51 lines
1.4 KiB
Plaintext
51 lines
1.4 KiB
Plaintext
o<m12> sub
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; Move tool carousel CCW Parameter P number of steps
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; Without parameter one step CCW.
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; Parameter #3989 is used to track if the carousel is homed (M13) (volatile)
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; Parameter #3990 is used to track the current tool pocket (persistently)
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; #<number_of_pockets>: The number of pockets in the ATC is automaticity pulled from the INI via #<_ini[atc]pockets>
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(PRINT, o<m12> P#<p>)
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o100 if [#3989 NE 1]
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(PRINT, atc not homed, homing)
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M13
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o100 endif
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; default to a 12 pocket ATC (matching DynATC Widget behaviour), then update based on INI settings
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#<number_of_pockets> = 12
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o110 if [EXISTS[#<_ini[atc]pockets>]]
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#<number_of_pockets> = #<_ini[atc]pockets>
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o110 endif
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o120 if [EXISTS[#<p>]]
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#<steps_to_move> = #<p>
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o120 else
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#<steps_to_move>=1
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(tells the atc widget move 1 step reverse)
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o120 endif
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(tells the atc widget how many steps to move and start moving reverse)
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(DEBUG, EVAL[vcp.getWidget{"dynatc"}.rotate{#<steps_to_move>, "ccw"}])
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M64 P3 ; Move atc motor REV
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o130 do
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M66 P4 L1 Q3 ; wait for rising edge on rotation index
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o131 if [#5399 LT 0]
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M65 P3 ; Stop atc motor
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(abort, Failed to get rotation index)
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o131 endif
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#3990 = [[[#3990-2] MOD #<number_of_pockets>]+1] ; Pocket is no.1-#<number_of_pockets>
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#<steps_to_move> = [#<steps_to_move>-1]
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o130 while [#<steps_to_move> GT 0]
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M65 P3 ; Stop motor
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#<_my_current_pocket> = #3990
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(PRINT, o<m12> endsub)
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o<m12> endsub [1]
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M2
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