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/*
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esp32_printer_controller.cpp (copy and use your machine name)
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Part of Grbl_ESP32
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copyright (c) 2020 - Bart Dring. This file was intended for use on the ESP32
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...add your date and name here.
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CPU. Do not use this with Grbl for atMega328P
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Grbl_ESP32 is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl_ESP32 is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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=======================================================================
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This is a template for user-defined C++ code functions. Grbl can be
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configured to call some optional functions, enabled by #define statements
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in the machine definition .h file. Implement the functions thus enabled
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herein. The possible functions are listed and described below.
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To use this file, copy it to a name of your own choosing, and also copy
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Machines/template.h to a similar name.
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Example:
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Machines/my_machine.h
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Custom/my_machine.cpp
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Edit machine.h to include your Machines/my_machine.h file
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Edit Machines/my_machine.h according to the instructions therein.
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Fill in the function definitions below for the functions that you have
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enabled with USE_ defines in Machines/my_machine.h
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===============================================================================
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*/
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#ifdef USE_MACHINE_INIT
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/*
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machine_init() is called when Grbl_ESP32 first starts. You can use it to do any
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special things your machine needs at startup.
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*/
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# define STEPPERS_DISABLE_PIN_X 138
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# define STEPPERS_DISABLE_PIN_Y 134
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# define STEPPERS_DISABLE_PIN_Z 131
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# define STEPPERS_DISABLE_PIN_A 139
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# define FAN1_PIN 13
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# define FAN2_PIN 142
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# define FAN3_PIN 143
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# define BED_PIN 4
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# define NOZZLE_PIN 2
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void machine_init() {
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// Enable steppers
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digitalWrite(STEPPERS_DISABLE_PIN_X, LOW); // enable
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digitalWrite(STEPPERS_DISABLE_PIN_Y, LOW); // enable
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digitalWrite(STEPPERS_DISABLE_PIN_Z, LOW); // enable
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digitalWrite(STEPPERS_DISABLE_PIN_A, LOW); // enable
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// digitalWrite(FAN1_PIN, LOW); // comment out for JTAG debugging
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digitalWrite(FAN2_PIN, LOW); // disable
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digitalWrite(FAN3_PIN, LOW); // disable
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digitalWrite(BED_PIN, LOW); // disable
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digitalWrite(NOZZLE_PIN, LOW); // disable
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}
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#endif
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#ifdef USE_CUSTOM_HOMING
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/*
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(user_defined_homing) is called at the begining of the normal Grbl_ESP32 homing
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sequence. If user_defined_homing() returns false, the rest of normal Grbl_ESP32
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homing is skipped if it returns false, other normal homing continues. For
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example, if you need to manually prep the machine for homing, you could implement
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user_defined_homing() to wait for some button to be pressed, then return true.
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*/
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bool user_defined_homing(uint8_t cycle_mask) {
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// True = done with homing, false = continue with normal Grbl_ESP32 homing
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return true;
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}
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#endif
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#ifdef USE_KINEMATICS
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/*
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Inverse Kinematics converts X,Y,Z cartesian coordinate to the steps
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on your "joint" motors. It requires the following three functions:
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*/
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/*
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inverse_kinematics() looks at incoming move commands and modifies
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them before Grbl_ESP32 puts them in the motion planner.
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Grbl_ESP32 processes arcs by converting them into tiny little line segments.
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Kinematics in Grbl_ESP32 works the same way. Search for this function across
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Grbl_ESP32 for examples. You are basically converting cartesian X,Y,Z... targets to
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target = an N_AXIS array of target positions (where the move is supposed to go)
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pl_data = planner data (see the definition of this type to see what it is)
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position = an N_AXIS array of where the machine is starting from for this move
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*/
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void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position) {
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// this simply moves to the target. Replace with your kinematics.
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mc_line(target, pl_data);
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}
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/*
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kinematics_pre_homing() is called before normal homing
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You can use it to do special homing or just to set stuff up
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cycle_mask is a bit mask of the axes being homed this time.
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*/
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bool kinematics_pre_homing(uint8_t cycle_mask))
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{
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return false; // finish normal homing cycle
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}
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/*
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kinematics_post_homing() is called at the end of normal homing
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*/
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void kinematics_post_homing() {}
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#endif
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#ifdef USE_FWD_KINEMATICS
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/*
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The status command uses forward_kinematics() to convert
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your motor positions to cartesian X,Y,Z... coordinates.
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Convert the N_AXIS array of motor positions to cartesian in your code.
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*/
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void forward_kinematics(float* position) {
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// position[X_AXIS] =
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// position[Y_AXIS] =
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}
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#endif
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#ifdef USE_TOOL_CHANGE
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/*
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user_tool_change() is called when tool change gcode is received,
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to perform appropriate actions for your machine.
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*/
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void user_tool_change(uint8_t new_tool) {}
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#endif
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#if defined(MACRO_BUTTON_0_PIN) || defined(MACRO_BUTTON_1_PIN) || defined(MACRO_BUTTON_2_PIN)
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/*
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options. user_defined_macro() is called with the button number to
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perform whatever actions you choose.
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*/
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void user_defined_macro(uint8_t index) {}
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#endif
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#ifdef USE_M30
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/*
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user_m30() is called when an M30 gcode signals the end of a gcode file.
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*/
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void user_m30() {}
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#endif
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#ifdef USE_MACHINE_TRINAMIC_INIT
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/*
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machine_triaminic_setup() replaces the normal setup of trinamic
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drivers with your own code. For example, you could setup StallGuard
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*/
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void machine_trinamic_setup() {}
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#endif
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// If you add any additional functions specific to your machine that
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// require calls from common code, guard their calls in the common code with
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// #ifdef USE_WHATEVER and add function prototypes (also guarded) to grbl.h
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