protected void JogMotors() {
JDialog driver = new JDialog(mainframe, "Jog Motors", true);
driver.setLayout(new GridBagLayout());
GridBagConstraints c = new GridBagConstraints();
final JButton buttonAneg = new JButton("IN");
final JButton buttonApos = new JButton("OUT");
final JCheckBox m1i = new JCheckBox("Invert", m1invert);
final JButton buttonBneg = new JButton("IN");
final JButton buttonBpos = new JButton("OUT");
final JCheckBox m2i = new JCheckBox("Invert", m2invert);
c.gridx = 0;
c.gridy = 0;
driver.add(new JLabel("L"), c);
c.gridx = 0;
c.gridy = 1;
driver.add(new JLabel("R"), c);
c.gridx = 1;
c.gridy = 0;
driver.add(buttonAneg, c);
c.gridx = 1;
c.gridy = 1;
driver.add(buttonBneg, c);
c.gridx = 2;
c.gridy = 0;
driver.add(buttonApos, c);
c.gridx = 2;
c.gridy = 1;
driver.add(buttonBpos, c);
c.gridx = 3;
c.gridy = 0;
driver.add(m1i, c);
c.gridx = 3;
c.gridy = 1;
driver.add(m2i, c);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == buttonApos) SendLineToRobot("D00 L100");
if (subject == buttonAneg) SendLineToRobot("D00 L-100");
if (subject == buttonBpos) SendLineToRobot("D00 R100");
if (subject == buttonBneg) SendLineToRobot("D00 R-100");
SendLineToRobot("M114");
}
};
ActionListener invertButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
m1invert = m1i.isSelected();
m2invert = m2i.isSelected();
SaveConfig();
SendConfig();
}
};
buttonApos.addActionListener(driveButtons);
buttonAneg.addActionListener(driveButtons);
buttonBpos.addActionListener(driveButtons);
buttonBneg.addActionListener(driveButtons);
m1i.addActionListener(invertButtons);
m2i.addActionListener(invertButtons);
SendLineToRobot("M114");
driver.pack();
driver.setVisible(true);
}
/**
* Open the config dialog, send the config update to the robot, save it for future, and refresh
* the preview tab.
*/
public void UpdateConfig() {
final JDialog driver = new JDialog(mainframe, "Configure Limits", true);
driver.setLayout(new GridBagLayout());
final JTextField mtop = new JTextField(String.valueOf(limit_top));
final JTextField mbottom = new JTextField(String.valueOf(limit_bottom));
final JTextField mleft = new JTextField(String.valueOf(limit_left));
final JTextField mright = new JTextField(String.valueOf(limit_right));
final JTextField ptop = new JTextField(String.valueOf(paper_top));
final JTextField pbottom = new JTextField(String.valueOf(paper_bottom));
final JTextField pleft = new JTextField(String.valueOf(paper_left));
final JTextField pright = new JTextField(String.valueOf(paper_right));
final JButton cancel = new JButton("Cancel");
final JButton save = new JButton("Save");
GridBagConstraints c = new GridBagConstraints();
c.gridx = 3;
c.gridy = 0;
driver.add(mtop, c);
c.gridx = 3;
c.gridy = 5;
driver.add(mbottom, c);
c.gridx = 0;
c.gridy = 3;
driver.add(mleft, c);
c.gridx = 5;
c.gridy = 3;
driver.add(mright, c);
c.gridx = 3;
c.gridy = 1;
driver.add(ptop, c);
c.gridx = 3;
c.gridy = 4;
driver.add(pbottom, c);
c.gridx = 1;
c.gridy = 3;
driver.add(pleft, c);
c.gridx = 4;
c.gridy = 3;
driver.add(pright, c);
c.gridx = 4;
c.gridy = 6;
driver.add(save, c);
c.gridx = 5;
c.gridy = 6;
driver.add(cancel, c);
Dimension s = ptop.getPreferredSize();
s.width = 80;
ptop.setPreferredSize(s);
pbottom.setPreferredSize(s);
pleft.setPreferredSize(s);
pright.setPreferredSize(s);
mtop.setPreferredSize(s);
mbottom.setPreferredSize(s);
mleft.setPreferredSize(s);
mright.setPreferredSize(s);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
if (subject == save) {
paper_top = Float.valueOf(ptop.getText());
paper_bottom = Float.valueOf(pbottom.getText());
paper_right = Float.valueOf(pright.getText());
paper_left = Float.valueOf(pleft.getText());
limit_top = Float.valueOf(mtop.getText());
limit_bottom = Float.valueOf(mbottom.getText());
limit_right = Float.valueOf(mright.getText());
limit_left = Float.valueOf(mleft.getText());
previewPane.setMachineLimits(limit_top, limit_bottom, limit_left, limit_right);
previewPane.setPaperSize(paper_top, paper_bottom, paper_left, paper_right);
SetRecentPaperSize();
SaveConfig();
SendConfig();
driver.dispose();
}
if (subject == cancel) {
driver.dispose();
}
}
};
save.addActionListener(driveButtons);
cancel.addActionListener(driveButtons);
SendLineToRobot("M114"); // "where" command
driver.pack();
driver.setVisible(true);
}
/** Open the config dialog, update the paper size, refresh the preview tab. */
public void Drive() {
JDialog driver = new JDialog(mainframe, "Manual Control", true);
driver.setLayout(new GridBagLayout());
JButton find = new JButton("FIND HOME");
JButton home = new JButton("GO HOME");
JButton center = new JButton("THIS IS HOME");
JButton up1 = new JButton("Y1");
JButton up10 = new JButton("Y10");
JButton up100 = new JButton("Y100");
JButton down1 = new JButton("Y-1");
JButton down10 = new JButton("Y-10");
JButton down100 = new JButton("Y-100");
JButton left1 = new JButton("X-1");
JButton left10 = new JButton("X-10");
JButton left100 = new JButton("X-100");
JButton right1 = new JButton("X1");
JButton right10 = new JButton("X10");
JButton right100 = new JButton("X100");
GridBagConstraints c = new GridBagConstraints();
c.gridx = 3;
c.gridy = 0;
driver.add(up100, c);
c.gridx = 3;
c.gridy = 1;
driver.add(up10, c);
c.gridx = 3;
c.gridy = 2;
driver.add(up1, c);
c.gridx = 3;
c.gridy = 4;
driver.add(down1, c);
c.gridx = 3;
c.gridy = 5;
driver.add(down10, c);
c.gridx = 3;
c.gridy = 6;
driver.add(down100, c);
c.gridx = 0;
c.gridy = 3;
driver.add(left100, c);
c.gridx = 1;
c.gridy = 3;
driver.add(left10, c);
c.gridx = 2;
c.gridy = 3;
driver.add(left1, c);
c.gridx = 4;
c.gridy = 3;
driver.add(right1, c);
c.gridx = 5;
c.gridy = 3;
driver.add(right10, c);
c.gridx = 6;
c.gridy = 3;
driver.add(right100, c);
c.gridx = 3;
c.gridy = 3;
driver.add(home, c);
c.gridx = 6;
c.gridy = 0;
driver.add(center, c);
c.gridx = 6;
c.gridy = 1;
driver.add(find, c);
ActionListener driveButtons =
new ActionListener() {
public void actionPerformed(ActionEvent e) {
Object subject = e.getSource();
JButton b = (JButton) subject;
String t = b.getText();
if (t == "GO HOME") {
GoHome();
SendLineToRobot("M114");
} else if (t == "FIND HOME") {
SendLineToRobot("G28");
} else if (t == "THIS IS HOME") {
SendLineToRobot("TELEPORT XO YO");
} else {
SendLineToRobot("G91");
SendLineToRobot("G00 " + b.getText());
SendLineToRobot("G90");
SendLineToRobot("M114");
}
}
};
up1.addActionListener(driveButtons);
up10.addActionListener(driveButtons);
up100.addActionListener(driveButtons);
down1.addActionListener(driveButtons);
down10.addActionListener(driveButtons);
down100.addActionListener(driveButtons);
left1.addActionListener(driveButtons);
left10.addActionListener(driveButtons);
left100.addActionListener(driveButtons);
right1.addActionListener(driveButtons);
right10.addActionListener(driveButtons);
right100.addActionListener(driveButtons);
center.addActionListener(driveButtons);
home.addActionListener(driveButtons);
find.addActionListener(driveButtons);
SendLineToRobot("M114");
driver.pack();
driver.setVisible(true);
}
