lots and lots of bugfixes after running on reals hardware for the first time

testbench/echotest.rb

@@ -0,0 +1,225 @@
+require 'pp'
+require 'rubygems'
+require 'serialport'
+require 'png'
+
+# Requires the gems serialport and png
+# 
+# $ gem install ruby-serialport
+# $ gem install png
+
+
+@sp = SerialPort.new '/dev/tty.usbserial-A4001o6L', 19200
+
+@canvas = PNG::Canvas.new(500,500)
+@x = 0
+@y = 0
+@ready_for_command = true
+@last_byte = Time.now
+
+@input = ''
+
+@step_count = 0
+
+Thread.new do
+  step_mode = false
+  @sp.each_byte do |byte| 
+    #puts byte.chr
+       
+    @last_byte = Time.now
+    @input << byte.chr
+    if byte == 126 # ('~')
+      step_mode = true          
+      @input << '[step mode on]'
+    else
+      if step_mode 
+        @step_count += 1
+        if byte == 10
+          @input << '[step mode off]'
+          step_mode = false
+        else
+          step = byte-33
+          puts @step_count
+          if (step & 1) != 0
+            if (step & 8) != 0
+              puts "x-1"
+              @x+=1
+            else
+              puts "x+1"
+              @x-=1
+            end
+          end
+          if (step & 2) != 0
+            if (step & 16) != 0
+              puts "y-1"
+              @y+=1
+            else
+              puts "y+1"
+              @y-=1
+            end
+          end
+        end
+      else
+        if byte == 62 # '>'
+          @ready_for_command = true
+        end
+      end
+    end
+    @canvas[250-@x,250-@y] = PNG::Color::Black    
+  end
+end
+
+def send_command(command)
+  while !@ready_for_command do
+    sleep(1)
+    puts "Processing ..."
+    if (Time.now-@last_byte > 5) 
+      return
+    end
+  end
+  sleep(0.5)
+  puts "Sent: #{command}"
+  @input << "[sent #{command}]"
+  @sp.write("#{command}\r")
+  @ready_for_command = false
+end
+
+
+blocks = <<-END.split("\n").map{|s|s.strip}
+N10 G00 Z100.000  G53
+N15 G00 X38.105 Y71.468  G53
+N20 Z2.0 F200  G53
+N25 G01 Z-0.2 G53
+N30 X37.177 Y74.406 G53
+N35 X37.779 Y74.698 G53
+N40 X41.077 Y76.347 G53
+N45 X42.177 Y73.719 G53
+N50 X40.304 Y72.173 G53
+N55 X39.548 Y73.873 G53
+N60 X38.638 Y73.152 G53
+N65 X39.153 Y71.915 G53
+N70 X38.105 Y71.468 G53
+N75 G00 Z2.0 G53
+N80 X37.266 Y75.042  G53
+N85 G01 Z-0.2 G53
+N90 X37.862 Y79.198 G53
+N95 G00 Z2.0 G53
+N100 X37.684 Y77.960  G53
+N105 G01 Z-0.2 G53
+N110 X42.718 Y77.239 G53
+N115 G00 Z2.0 G53
+N120 X42.895 Y78.476  G53
+N125 G01 Z-0.2 G53
+N130 X42.300 Y74.320 G53
+N135 G00 Z2.0 G53
+N140 X43.975 Y77.690  G53
+N145 G01 Z-0.2 G53
+N150 X43.425 Y77.769 G53
+N155 G00 Z2.0 G53
+N160 X44.604 Y78.161  G53
+N165 G01 Z-0.2 G53
+N170 G02 X43.975 Y77.690 I-0.550 J0.079 G53
+N175 G00 Z2.0 G53
+N180 X44.643 Y78.436  G53
+N185 G01 Z-0.2 G53
+N190 X44.604 Y78.161 G53
+N195 G00 Z2.0 G53
+N200 X44.172 Y79.065  G53
+N205 G01 Z-0.2 G53
+N210 G02 X44.643 Y78.436 I-0.079 J-0.550 G53
+N215 G00 Z2.0 G53
+N220 X43.622 Y79.144  G53
+N225 G01 Z-0.2 G53
+N230 X44.172 Y79.065 G53
+N235 G00 Z2.0 G53
+N240 X43.780 Y80.243  G53
+N245 G01 Z-0.2 G53
+N250 X43.622 Y79.144 G53
+N255 G00 Z2.0 G53
+N260 X44.880 Y80.086  G53
+N265 G01 Z-0.2 G53
+N270 X43.780 Y80.243 G53
+N275 G00 Z2.0 G53
+N280 X46.488 Y79.154  G53
+N285 G01 Z-0.2 G53
+N290 G02 X46.808 Y79.669 I1.265 J-0.427 G53
+N295 G02 X47.312 Y79.597 I0.229 J-0.198 G53
+N300 G02 X47.474 Y79.012 I-1.172 J-0.639 G53
+N305 G02 X47.452 Y78.454 I-2.606 J-0.179 G53
+N310 G02 X47.316 Y77.912 I-2.587 J0.362 G53
+N315 G02 X46.997 Y77.397 I-1.265 J0.427 G53
+N320 G02 X46.493 Y77.469 I-0.229 J0.198 G53
+N325 G02 X46.331 Y78.054 I1.172 J0.639 G53
+N330 G02 X46.352 Y78.612 I2.606 J0.179 G53
+N335 G02 X46.489 Y79.154 I2.587 J-0.362 G53
+N340 G00 Z2.0 G53
+N345 X45.370 Y77.630  G53
+N350 G01 Z-0.2 G53
+N355 X45.350 Y77.493 G53
+N360 G00 Z2.0 G53
+N365 X48.179 Y77.649  G53
+N370 G01 Z-0.2 G53
+N375 X48.218 Y77.924 G53
+N380 G02 X49.318 Y77.766 I0.550 J-0.079 G53
+N385 G01 X49.278 Y77.491 G53
+N390 G02 X48.179 Y77.649 I-0.550 J0.079 G53
+N395 G00 Z2.0 G53
+N400 X48.435 Y78.945  G53
+N405 G01 Z-0.2 G53
+N410 G03 X49.397 Y78.807 I0.481 J-0.069 G53
+N415 G01 X49.417 Y78.944 G53
+N420 G03 X48.454 Y79.082 I-0.481 J0.069 G53
+N425 G01 X48.435 Y78.945 G53
+N430 G00 Z2.0 G53
+N435 X50.379 Y79.297  G53
+N440 G01 Z-0.2 G53
+N445 X51.479 Y79.140 G53
+N450 G00 Z2.0 G53
+N455 X50.222 Y78.198  G53
+N460 G01 Z-0.2 G53
+N465 X50.379 Y79.297 G53
+N470 G00 Z2.0 G53
+N475 X50.772 Y78.119  G53
+N480 G01 Z-0.2 G53
+N485 X50.222 Y78.198 G53
+N490 G00 Z2.0 G53
+N495 X51.243 Y77.490  G53
+N500 G01 Z-0.2 G53
+N505 G03 X50.772 Y78.119 I-0.550 J0.079 G53
+N510 G00 Z2.0 G53
+N515 X51.203 Y77.215  G53
+N520 G01 Z-0.2 G53
+N525 X51.243 Y77.490 G53
+N530 G00 Z2.0 G53
+N535 X50.574 Y76.744  G53
+N540 G01 Z-0.2 G53
+N545 G03 X51.203 Y77.215 I0.079 J0.550 G53
+N550 G00 Z2.0 G53
+N555 X50.025 Y76.823  G53
+N560 G01 Z-0.2 G53
+N565 X50.574 Y76.744 G53
+N570 G00 Z2.0 G53
+N575 X53.049 Y76.389  G53
+N580 G01 Z-0.2 G53
+N585 X51.949 Y76.547 G53
+N590 X53.274 Y78.222 G53
+N595 G03 X53.327 Y78.454 I-0.218 J0.172 G53
+N600 G03 X52.262 Y78.607 I-0.552 J-0.061 G53
+N605 G00 Z2.0 G53
+N610 M30 G53
+END
+
+blocks.each do |block|
+  send_command(block)
+  if (Time.now-@last_byte > 5) 
+    puts "Bailing, cause somethin' went wrong"
+    break
+  end
+end
+
+sleep(3);
+
+PNG.new(@canvas).save("gcodetest.png")
+
+puts @input
+`open gcodetest.png`