BOB Motion Source documentation

Code:

• //############################################################################
  //	GPICode - Gcode Interpreter
  //	A four axis step-dir G code interpreter with
  //	software generated linear acceleration ramps
  //	Written by VegiPete	picprog.strongedge.net
  //
  //	HOWEVER, due to PIC18F18K22 memory constraints and the C18 compiler,
  //	this version DOES NOT understand inches or millimeters.
  //	Instead, moves must be specified in STEPS.
  //	Also, feedrate is specified in who knows what.
  //
  //	See <http://www.linuxcnc.org/docs/2.4/html/gcode_overview.html> for
  //	a more detailed overview of G Code.
  //
  //	A block is one line of text.
  //	A block consists of one or more words.
  //	A word consists of a letter and a number.
  //	A number can be positive or negative and may contain a decimal.
  //	A number begins with optional '+' or '-' and ends with any non digit.
  //	Extra decimal points are ignored.   	12.34.56 = 12.3456
  //	Extra +/- signs restart the number.	+12.3-4.5 = -4.5
  //	(The number of decimal digits is specified in the config and
  //	excess digits are ignored.
  //	Recognized Words: AFGMNPXYZ
  //	White space is ignored. Lower case is converted to upper.
  //	A line of text ends with a CR and/or a LF.
  //
  //	Recognized G-Codes:
  //	(Divided into groups, 'x' indicates power-up default)
  //	Modal Group 1:
  //	G00		rapid positioning
  //	G01		linear feed positioning
  //	G02		unrecognized for now
  //	G03		unrecognized for now
  //	G80  x	cancel positioning mode
  //	--------
  //	Modal Group 2:
  //	G17  x	XY plane - no effect
  //	G18		no effect
  //	G19		no effect
  //	--------
  //	Modal Group 6:
  //	G20  x	imperial
  //	G21		metric
  //	--------
  //	Modal Group 3:
  //	G90  x	absolute
  //	G91		relative
  //	     | power up default
  //	--------
  //	Non-Modal
  //	G4		pause - P value is number of 1/10 seconds to pause (ie, 10 = 1 second)
  //	G92		set absolute position of any axes found to zero
  //
  //	X,Y,Z,A	recognized axes
  //	F	feedrate - inches (or mm) per minute
  //	M	(0-255)	3 = relay on
  //			5 = relay off
  //			226 = wait for user to cycle E-Stop switch
  //			others ignored
  //	N	line number - (0-32767) - ignored
  //	P	parameter - (0-255) - applies to G4
  //
  //	(		start of comment - remainder of line ignored.
  //	;		start of comment - remainder of line ignored.
  //
  //	The following are special functions which must be at the start of a block.
  //	/		block delete - ignore block if block delete is on.
  //	%		turn UART echo ON or OFF (0=OFF, !0=ON)
  //
  //	The following special purpose comments must be at start of block.
  //	(MS		message comment - a 16 character string will be echoed. Extra chars ignored.
  //	(HM		perform machine home cycle.
  //	(CF		configuration setup/display.
  //	Each of the following words sets the corresponding EEPROM data value.
  //			XYZA	-	set steps per inch for respective axes (16 bit)
  //			D		-	acceleration (16 bit)
  //			F		-	set max feedrate (16 bit)
  //			B		-	number of sig digits after a decimal point (max 7)
  //			C		-	block delete enabled if not zero (8 bit)
  //
  //		The following are the homing config data: (all byte sized)
  //			E		-	power-up home if not zero
  //			G		-	homing back-off speed
  //			H		-	step 1 axis & direction bit pattern
  //			I		-	step 1 speed
  //			J		-	step 1 timeout
  //			K		-	step 1 back-off distance
  //			L		-	\
  //			M		-	 \ step 2
  //			N		-	 /
  //			O		-	/
  //			P		-	\
  //			Q		-	 \ step 3
  //			R		-	 /
  //			S		-	/
  //			T		-	\
  //			U		-	 \ step 4
  //			V		-	 /
  //			W		-	/
  //
  //	The homing function is highly configurable. Homing occurs as 4 steps.
  //	Each step consists of an axis to home, the direction to home, the speed
  //	to move home, the maximum time to take moving home and the distance to
  //	back away from the home limit switch. These 4 data values are repeated
  //	for each of the 4 homing steps. A fifth data value sets the back-off
  //	speed for all axes.
  //
  //	Homing for each step involves moving the specified axis in the specified
  //	direction at the specified speed until the limit switch is tripped. The
  //	axis is then reversed at the back-off speed away from the limit switch
  //	until the switch closes again. Finally, the axis is moved the specified
  //	number of steps farther from the switch.
  //
  //	The bit pattern for each step encodes both the direction and axis for that step.
  //		D is direction bit, AZXY is axis to home
  //		D.AZ..XY 	- ENSURE ONLY 1 AXIS BIT SET!!!!
  //		76543210
  //		00100000	--> A axis
  //		00010000	--> Z axis
  //		00000001	--> Y axis
  //		00000010	--> X axis
  //	The bit pattern must be given in the config data as a decimal value although
  //	it will be echoed as a hex value.
  //	For example, '(CF H 144' sets the bit pattern for step 1 axis/dir to b'1001000'
  //	which means for homing step 1, move the Z-axis in the negative direction. It is
  //	very important that only one axis bit is set. If no axis bits are set, this
  //	homing step will be skipped. This is usefull, for example, for non-linear
  //	axes. If all 4 axis/dir bit patterns have no axis bits set then no axis homing
  //	will be performed although the homing process will succeed.
  //
  //	The homing speed is the speed at which the axis moves towards the limit switch.
  //	The speed is steps per second (I think) and is 50 times the specified value.
  //	For example, '(CF U 20' sets the step 4 speed to 1000 steps per second. (Maybe)
  //	Note that the axis will crash stop when the limit switch is hit, so the speed
  //	should not be so high that this instantaneous stop causes problems.
  //
  //	The timeout in 500ms units ie: the value 12 means 6 seconds timeout
  //
  //	The back-off distance is the number of steps divided by 10 to reverse away
  //	from the limit switch. For example, '(CF S 50' means to back the step 3
  //	axis 500 steps away from the limit switch
  //
  //	Limit Switch / E-Stop wiring:
  //	All limit switches and the E-Stop switch are wired in series using NC
  //	(normally CLOSED) switches. A single analog port is used to read 3 switch
  //	states: nothing, limit hit and E-stopped. Hitting the E-Stop functions the
  //	same as a broken wire and causes the controller to immediately stop generating
  //	step pulses. Each limit switch is wired with a parallel 4.7K resistor.
  //
  //	Hardware:
  //	Internal RC OSC with 4x PLL enabled
  //	RA0 - Y-Step	(PGD)
  //	RA1 - X-Step	(PGC)
  //	RA2 - Analog Input
  //	RA3 - !MCLR (Input Only)
  //	RA4 - Z-Step
  //	RA5 - A-Step
  //
  //	RB4 - 
  //	RB5 - RX - Serial in
  //	RB6 - Relay Output
  //	RB7 - TX - Serial out
  //
  //	RC0 - X-Dir / LCD D4
  //	RC1 - Y-Dir / LCD D5
  //	RC2 - Z-Dir / LCD D6
  //	RC3 - A-Dir / LCD D7
  //	RC4 - LCD RS / LED - lo for ctrl, hi for data
  //	RC5 - LCD Enable - toggle hi to latch data
  //	RC6 - Limit/EStop Switch Input - Analog
  //	RC7 - Drive Enable
  //	
  //	Version Control:
  //	Up to 0.77	written in assembly - how manly!
  //	0.80	migration to C and complete rewrite.
  //	0.81	reduce motion to 24 bits to free up some RAM, make faster
  //	0.82	removed inch/mm for memory constraints
  

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See also:

• http://jqueryui.com/sortable/ +

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