GcodeRotory.java

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package com.neuronrobotics.sdk.addons.kinematics.gcodebridge;
 
import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink;
import com.neuronrobotics.sdk.addons.kinematics.AbstractRotoryLink;
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
 
public class GcodeRotory extends AbstractRotoryLink implements IGCodeChannel {
    private GcodeDevice device;
    private String axis = "";
    private double value =0;
    public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) {
        super(conf);
        // TODO Auto-generated constructor stub
        this.device = device;
        axis=linkAxis;
        //loadCurrent();
    }
 
    @Override
    public void cacheTargetValueDevice() {
        //value
    }
    
    private void loadCurrent(){
        device.loadCurrent();
    }
 
    @Override
    public void flushDevice(double time) {
        loadCurrent();
        
        double distance = getTargetValue()-getValue();
        if(distance !=0){
            int feedrate = (int)Math.abs((distance/(time/60)));//mm/min
            device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate);
        }
    }
 
    @Override
    public void flushAllDevice(double time) {
        device.flush(time);
    }
 
    @Override
    public double getCurrentPosition() {
 
        return  getValue();
    }
 
    public String getAxis() {
        return axis;
    }
 
    public void setAxis(String axis) {
        this.axis = axis;
    }
 
    public double getValue() {
        return value;
    }
 
    public void setValue(double value) {
        this.value = value;
        fireLinkListener( value);
    }
 
}