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cae-tools/cngt/cngt.c
Werner Almesberger 62152e2987 cngt: some small fixes
- Makefile: updated program name in title comment
- cngt.c (do_key): "l" moved left, like "h"
- cngt.c (main): when starting, immediately move to initial position
- getkey.c (tty_open): open /dev/tty read-only, not write-only
2010-12-15 22:40:43 -03:00

136 lines
1.9 KiB
C

/*
* cngt.c - Tool change utility for MDX-15/20
*
* Written 2010 by Werner Almesberger
* Copyright 2010 Werner Almesberger
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*/
#include <stdlib.h>
#include <stdio.h>
#include "serial.h"
#include "getkey.h"
#define MAX_POS 10
#define STEP 5 /* xy movement step, 5 mm */
static double pos_x[MAX_POS];
static double pos_y[MAX_POS];
static double z0, height;
static double x, y, z;
#define UNITS(mm) ((mm)*40.0)
static void move(void)
{
serial_printf("!PZ%.1f,0;PD%.1f,%.1f\n", UNITS(z), UNITS(x), UNITS(y));
}
static void up(void)
{
z = z0+height;
move();
}
static void down(void)
{
z = z0;
move();
}
static int do_key(char c)
{
switch (c) {
case 'u':
up();
break;
case 'd':
down();
break;
case 'h':
up();
x -= STEP;
move();
break;
case 'j':
up();
y -= STEP;
move();
break;
case 'k':
up();
y += STEP;
move();
break;
case 'l':
up();
x += STEP;
move();
break;
case 'q':
return 1;
default:
if (c < '0' || c > '9')
break;
up();
x = pos_x[c-'0'];
y = pos_y[c-'0'];
move();
}
return 0;
}
static void usage(const char *name)
{
fprintf(stderr, "usage: %s z0 height (file | x y ...)\n", name);
exit(1);
}
int main(int argc, char **argv)
{
int i;
char c;
if (argc < 4)
usage(*argv);
if (!(argc & 1))
usage(*argv);
z0 = atof(argv[1]);
height = atof(argv[2]);
for (i = 3; i != argc; i += 2) {
pos_x[(i-3)/2] = atof(argv[i]);
pos_y[(i-3)/2] = atof(argv[i+1]);
}
serial_open("/dev/ttyUSB0");
serial_printf("\nIN;!MC0\n");
x = pos_x[0];
y = pos_y[0];
z = z0+height;
move();
while ((c = getkey()))
if (do_key(c))
break;
up();
serial_close();
return 0;
}