├── .gitignore ├── LICENSE ├── README.md ├── examples ├── CoreXY │ └── CoreXY.ino ├── Delta_robot │ └── Delta_robot.ino ├── LED_Control │ └── LED_Control.ino ├── RobotWithSD │ └── RobotWithSD.ino ├── SimplePlotter_withMotor │ └── SimplePlotter_withMotor.ino ├── simplePloter │ └── simplePloter.ino └── simplePloter_Callback │ └── simplePloter_Callback.ino ├── gcode.cpp ├── gcode.h └── keywords.txt /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # G-Code Arduino Library 2 | [https://tinkersprojects.com/](https://tinkersprojects.com/) 3 | This is a library that alows any machine or robot to be controlled by G-Code 4 | 5 | #### Features 6 | - serial or character input 7 | - Customisable 8 | 9 | ### What is G-Code? 10 | G-Code is the instructions that 3D Printer and CNC used to create there part. G-Code is a set of instruction commands sent to the controller of the machine to be performed. Position, feed rate, and tool used are some of the items that G-Code can control. The G-Code can either be sent from the computer or saved on an SD card. 11 | 12 | ### Why make this library? 13 | This library allows any machine or robot to be controlled by G-Code. It makes it quick and easy to set up with CNC and machine software and gives much better control over the communications and commands. 14 | 15 | ### Why use this? 16 | If your project requires computer control or a set of instruction, a library like this will help simplify this process of making it your self. 17 | 18 | 19 | ## Functions 20 | ### SETUP 21 | #### gcode(),
gcode(void (*CallBack)()),
gcode(int numbercommands, commandscallback *commandArray),
gcode(int numbercommands, commandscallback *commandArray, void (*CallBack)()); 22 | This Function is used to declare this class so that it can be used in the program. There are 4 different functions, each with variables that can be set. The *callback* is used to link a call back function used after each command is available. *commandArray* is an array of callback that interupt the program to execute the command. *Numbercommands* is the number of items within commandArray. 23 | 24 | #### void begin(),
void begin(unsigned long baud) 25 | This Function must be called if the serial interface is wanting to be used. *Bitrate* is the bitrate of the serial port. If this is called, there is no need to *Serial.begin();*, it is apart of the begin function. 26 | 27 | ### SEND 28 | #### void comment(String comment) 29 | This Function is to send comments back through the serial. *Comment* would be the comment that would be sent back. 30 | 31 | ### RECEIVE 32 | #### bool available(),
bool available(char inChar) 33 | This function reads the incoming data and returns true then the command is ready to for the program to read an control the machine. *InChar* is the input from a source like an SD card. 34 | 35 | #### double GetValue(char commandLetter) 36 | This function is to return the values for a command letter. *CommandLetter* is the command letter that is requested to be returned. 37 | 38 | ## Example 39 | ### Example 1: LED_Control 40 | ```c++ 41 | #include 42 | 43 | #define LEDpin 13 44 | #define NumberOfCommands 2 45 | 46 | void homing(); 47 | commandscallback commands[NumberOfCommands] = {{"L1",OnLED},{"L2",OffLED}}; 48 | gcode Commands(NumberOfCommands,commands); 49 | 50 | void setup() 51 | { 52 | Commands.begin(); 53 | pinMode(LEDpin, OUTPUT); 54 | } 55 | 56 | void loop() 57 | { 58 | Commands.available(); 59 | } 60 | 61 | void OnLED() 62 | { 63 | digitalWrite(LEDpin, HIGH); 64 | } 65 | 66 | void OffLED() 67 | { 68 | digitalWrite(LEDpin, LOW); 69 | } 70 | ``` 71 | 72 | ### Example 2: simplePloter 73 | ```c++ 74 | #include 75 | 76 | void homing(); 77 | commandscallback commands[1] = {{"G28",homing}}; 78 | gcode Commands(1,commands); 79 | 80 | double X; 81 | double Y; 82 | 83 | void setup() 84 | { 85 | Commands.begin(); 86 | } 87 | 88 | void loop() 89 | { 90 | if(Commands.available()) 91 | { 92 | double newXValue = X; 93 | double newYValue = Y; 94 | 95 | if(Commands.availableValue('X')) 96 | newXValue = Commands.GetValue('X'); 97 | if(Commands.availableValue('Y')) 98 | newYValue = Commands.GetValue('Y'); 99 | 100 | gotoLocation(newXValue,newYValue); 101 | } 102 | } 103 | 104 | void homing() 105 | { 106 | // code to home machine 107 | } 108 | 109 | void gotoLocation(double x,double y) 110 | { 111 | // code to run machine to location 112 | } 113 | 114 | ``` 115 | 116 | ### Example 3: CoreXY 117 | ```c++ 118 | #include 119 | 120 | #define Speed 100 121 | 122 | void homing(); 123 | commandscallback commands[1] = {{"G28",homing}}; 124 | gcode Commands(1,commands); 125 | 126 | double X; 127 | double Y; 128 | double A; 129 | double B; 130 | 131 | void setup() 132 | { 133 | Commands.begin(); 134 | } 135 | 136 | void loop() 137 | { 138 | if(Commands.available()) 139 | { 140 | double newXValue = X; 141 | double newYValue = Y; 142 | 143 | if(Commands.availableValue('X')) 144 | newXValue = Commands.GetValue('X'); 145 | if(Commands.availableValue('Y')) 146 | newYValue = Commands.GetValue('Y'); 147 | 148 | gotoLocation(newXValue,newYValue); 149 | } 150 | } 151 | 152 | void homing() 153 | { 154 | // code to home machine 155 | } 156 | 157 | void gotoLocation(double NewX,double NewY) 158 | { 159 | double YCurrent = 0.5*(A + B); 160 | double XCurrent = 0.5*(A - B); 161 | double R = sqrt((NewY-YCurrent)*(NewY-YCurrent)+(NewX-XCurrent)*(NewX-XCurrent)); 162 | double t = R/Speed; 163 | 164 | double ANewPosition = NewX+NewY; 165 | double BNewPosition = NewX-NewY; 166 | double SpeedA = abs(ANewPosition - A)/t; 167 | double SpeedB = abs(ANewPosition - B)/t; 168 | 169 | X = NewX; 170 | Y = NewY; 171 | A = ANewPosition; 172 | B = BNewPosition; 173 | 174 | // code to run machine to location using: 175 | // - ANewPosition (or A) and BNewPosition (or B) 176 | // - SpeedA and SpeedB 177 | } 178 | ``` 179 | -------------------------------------------------------------------------------- /examples/CoreXY/CoreXY.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #define Speed 100 4 | 5 | void homing(); 6 | commandscallback commands[1] = {{"g28",homing}}; 7 | gcode Commands(1,commands); 8 | 9 | double X; 10 | double Y; 11 | double A; 12 | double B; 13 | 14 | void setup() 15 | { 16 | Commands.begin(); 17 | } 18 | 19 | void loop() 20 | { 21 | if(Commands.available()) 22 | { 23 | double newXValue = X; 24 | double newYValue = Y; 25 | 26 | if(Commands.availableValue('X')) 27 | newXValue = Commands.GetValue('X'); 28 | if(Commands.availableValue('Y')) 29 | newXValue = Commands.GetValue('Y'); 30 | 31 | gotoLocation(newXValue,newYValue); 32 | } 33 | } 34 | 35 | void homing() 36 | { 37 | // code to home machine 38 | } 39 | 40 | void gotoLocation(double NewX,double NewY) 41 | { 42 | double YCurrent = 0.5*(A + B); 43 | double XCurrent = 0.5*(A - B); 44 | double R = sqrt((NewY-YCurrent)*(NewY-YCurrent)+(NewX-XCurrent)*(NewX-XCurrent)); 45 | double t = R/Speed; 46 | 47 | double ANewPosition = NewX+NewY; 48 | double BNewPosition = NewX-NewY; 49 | double SpeedA = abs(ANewPosition - A)/t; 50 | double SpeedB = abs(ANewPosition - B)/t; 51 | 52 | X = NewX; 53 | Y = NewY; 54 | A = ANewPosition; 55 | B = BNewPosition; 56 | 57 | // code to run machine to location using: 58 | // - ANewPosition (or A) and BNewPosition (or B) 59 | // - SpeedA and SpeedB 60 | } -------------------------------------------------------------------------------- /examples/Delta_robot/Delta_robot.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include // Requires Delta Kinematics library from https://github.com/tinkersprojects/Delta-Kinematics-Library 3 | 4 | gcode Commands; 5 | DeltaKinematics DK(70,300,139,112); 6 | 7 | void setup() 8 | { 9 | Commands.begin("OK"); // ok, rs or !! 10 | } 11 | 12 | void loop() 13 | { 14 | if(Commands.available()) 15 | { 16 | if(Commands.availableValue('X')) 17 | { 18 | DK.x = Commands.GetValue('X'); 19 | } 20 | 21 | if(Commands.availableValue('Y')) 22 | { 23 | DK.y = Commands.GetValue('Y'); 24 | } 25 | 26 | if(Commands.availableValue('Z')) 27 | { 28 | DK.z = Commands.GetValue('Z'); 29 | } 30 | 31 | DK.inverse(); 32 | 33 | //GOTO Position XYZ 34 | // Move robot motors to DK.a, DK.b and DK.c CODE 35 | 36 | Commands.comment('X',DK.x); 37 | Commands.comment('Y',DK.y); 38 | Commands.comment('Z',DK.z); 39 | Commands.comment('a',DK.a); 40 | Commands.comment('b',DK.b); 41 | Commands.comment('c',DK.c); 42 | 43 | } 44 | } 45 | -------------------------------------------------------------------------------- /examples/LED_Control/LED_Control.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | #define LEDpin 13 4 | #define NumberOfCommands 2 5 | 6 | void OnLED(); 7 | void OffLED(); 8 | commandscallback commands[NumberOfCommands] = {{"L1",OnLED},{"L2",OffLED}}; 9 | gcode Commands(NumberOfCommands,commands); 10 | 11 | void setup() 12 | { 13 | Commands.begin("ok"); //responce => ok, rs or !! 14 | pinMode(LEDpin, OUTPUT); 15 | } 16 | 17 | void loop() 18 | { 19 | Commands.available(); 20 | } 21 | 22 | void OnLED() 23 | { 24 | digitalWrite(LEDpin, HIGH); 25 | } 26 | 27 | void OffLED() 28 | { 29 | digitalWrite(LEDpin, LOW); 30 | } 31 | -------------------------------------------------------------------------------- /examples/RobotWithSD/RobotWithSD.ino: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | void homing(); 6 | commandscallback commands[1] = {{"g28",homing}}; 7 | gcode Commands(1,commands); 8 | 9 | double X; 10 | double Y; 11 | 12 | void setup() 13 | { 14 | Commands.begin(); 15 | 16 | if (!SD.begin(chipSelect)) 17 | { 18 | Commands.comment("Card failed"); 19 | while (1); 20 | } 21 | 22 | File dataFile = SD.open("test.gcode"); 23 | 24 | 25 | if (dataFile) 26 | { 27 | while (dataFile.available()) 28 | { 29 | if(Commands.available(dataFile.read())) 30 | { 31 | double newXValue = X; 32 | double newYValue = Y; 33 | 34 | if(Commands.availableValue('X')) 35 | newXValue = Commands.GetValue('X'); 36 | if(Commands.availableValue('Y')) 37 | newXValue = Commands.GetValue('Y'); 38 | 39 | gotoLocation(newXValue,newYValue); 40 | } 41 | } 42 | dataFile.close(); 43 | } 44 | else 45 | { 46 | Commands.comment("error opening file"); 47 | } 48 | } 49 | 50 | void loop() 51 | { 52 | } 53 | 54 | void homing() 55 | { 56 | // code to home machine 57 | } 58 | 59 | void gotoLocation(double x,double y) 60 | { 61 | // code to run machine to location 62 | } 63 | -------------------------------------------------------------------------------- /examples/SimplePlotter_withMotor/SimplePlotter_withMotor.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * LINEAR KINEMATICS 3 | *Download the STEPPER DRIVER library as you already have the A4988 and DRV8825 4 | *drive libraries available at: https://github.com/laurb9/StepperDriver 5 | *Before using the example, make sure that the stepper motor library is installed. 6 | *example by Leandro Lima / HeavyTech @2019 7 | */ 8 | #include "A4988.h" 9 | #include "MultiDriver.h" 10 | #include "SyncDriver.h" 11 | #include 12 | 13 | 14 | #define NUMCOMMANDS 2 15 | // Motor steps per revolution. Most steppers are 200 steps or 1.8 degrees/step 16 | #define MOTOR_STEPS 200 17 | //Number of steps to take 1 millimeter 18 | #define STEPS_MM 80 19 | // Target RPM for X axis motor 20 | #define MOTOR_X_RPM 120 21 | // Target RPM for Y axis motor 22 | #define MOTOR_Y_RPM 120 23 | 24 | // X motor 25 | #define DIR_X 5 26 | #define STEP_X 2 27 | 28 | // Y motor 29 | #define DIR_Y 6 30 | #define STEP_Y 3 31 | 32 | // ENABLE INTERCONNECTED WITH OTHER DRIVES... 33 | #define ENA 8 34 | // If microstepping is set externally, make sure this matches the selected mode 35 | // 1=full step, 2=half step, 4 = 1/4, 8 = 1/8 and 16 = 1/6 Microsteps. 36 | #define MICROSTEPS 16 37 | 38 | // 2-wire basic config, microstepping is hardwired on the driver 39 | // Other drivers can be mixed and matched but must be configured individually 40 | A4988 stepperX(MOTOR_STEPS, DIR_X, STEP_X, ENA); 41 | A4988 stepperY(MOTOR_STEPS, DIR_Y, STEP_Y, ENA); 42 | 43 | // Pick one of the two controllers below 44 | // each motor moves independently, trajectory is a hockey stick 45 | MultiDriver controller(stepperX, stepperY); 46 | // OR 47 | // synchronized move, trajectory is a straight line 48 | //SyncDriver controller(stepperX, stepperY); 49 | void homing(); 50 | void moviment(); 51 | void gotoLocation(); 52 | /* 53 | G28 - HOMING 54 | G0 - SET COORDINATES -> G0 X{n} Y{n} 55 | */ 56 | 57 | commandscallback commands[NUMCOMMANDS] = {{"G1",homing}, {"G0", moviment}}; 58 | gcode Commands(NUMCOMMANDS,commands); 59 | 60 | double X; 61 | double Y; 62 | void setup() { 63 | /* 64 | * Set target motors RPM. 65 | */ 66 | Commands.begin(); 67 | stepperX.begin(MOTOR_X_RPM, MICROSTEPS); 68 | stepperY.begin(MOTOR_Y_RPM, MICROSTEPS); 69 | // if using enable/disable on ENABLE pin (active LOW) instead of SLEEP uncomment next two lines 70 | stepperX.setEnableActiveState(LOW); 71 | stepperY.setEnableActiveState(LOW); 72 | } 73 | 74 | void loop() { 75 | Commands.available(); 76 | } 77 | void homing() 78 | { 79 | // code to home machine 80 | } 81 | 82 | void gotoLocation(double x,double y) 83 | { 84 | int stepsx = (x - X)*STEPS_MM; // DISTANCE VARIATION X 85 | int stepsy = (y - Y)*STEPS_MM; // DISTANCE VARIATION Y 86 | stepperX.enable();// ENABLE MOTOR X 87 | stepperY.enable(); 88 | controller.move(stepsx,stepsy); //SEND CURRENT STEPS FOR DRIVE 89 | X = x; // SET LAST POSITION 90 | Y = y; 91 | stepperX.disable();// DISABLE MOTOR Y 92 | stepperY.disable(); 93 | Commands.comment("X:" + String(x) + "; Y:" +String(y)); // DEBUG SERIAL 94 | 95 | } 96 | // added paramenter x and y in function MOVIMENT > SET GOTO LOCATION; 97 | void moviment(){ 98 | double newXValue = X; 99 | double newYValue = Y; 100 | if(Commands.availableValue('X')) // ADDED parameter X in G0 101 | newXValue = Commands.GetValue('X'); 102 | if(Commands.availableValue('Y'))// ADDED parameter Y in G0 103 | newYValue = Commands.GetValue('Y'); 104 | 105 | gotoLocation(newXValue,newYValue); 106 | 107 | } 108 | -------------------------------------------------------------------------------- /examples/simplePloter/simplePloter.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | void homing(); 4 | commandscallback commands[1] = {{"g28",homing}}; 5 | gcode Commands(1,commands); 6 | 7 | double X; 8 | double Y; 9 | 10 | void setup() 11 | { 12 | Commands.begin(); 13 | } 14 | 15 | void loop() 16 | { 17 | if(Commands.available()) 18 | { 19 | double newXValue = X; 20 | double newYValue = Y; 21 | 22 | if(Commands.availableValue('X')) 23 | newXValue = Commands.GetValue('X'); 24 | if(Commands.availableValue('Y')) 25 | newXValue = Commands.GetValue('Y'); 26 | 27 | gotoLocation(newXValue,newYValue); 28 | } 29 | } 30 | 31 | void homing() 32 | { 33 | // code to home machine 34 | } 35 | 36 | void gotoLocation(double x,double y) 37 | { 38 | // code to run machine to location 39 | } 40 | -------------------------------------------------------------------------------- /examples/simplePloter_Callback/simplePloter_Callback.ino: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | void homing(); 4 | commandscallback commands[1] = {{"g28",homing}}; 5 | gcode Commands(1,commands); 6 | 7 | double X; 8 | double Y; 9 | 10 | void FinishedCommandLine() 11 | { 12 | Commands.comment("!!"); // ok, rs or !! 13 | Commands.comment('X',X); 14 | Commands.comment('Y',Y); 15 | } 16 | 17 | void setup() 18 | { 19 | Commands.begin(FinishedCommandLine); 20 | } 21 | 22 | void loop() 23 | { 24 | if(Commands.available()) 25 | { 26 | double newXValue = X; 27 | double newYValue = Y; 28 | 29 | if(Commands.availableValue('X')) 30 | newXValue = Commands.GetValue('X'); 31 | if(Commands.availableValue('Y')) 32 | newYValue = Commands.GetValue('Y'); 33 | 34 | X = newXValue; 35 | Y = newYValue; 36 | 37 | gotoLocation(newXValue,newYValue); 38 | } 39 | } 40 | 41 | void homing() 42 | { 43 | // code to home machine 44 | } 45 | 46 | void gotoLocation(double x,double y) 47 | { 48 | // code to run machine to location 49 | } -------------------------------------------------------------------------------- /gcode.cpp: -------------------------------------------------------------------------------- 1 | /********************************************************************************************** 2 | * Arduino GCode Library - version 2.1 3 | * by William Bailes http://tinkersprojects.com/ 4 | * 5 | * This Library is licensed under a GPLv3 License 6 | **********************************************************************************************/ 7 | 8 | #if ARDUINO >= 100 9 | #include "Arduino.h" 10 | #else 11 | #include "WProgram.h" 12 | #endif 13 | 14 | #include "gcode.h" 15 | 16 | /******************* SETUP *******************/ 17 | 18 | gcode::gcode() 19 | { 20 | NumberOfCommands = 0; 21 | } 22 | 23 | gcode::gcode(int numbercommands, commandscallback *commandscallbacks_temp, void (*CallBack)()) 24 | { 25 | runCallback = CallBack; 26 | commandscallbacks = commandscallbacks_temp; 27 | NumberOfCommands = numbercommands; 28 | } 29 | 30 | gcode::gcode(int numbercommands, commandscallback *commandscallbacks_temp) 31 | { 32 | commandscallbacks = commandscallbacks_temp; 33 | NumberOfCommands = numbercommands; 34 | } 35 | 36 | gcode::gcode(void (*CallBack)()) 37 | { 38 | runCallback = CallBack; 39 | } 40 | 41 | void gcode::begin() 42 | { 43 | Serial.begin(9600); 44 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 45 | nextComandcommentString = "OK!"; 46 | this->clearBuffer(); 47 | } 48 | 49 | void gcode::begin(String nextComandcomment) 50 | { 51 | Serial.begin(9600); 52 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 53 | nextComandcommentString = nextComandcomment; 54 | this->clearBuffer(); 55 | } 56 | 57 | void gcode::begin(unsigned long baud) 58 | { 59 | Serial.begin(baud); 60 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 61 | nextComandcommentString = "OK!"; 62 | this->clearBuffer(); 63 | } 64 | 65 | void gcode::begin(unsigned long baud, String nextComandcomment) 66 | { 67 | Serial.begin(baud); 68 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 69 | nextComandcommentString = nextComandcomment; 70 | this->clearBuffer(); 71 | } 72 | 73 | void gcode::begin(void (*_nextComandCallBack)()) 74 | { 75 | Serial.begin(9600); 76 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 77 | nextComandCallBack = _nextComandCallBack; 78 | this->clearBuffer(); 79 | } 80 | 81 | void gcode::begin(unsigned long baud, void (*_nextComandCallBack)()) 82 | { 83 | Serial.begin(baud); 84 | Serial.println("v" +String(gcode_Buffer_version)+" Simple G code"); 85 | nextComandCallBack = _nextComandCallBack; 86 | this->clearBuffer(); 87 | } 88 | 89 | 90 | 91 | /******************* receive *******************/ 92 | 93 | void gcode::clearBuffer() 94 | { 95 | BufferListCount = -1; 96 | commandBuffer = ""; 97 | nextRead = false; 98 | restIsComment = false; 99 | for(int i = 0; i < gcode_Buffer_size; i++) 100 | { 101 | BufferList[i].command = 0; 102 | BufferList[i].Value = 0; 103 | } 104 | } 105 | 106 | bool gcode::available() 107 | { 108 | if(nextRead) 109 | { 110 | if(nextComandCallBack != NULL) 111 | nextComandCallBack(); 112 | else 113 | this->comment(nextComandcommentString); 114 | 115 | this->clearBuffer(); 116 | } 117 | while (Serial.available()) 118 | { 119 | char inChar = (char)Serial.read(); 120 | 121 | //Serial.println(inChar); 122 | if(this->available(inChar)) 123 | { 124 | return true; 125 | } 126 | } 127 | return false; 128 | } 129 | 130 | bool gcode::available(char inChar) 131 | { 132 | if(inChar == ' ') 133 | return false; 134 | 135 | if(inChar == '\n' || inChar == '\r') 136 | { 137 | nextRead=true; 138 | restIsComment = false; 139 | if(BufferListCount >= 0) 140 | BufferList[BufferListCount].Value = commandBuffer.toDouble(); 141 | 142 | for(int i = 0; i < gcode_Buffer_size; i++) 143 | { 144 | String testString = String(BufferList[i].command)+String(((int)BufferList[i].Value)); 145 | 146 | for(int j = 0; j < NumberOfCommands; j++) 147 | { 148 | commandscallback commandscallbackstest = commandscallbacks[j]; 149 | 150 | if(String(BufferList[i].command) == commandscallbackstest.value) 151 | { 152 | commandscallbackstest.Callback(); 153 | } 154 | 155 | if(testString == commandscallbackstest.value) 156 | { 157 | commandscallbackstest.Callback(); 158 | } 159 | } 160 | } 161 | if(runCallback != NULL) 162 | runCallback(); 163 | return true; 164 | } 165 | 166 | if(inChar == ';' || restIsComment) 167 | { 168 | restIsComment = true; 169 | return false; 170 | } 171 | 172 | if((inChar >= '0' && inChar <= '9') || inChar == '.' || inChar == '-') 173 | { 174 | commandBuffer = commandBuffer + String(inChar); 175 | } 176 | else if(inChar > 32 && inChar < 127) 177 | { 178 | //Serial.println("inChar:"+String(inChar)+", commandBuffer:"+String(commandBuffer)); 179 | 180 | if(inChar >= 'a' && inChar <= 'z') // if input is lower case 181 | { 182 | inChar = inChar - ('a'-'A');// convert all lower case to upper case 183 | } 184 | 185 | if(BufferListCount+1 >= gcode_Buffer_size) // if serial is larger than buffer 186 | return false; 187 | 188 | if(BufferListCount >= 0) 189 | BufferList[BufferListCount].Value = commandBuffer.toDouble(); 190 | else if(commandBuffer.toDouble()>0) 191 | { 192 | BufferListCount = 0; 193 | BufferList[BufferListCount].command = 0; 194 | BufferList[BufferListCount].Value = commandBuffer.toDouble(); 195 | } 196 | 197 | commandBuffer = ""; 198 | 199 | BufferListCount++; 200 | BufferList[BufferListCount].command = inChar; 201 | } 202 | 203 | return false; 204 | /* 205 | if((inChar >= 'A' && inChar <= 'Z') || (inChar >= 'a' && inChar <= 'z') || inChar == ' ' || inChar == '\n') 206 | { 207 | if(commandBuffer != "") 208 | { 209 | if(commandLetter == 0) 210 | { 211 | commandsList[0] = commandBuffer.toDouble(); 212 | } 213 | else if(commandLetter >= 'A' && commandLetter <= 'Z') 214 | { 215 | commandsList[commandLetter - 'A' + 1] = commandBuffer.toDouble(); 216 | } 217 | 218 | // run if command matches 219 | 220 | for(int i = 0; i < NumberOfCommands; i++) 221 | { 222 | commandscallback commandscallbackstest = commandscallbacks[i]; 223 | 224 | if(commandscallbackstest.value == String(commandLetter)+String(commandBuffer) || commandscallbackstest.value == String(commandLetter-('a'-'A'))+String(commandBuffer)) 225 | { 226 | commandscallbackstest.Callback(); 227 | } 228 | } 229 | } 230 | this->clearBuffer(); 231 | }*/ 232 | /* 233 | if(inChar == ';' || restIsComment) 234 | { 235 | restIsComment = true; 236 | return false; 237 | }*/ 238 | /* 239 | if(inChar >= 'a' && inChar <= 'z') 240 | { 241 | inChar = inChar - ('a'-'A'); 242 | } 243 | 244 | if(inChar >= 'A' && inChar <= 'Z') 245 | { 246 | this->clearBuffer(); 247 | commandLetter = inChar; 248 | return false; 249 | }*/ 250 | } 251 | 252 | bool gcode::availableValue(char commandLetter) 253 | { 254 | for(int i = 0; i < gcode_Buffer_size; i++) 255 | { 256 | if(BufferList[i].command == commandLetter) 257 | return true; 258 | } 259 | return false; 260 | } 261 | 262 | 263 | double gcode::GetValue(char commandLetter) 264 | { 265 | for(int i = 0; i < gcode_Buffer_size; i++) 266 | { 267 | if(BufferList[i].command == commandLetter) 268 | return BufferList[i].Value; 269 | } 270 | return 0; 271 | } 272 | 273 | void gcode::comment(String comment) 274 | { 275 | Serial.println(comment); 276 | } 277 | 278 | void gcode::comment(char number, double values) 279 | { 280 | Serial.println(String(number)+":"+String(values)); 281 | } 282 | 283 | void gcode::command(char number, double values) 284 | { 285 | Serial.println(String(number)+String(values)); 286 | } -------------------------------------------------------------------------------- /gcode.h: -------------------------------------------------------------------------------- 1 | 2 | #ifndef gcode_h 3 | #define gcode_h 4 | 5 | #if ARDUINO >= 100 6 | #include 7 | #else 8 | #include 9 | #include 10 | #endif 11 | 12 | 13 | #define gcode_Buffer_version 2.1 14 | 15 | #ifndef gcode_Buffer_size 16 | #define gcode_Buffer_size 5 17 | #endif 18 | 19 | 20 | typedef void (*CallbackFunction) (); 21 | 22 | typedef struct commandscallback { 23 | String value; 24 | CallbackFunction Callback; 25 | }; 26 | 27 | 28 | 29 | class gcode 30 | { 31 | public: 32 | // SETUP 33 | gcode(); 34 | gcode(void (*CallBack)()); 35 | gcode(int numbercommands, commandscallback *commandscallbacks_temp); 36 | gcode(int numbercommands, commandscallback *commandscallbacks_temp, void (*CallBack)()); 37 | void begin(); 38 | void begin(unsigned long baud); 39 | void begin(String nextComandcomment); 40 | void begin(unsigned long baud, String nextComandcomment); 41 | void begin(void (*_nextComandCallBack)()); 42 | void begin(unsigned long baud, void (*_nextComandCallBack)()); 43 | 44 | // SEND 45 | void comment(String comment); 46 | void comment(char number, double values); 47 | void command(char number, double values); 48 | 49 | // receive 50 | bool available(); 51 | bool available(char inChar); 52 | bool availableValue(char commandLetter); 53 | double GetValue(char commandLetter); 54 | void clearBuffer(); 55 | 56 | struct BufferFormat { 57 | char command; 58 | double Value; 59 | } BufferList[gcode_Buffer_size]; 60 | 61 | private: 62 | String nextComandcommentString; 63 | bool nextRead = false; 64 | bool restIsComment = false; 65 | 66 | commandscallback *commandscallbacks; 67 | int NumberOfCommands = 0; 68 | 69 | CallbackFunction runCallback; 70 | CallbackFunction nextComandCallBack = NULL; 71 | //double commandsList[gcode_Buffer_size]; 72 | String commandBuffer; 73 | /* struct BufferFormat { 74 | char command; 75 | double Value; 76 | } BufferList[gcode_Buffer_size];*/ 77 | int BufferListCount = 0; 78 | int BufferListstart = 0; 79 | 80 | }; 81 | 82 | #endif 83 | -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ####################################### 2 | # Library and class (KEYWORD1) 3 | ####################################### 4 | 5 | gcode KEYWORD1 6 | Commands KEYWORD1 7 | 8 | 9 | 10 | ####################################### 11 | # Functions (KEYWORD2) 12 | ####################################### 13 | 14 | PLEX KEYWORD2 15 | begin KEYWORD2 16 | comment KEYWORD2 17 | command KEYWORD2 18 | available KEYWORD2 19 | available KEYWORD2 20 | availableValue KEYWORD2 21 | GetValue KEYWORD2 22 | clearBuffer KEYWORD2 23 | commandscallback KEYWORD2 24 | 25 | 26 | 27 | ####################################### 28 | # Constants (LITERAL1) 29 | ####################################### 30 | 31 | gcode_Buffer_size LITERAL1 32 | gcode_Buffer_version LITERAL1 33 | --------------------------------------------------------------------------------