getZ();
break;
default:
System.err.println("store() Dud motor id: " + motorID);
}
// try
// {
// moPos = motor.getPosition();
// } catch (Exception ex) {}
// double pos = stepsToMM(moPos);
storedPosition.setText("" + round(pos, 2));
}
private void storeButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_storeButtonActionPerformed
store();
}//GEN-LAST:event_storeButtonActionPerformed
public void recall()
{
targetPosition.setText(storedPosition.getText());
}
private void recallButtonActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_recallButtonActionPerformed
recall();
}//GEN-LAST:event_recallButtonActionPerformed
// Variables declaration - do not modify//GEN-BEGIN:variables
private javax.swing.JLabel axisLabel;
private javax.swing.JButton homeButton;
private javax.swing.JLabel mmLabel1;
private javax.swing.JLabel mmLabel2;
private javax.swing.JButton recallButton;
private javax.swing.JButton stepDownButton;
private javax.swing.JButton stepUpButton;
private javax.swing.JButton storeButton;
private javax.swing.JLabel storedPosition;
private javax.swing.JTextField targetPosition;
// End of variables declaration//GEN-END:variables
}
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