improvements[2]

cleanify[1]

gcode.ino

@@ -1,18 +1,63 @@
+#include <Stepper.h>
 #include <String.h>
-#include "help.h"
-#include "processor.h"
+
+//version number
+#define VERSION 0.3
+
+//steps per revolution SPR of motors used
+//change this when changing motors
+#define SPR 64
 
 #define BAUD 57600 //define speed of communication
 #define MAX_BUF 64 //max length of message arduino can store
 
 char buffer[MAX_BUF];
 int sofar=0, i=0; //how much is in the buffer
 
+Stepper sX(SPR, 2, 4, 3, 5);
+Stepper sY(SPR, 8, 10, 9, 11);
+
+struct point
+{
+  float X;
+  float Y;
+  int F;
+};
+
+struct index
+{
+	int cx;
+	int cy;
+	int cf;
+};
+
+struct point P1;
+//P2 will store the previous values
+//steps required will be calculated w.r.t P2
+//P2 initialized with 0,0,0
+struct point P2;
+P2.X=0;
+P2.Y=0;
+P2.F=0;
+
+//finding the index of X and Y and F in GCODE command
+//better organization is possible with structs apparently
+//but the data structure can/may change...
+struct index in1;
+
+//this setup will run only once
 void setup() 
 {
   Serial.begin(BAUD);
   help();
   sready();
+  /**thinking of adding an init function that will move
+	 the header to the origin position if it is already
+	 not there...
+	 it will be different from sready() in the sense that
+	 the buffer will remain unaffected. sready() prepares
+	 for receiving next command only... **/
+  initX();
 }
 
 /**
@@ -58,3 +103,104 @@ void sready()
   Serial.println(F("> "));
 }
 
+//an init command apart from gcode defined ones
+void initX()
+{
+	//Do something awesome
+}
+/**
+ * display helpful information
+ */
+void help() 
+{
+  Serial.print(F("CNC Robot "));
+  Serial.println(VERSION);
+  Serial.println(F("Commands:"));
+  Serial.println(F("G00 [X(steps)] [Y(steps)] [F(feedrate)]; - linear move"));
+  Serial.println(F("G01 [X(steps)] [Y(steps)] [F(feedrate)]; - linear move"));
+  Serial.println(F("G04 P[seconds]; - delay"));
+  Serial.println(F("G90; - absolute mode"));
+  Serial.println(F("G91; - relative mode"));
+  Serial.println(F("G92 [X(steps)] [Y(steps)]; - change logical position"));
+  Serial.println(F("M18; - disable motors"));
+  Serial.println(F("M100; - this help message"));
+  Serial.println(F("M114; - report position and feedrate"));
+}
+
+//process the GCODE command that is thrown
+void processCommand(String str)
+{
+  //Looking for commands that start with G:
+  if(str.charAt(0)=='G')
+  {
+    int c1=str.substring(1,3).toInt();
+    switch(c1)
+    {
+      case 00: Serial.print("Absolute ModeXY\n");
+               in1.cx=str.indexOf('X');
+               in1.cy=str.indexOf('Y');
+               in1.cf=str.indexOf('F');
+               P1.X=str.substring(in1.cx+1, in1.cy).toFloat();
+               P1.Y=str.substring(in1.cy+1, in1.cf).toFloat();
+               P1.F=str.substring(in1.cf+1).toInt();
+               Serial.println(P1.X);
+               Serial.println(P1.Y);
+               Serial.println(P1.F);
+			   //get some function to draw/move the header
+			   foo();
+			   //gets the coords into P2 for reference in next steps
+			   P2=P1;
+               break;
+			   //there's a mistake though
+			   //the above code should be in
+			   //case 01:
+
+      case 01: Serial.print("Relative ModeXY\n");
+               break;
+
+      case 02: //clockwise arc
+               break;
+
+      case 03: //anti-clockwise arc
+               break;
+
+      case 04: //pause
+               break;
+
+      case 90: Serial.print("abs\n");
+               break;
+
+      case 91: Serial.print("rel\n");
+               break;
+
+      case 92: //set position
+               break;
+    }
+  }
+
+  if(str.charAt(0)=='M')
+  {
+    int c1=str.substring(1,4).toInt();
+    switch(c1)
+    {
+      case 18:  Serial.print("disable motors\n");
+                break;
+
+      case 100: //help();
+                break;
+
+      case 114: Serial.println("I am at: ");
+                Serial.print(P1.X);
+                Serial.print(',');
+                Serial.println(P1.Y);
+                Serial.print("Feedrate: ");
+                Serial.println(P1.F);
+                break;
+    }
+  }
+}
+
+void foo()
+{
+	//Do something awesome
+}

testF.h

@@ -0,0 +1,4 @@
+//required for test functions...
+//helps me clean out the mess
+//temporary functions waiting to be staged
+//will live here