jog.cpp

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#include "examples.h"
 
#ifdef _WIN32
  #include <conio.h>
#elif __linux__
  #include <ncurses.h>
#endif
 
#include <iostream> //std::cout
using namespace std;
 
GReturn jog(GCon g)
{
  char buf[G_SMALL_BUFFER]; //traffic buffer
  if (g == 0) //Bad connection
  {
    cerr << "There was an error with the connection." << endl;
    return G_CONNECTION_NOT_ESTABLISHED;
  }
 
#ifdef __linux__
  //These functions set up the ncurses library to capture keyboard input
  initscr(); // Initialization of ncurses library
  cbreak();  // Capture one character at a time
  noecho();  // Do not write back entered characters to the console
#endif
 
  e(GCmd(g, "ST"));    // stop all motors
  e(GMotionComplete(g, "A")); //Wait for motion to complete
  e(GCmd(g, "SHA"));    // Set servo here
  e(GCmd(g, "DPA=0"));  // Start position at absolute zero
  e(GCmd(g, "JGA=0"));  // Start jogging with 0 speed
  e(GCmd(g, "BGA"));   // Begin motion on A Axis
 
  int isJogging = 1;
  int speed = 0;
 
  char instructions[] = "Enter a character on the keyboard to change the"
              " motor's speed:\n<q> Quit\n<a> -2000 counts/s\n"
              "<s> -500  counts/s\n<d> +500  counts/s\n<f> "
              "+2000 counts/s\n<r> Direction Reversal\n";
 
#ifdef _WIN32
  cout << instructions;
#elif __linux__
  printw(instructions); //Print instructions to console
#endif
 
  while (isJogging)
  {
    sprintf(buf, "JGA=%d", speed);
    e(GCmd(g, buf)); // Set speed
#ifdef _WIN32
    cout << "Jog Speed: " << speed << "\n";
    switch (_getch()) //Capture keypress
#elif __linux__
    sprintf(buf, "Jog Speed: %d\n", speed);
    printw(buf); //Print speed to console
    switch (getch()) //Capture keypress
#endif
    {
      case 'q': //Quit Jogging
        isJogging = 0;
        break;
      case 'a': //Large speed change in negative direction
        speed -= 2000;
        break;
      case 's': //Small speed change in negative direction
        speed -= 500;
        break;
      case 'd': //Small speed change in positive direction
        speed += 500;
        break;
      case 'f': //Large speed change in positive direction
        speed += 2000;
        break;
      case 'r': //Reverse direction of speed
        speed *= -1;
        break;
    }
  }
 
#if __linux__
  endwin(); //Restores terminal to previous state
#endif
  e(GCmd(g, "ST")); // Stop all motors
  e(GMotionComplete(g, "A")); //Wait for motion to complete
 
  return  GALIL_EXAMPLE_OK;
}