Added acceleration MCode support to go with https://github.com/jetty8…

…40/G3Firmware

MCodes:  201, 203, 204, 205, 206, 207, 208, 209, 215

src/replicatorg/app/GCodeEnumeration.java

@@ -70,17 +70,25 @@ public enum GCodeEnumeration {
 	M141("M", 141, "Set Chamber Temperature (Ignored)"),
 	M142("M", 142, "Set Chamber Holding Pressure (Ignored)"),
 	M200("M", 200, "Reset driver"),
-	M300("M", 300, "Set Servo 1 Position"),
-	M301("M", 301, "Set Servo 2 Position"),
-	M310("M", 310, "Start data capture"),
-	M311("M", 311, "Stop data capture"),
-	M312("M", 312, "Log a note to the data capture store"),
+	M201("M", 201, "Set max acceleration"),
+	M203("M", 203, "Set max feedrate"),
+	M204("M", 204, "Set default acceleration"),
+	M205("M", 205, "Set Advanced Settings"),
+	M206("M", 206, "Set Filament Diameter"),
+	M207("M", 207, "Set Advance K"),
+	M208("M", 208, "Set Extruder Steps:mm"),
+	M209("M", 209, "Set Acceleration Control"),
 	M210("M", 210, "Mood Light Set RGB Color"),
 	M211("M", 211, "Mood Light Set HSB Color"),
 	M212("M", 212, "Mood Light Play Script"),
 	M213("M", 213, "Set Buzzer Repetitions"),
 	M214("M", 214, "Buzz"),
-
+	M215("M", 215, "Set Axis Steps Per:mm"),
+	M300("M", 300, "Set Servo 1 Position"),
+	M301("M", 301, "Set Servo 2 Position"),
+	M310("M", 310, "Start data capture"),
+	M311("M", 311, "Stop data capture"),
+	M312("M", 312, "Log a note to the data capture store"),
 	G0("G", 0, "Rapid Positioning"),
 	G1("G", 1, "Coordinated Motion"),
 	G2("G", 2, "Clockwise Arc"),

src/replicatorg/app/GCodeParser.java

@@ -660,6 +660,72 @@ else if (gcode.hasCode('R'))
 			commands.add(new replicatorg.drivers.commands.DataCaptureNote(gcode.getComment()));
 			break;
 
+		case M201: //Set max acceleration
+			{
+				double x = gcode.getCodeValue('X');
+				double y = gcode.getCodeValue('Y');
+				double z = gcode.getCodeValue('Z');
+				double a = gcode.getCodeValue('A');
+				commands.add(new replicatorg.drivers.commands.SetMaxAcceleration(x,y,z,a));
+			}
+			break;
+
+		case M203: //Set max feedrate
+			{
+				double x = gcode.getCodeValue('X');
+				double y = gcode.getCodeValue('Y');
+				double z = gcode.getCodeValue('Z');
+				double a = gcode.getCodeValue('A');
+				commands.add(new replicatorg.drivers.commands.SetMaxFeedRate(x,y,z,a));
+			}
+			break;
+
+		case M204: //Set default acceleration
+			{
+				double s = gcode.getCodeValue('S');
+				double t = gcode.getCodeValue('K');
+				commands.add(new replicatorg.drivers.commands.SetDefaultAcceleration(s,t));
+			}
+			break;
+
+		case M205: //Set Advanced Settings
+			{
+				double s = (double)gcode.getCodeValue('S') / 10.0;
+				double t = (double)gcode.getCodeValue('K') / 10.0;
+				double x = (double)gcode.getCodeValue('X') / 10.0;
+				double z = (double)gcode.getCodeValue('Z') / 10.0;
+				commands.add(new replicatorg.drivers.commands.SetAdvancedSettings(s,t,x,z));
+			}
+			break;
+
+		case M206: //Set Filament Diameter
+			{
+				double s = (double)gcode.getCodeValue('S') / 100.0;
+				commands.add(new replicatorg.drivers.commands.SetFilamentDiameter(s));
+			}
+			break;
+
+		case M207: //Set Advance K
+			{
+				double s = (double)gcode.getCodeValue('S') / 100000.0;
+				commands.add(new replicatorg.drivers.commands.SetAdvanceK(s));
+			}
+			break;
+
+		case M208: //Set Extruder Steps:mm
+			{
+				double a = gcode.getCodeValue('A') / 10.0;
+				commands.add(new replicatorg.drivers.commands.SetExtruderStepsPerMM(a));
+			}
+			break;
+
+		case M209: //Set Acceleration Control
+			{
+				double s = gcode.getCodeValue('S');
+				commands.add(new replicatorg.drivers.commands.SetAccelerationControl(s));
+			}
+			break;
+
 		case M210: // Mood Light Set RGB Color
 			double fadeSpeed = (int)gcode.getCodeValue('S');
 			if ( fadeSpeed == -1 )	fadeSpeed = 8;		//The default
@@ -737,6 +803,16 @@ else if (( repeats < 1 ) || ( repeats > 255))
 			else	commands.add(new replicatorg.drivers.commands.Buzz(buzzes, duration, repeats));
 			break;
 
+		case M215: //Set Axis Steps Per:mm
+			{
+				double x = (double)gcode.getCodeValue('X') / 10000.0;
+				double y = (double)gcode.getCodeValue('Y') / 10000.0;
+				double z = (double)gcode.getCodeValue('Z') / 10000.0;
+				double a = (double)gcode.getCodeValue('A') / 10000.0;
+				commands.add(new replicatorg.drivers.commands.SetAxisStepsPerMM(x,y,z,a));
+			}
+			break;
+
 		default:
 			throw new GCodeException("Unknown M code: M" + (int) gcode.getCodeValue('M'));
 		}

src/replicatorg/drivers/Driver.java

@@ -236,6 +236,27 @@ public interface Driver {
 
 	public void buzz(int buzzes, int duration, int repeats) throws RetryException;
 
+	/**
+	 * Acceleration Methods
+	 */
+	public void setMaxAcceleration(double x, double y, double z, double a) throws RetryException;
+
+	public void setMaxFeedRate(double x, double y, double z, double a) throws RetryException;
+
+	public void setDefaultAcceleration(double s, double t) throws RetryException;
+
+	public void setAdvancedSettings(double s, double t, double x, double z) throws RetryException;
+
+	public void setFilamentDiameter(double s) throws RetryException;
+
+	public void setAdvanceK(double s) throws RetryException;
+
+	public void setExtruderStepsPerMM(double a) throws RetryException;
+
+	public void setAccelerationControl(double s) throws RetryException;
+
+	public void setAxisStepsPerMM(double x, double y, double z, double a) throws RetryException;
+
 	/**
 	 * Home the given set of axes at the given feedrate.  If the feedrate is <=0, run at
 	 * maximum feedrate for the appropriate axes.

src/replicatorg/drivers/DriverBaseImplementation.java

@@ -433,6 +433,38 @@ public void setBuzzerRepetitions(int repeats) throws RetryException {
         public void buzz(int buzzes, int duration, int repeats) throws RetryException {
 	}
 
+	/***************************************************************************
+	 * Acceleration interface functions
+	 * @throws RetryException 
+	 **************************************************************************/
+
+        public void setMaxAcceleration(double x, double y, double z, double a) throws RetryException {
+	}
+
+        public void setMaxFeedRate(double x, double y, double z, double a) throws RetryException {
+	}
+
+        public void setDefaultAcceleration(double s, double t) throws RetryException {
+	}
+
+        public void setAdvancedSettings(double s, double t, double x, double z) throws RetryException {
+	}
+
+        public void setFilamentDiameter(double s) throws RetryException {
+	}
+
+        public void setAdvanceK(double s) throws RetryException {
+	}
+
+        public void setExtruderStepsPerMM(double a) throws RetryException {
+	}
+
+        public void setAccelerationControl(double s) throws RetryException {
+	}
+
+        public void setAxisStepsPerMM(double x, double y, double z, double a) throws RetryException {
+	}
+
 	/***************************************************************************
 	 * pause function
 	 * @throws RetryException 

src/replicatorg/drivers/VirtualPrinter.java

@@ -285,10 +285,62 @@ public void buzz(int buzzes, int duration, int repeats)
 	}
 
 	@Override
-	public void homeAxes(EnumSet<AxisId> axes, boolean positive, double feedrate)
+        public void setMaxAcceleration(double x, double y, double z, double a) 
 			throws RetryException {
 		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setMaxFeedRate(double x, double y, double z, double a)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setDefaultAcceleration(double s, double t)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
 
+	@Override
+        public void setAdvancedSettings(double s, double t, double x, double z)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setFilamentDiameter(double s)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setAdvanceK(double s)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setExtruderStepsPerMM(double a)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setAccelerationControl(double s)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+        public void setAxisStepsPerMM(double x, double y, double z, double a)
+			throws RetryException {
+		// TODO Auto-generated method stub
+	}
+
+	@Override
+	public void homeAxes(EnumSet<AxisId> axes, boolean positive, double feedrate) {
+		// TODO Auto-generated method stub
 	}
 
 	@Override

src/replicatorg/drivers/commands/SetAccelerationControl.java

@@ -0,0 +1,17 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetAccelerationControl implements DriverCommand {
+
+	double s;
+
+	public SetAccelerationControl(double s) {
+		this.s = s; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setAccelerationControl(s);
+	}
+}

src/replicatorg/drivers/commands/SetAdvanceK.java

@@ -0,0 +1,17 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetAdvanceK implements DriverCommand {
+
+	double s;
+
+	public SetAdvanceK(double s) {
+		this.s = s; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setAdvanceK(s);
+	}
+}

src/replicatorg/drivers/commands/SetAdvancedSettings.java

@@ -0,0 +1,20 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetAdvancedSettings implements DriverCommand {
+
+	double s, t, x, z;
+
+	public SetAdvancedSettings(double s, double t, double x, double z) {
+		this.s = s; 
+		this.t = t; 
+		this.x = x; 
+		this.z = z; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setAdvancedSettings(s,t,x,z);
+	}
+}

src/replicatorg/drivers/commands/SetAxisStepsPerMM.java

@@ -0,0 +1,20 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetAxisStepsPerMM implements DriverCommand {
+
+	double x, y, z, a;
+
+	public SetAxisStepsPerMM(double x, double y, double z, double a) {
+		this.x = x; 
+		this.y = y; 
+		this.z = z; 
+		this.a = a; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setAxisStepsPerMM(x,y,z,a);
+	}
+}

src/replicatorg/drivers/commands/SetDefaultAcceleration.java

@@ -0,0 +1,18 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetDefaultAcceleration implements DriverCommand {
+
+	double s, t;
+
+	public SetDefaultAcceleration(double s, double t) {
+		this.s = s; 
+		this.t = t; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setDefaultAcceleration(s, t);
+	}
+}

src/replicatorg/drivers/commands/SetExtruderStepsPerMM.java

@@ -0,0 +1,17 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetExtruderStepsPerMM implements DriverCommand {
+
+	double a;
+
+	public SetExtruderStepsPerMM(double a) {
+		this.a = a; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setExtruderStepsPerMM(a);
+	}
+}

src/replicatorg/drivers/commands/SetFilamentDiameter.java

@@ -0,0 +1,17 @@
+package replicatorg.drivers.commands;
+
+import replicatorg.drivers.Driver;
+import replicatorg.drivers.RetryException;
+
+public class SetFilamentDiameter implements DriverCommand {
+
+	double s;
+
+	public SetFilamentDiameter(double s) {
+		this.s = s; 
+	}
+	@Override
+	public void run(Driver driver) throws RetryException {
+		driver.setFilamentDiameter(s);
+	}
+}