dodalem probe basic

configs/atc_sim/macros_sim/m11.ngc

@@ -0,0 +1,50 @@
+o<m11> sub
+
+; Move tool carousel CW Parameter P number of steps
+; Without parameter one step CW.
+; Parameter #3989 is used to track if the carousel is homed (M13) (volatile)
+; Parameter #3990 is used to track the current tool pocket (persistently)
+; #<number_of_pockets>: The number of pockets in the ATC is automaticity pulled from the INI via #<_ini[atc]pockets>
+(PRINT, o<m11> P#<p>)
+
+o100 if [#3989 NE 1]
+    (PRINT, atc not homed, homing)
+    M13
+o100 endif
+
+; default to a 12 pocket ATC (matching DynATC Widget behaviour), then update based on INI settings
+#<number_of_pockets> = 12
+o110 if [EXISTS[#<_ini[atc]pockets>]]
+    #<number_of_pockets> = #<_ini[atc]pockets>
+o110 endif
+
+o120 if [EXISTS[#<p>]]
+    #<steps_to_move> = #<p>
+o120 else
+    #<steps_to_move> = 1
+    (tells the atc widget move 1 step forward)
+o120 endif
+
+(tells the atc widget how many steps to move and start moving forward)
+(DEBUG, EVAL[vcp.getWidget{"dynatc"}.rotate{#<steps_to_move>, "cw"}])
+
+M64 P4 ; Move atc motor FWD
+
+o130 do
+    M66 P4 L1 Q3 ; wait for rising edge on rotation index
+    o131 if [#5399 LT 0]
+        M65 P4 ; Stop atc motor
+        (abort, Failed to get rotation index)
+    o131 endif
+    #3990 = [[[#3990+2] MOD #<number_of_pockets>]-1] ; Pocket is no.1-#<number_of_pockets>
+    #<steps_to_move> = [#<steps_to_move>-1]
+o130 while [#<steps_to_move> GT 0]
+
+M65 P4 ; Stop motor
+
+#<_my_current_pocket> = #3990
+
+(PRINT, o<m11> endsub)
+o<m11> endsub [1]
+
+M2