aboutsummaryrefslogtreecommitdiff
path: root/plot.go
blob: 2d6a68441dfd6284606620e2d4213cc0bcf29b5c (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
package robo

import (
	"fmt"
	"strings"
	"time"
)

type Robo struct {
	dev Device
}

func NewRobo() (Robo, error) {
	dev, err := Open()
	if err != nil {
		return Robo{}, err
	}
	return Robo{dev}, nil
}

func (r Robo) Close() error {
	return r.dev.Close()
}

type Plotter interface {
	Plot() []byte
}

type Line []Point
type Bezier [4]Point
type Circle [3]Point

func (v Line) Plot() []byte   { return nil } // MDDDD...
func (v Bezier) Plot() []byte { return nil } // BZ...
func (v Circle) Plot() []byte { return nil } // W...

func join(p ...Point) string {
	path := make([]string, len(p))
	for i, v := range p {
		path[i] = v.String()
	}
	return strings.Join(path, ",")
}

// ???
func Draw(p ...Point) string          { return fmt.Sprintf("D%v", Path(p)) }
func DrawRelateive(p ...Point) string { return fmt.Sprintf("E%v", Path(p)) }
func Move(p Point) string             { return fmt.Sprintf("M%v", p) }
func MoveRelative(p Point) string     { return fmt.Sprintf("O%v", p) }

//func Offset(p Point) string          { return "^" + p.String() }
//func LowerLeft(p Point) string   { return "\\" + p.String() }
//func UpperRight(p Point) string  { return "Z" + p.String() }
func CuttingArea(p Point) string { return "FU" + p.String() }

//func Calibration(p Point) string     { return "TB72" + p.String() }

func Curve(a int, p ...Point) string { return fmt.Sprintf("Y%d,%v", a, Path(p)) }

func (r Robo) Wait4Ready() {
	t := time.NewTicker(time.Second)
	defer t.Stop()
	for range t.C {
		if r.Ready() {
			return
		}
	}
}

func (r Robo) Step(d Direction) { r.dev.Command([]byte{0, byte(d)}) }
func (r Robo) BootUpgrade()     { r.dev.Command([]byte{1}) }
func (r Robo) Init()            { r.dev.Command([]byte{4}) }

func (r Robo) Ready() bool {
	r.dev.Command([]byte{5})
	resp, _ := r.dev.ReadString()
	return resp == "0"
}

func (r Robo) Printf(f string, a ...interface{}) {
	s := fmt.Sprintf(f, a...)
	r.dev.WriteString(s)
}

func (r Robo) Scanf(f string, a ...interface{}) string {
	s := fmt.Sprintf(f, a...)
	r.dev.WriteString(s)
	resp, _ := r.dev.ReadString()
	return strings.TrimSpace(resp)
}

func (r Robo) Version() string { return r.Scanf("FG") }

func (r Robo) GoHome()                         { r.Printf("TT") }
func (r Robo) Home()                           { r.Printf("H") }
func (r Robo) Origin()                         { r.Printf("FJ") }
func (r Robo) Calibrate()                      { r.Printf("TB70") }
func (r Robo) TestCut()                        { r.Printf("FH") }
func (r Robo) TestLoop()                       { r.Printf("FI") }
func (r Robo) Factor(x, y, z Unit)             { r.Printf("&%v", Triple{x, y, z}) }
func (r Robo) Offset(p Point)                  { r.Printf("^%v", p) }
func (r Robo) LowerLeft(p Point)               { r.Printf("\\%v", p) }
func (r Robo) UpperRight(p Point)              { r.Printf("Z%v", p) }
func (r Robo) CuttingArea(p Point)             { r.Printf("FU%v", p) }
func (r Robo) Calibration(p Point)             { r.Printf("TB72,%v", p) }
func (r Robo) Move(p Point)                    { r.Printf("M%v", p) }
func (r Robo) MoveRelative(p Point)            { r.Printf("O%v", p) }
func (r Robo) Draw(p ...Point)                 { r.Printf("D%v", Path(p)) }
func (r Robo) DrawRelative(p Point)            { r.Printf("E%v", p) }
func (r Robo) Bezier(a, b, c, d Point)         { r.Printf("BZ1,%v", Path{a, b, c, d}) }
func (r Robo) Bezierf(x int, a, b, c, d Point) { r.Printf("BZ%v,%v", x, Path{a, b, c, d}) }
func (r Robo) Line(p ...Point) {
	if len(p) > 1 {
		r.Move(p[0])
		r.Draw(p[1:]...)
	}
}