public void setHardwareVersion(int version) {
int newVersion = -1;
try {
// get version numbers
ServiceLoader<MakelangeloHardwareProperties> knownHardware =
ServiceLoader.load(MakelangeloHardwareProperties.class);
Iterator<MakelangeloHardwareProperties> i = knownHardware.iterator();
while (i.hasNext()) {
MakelangeloHardwareProperties hw = i.next();
if (hw.getVersion() == version) {
hardwareProperties = hw.getClass().newInstance();
newVersion = version;
break;
}
}
} catch (Exception e) {
e.printStackTrace();
Log.error("Hardware version instance failed. Defaulting to v2");
hardwareProperties = new Makelangelo2Properties();
newVersion = 2;
}
if (newVersion == -1) {
Log.error("Unknown hardware version requested. Defaulting to v2");
hardwareProperties = new Makelangelo2Properties();
}
hardwareVersion = newVersion;
if (!hardwareProperties.canChangeMachineSize()) {
this.setMachineSize(
hardwareProperties.getWidth() * 0.1f, hardwareProperties.getHeight() * 0.1f);
}
saveConfigToLocal();
}
/**
* These values should match
* https://github.com/marginallyclever/makelangelo-firmware/firmware_rumba/configure.h
*
* @param translator
* @param robot
*/
public MakelangeloRobotSettings(MakelangeloRobot robot) {
// set up number format
DecimalFormatSymbols otherSymbols = new DecimalFormatSymbols();
otherSymbols.setDecimalSeparator('.');
df = new DecimalFormat("#.###", otherSymbols);
df.setGroupingUsed(false);
double mh = 835 * 0.1; // mm > cm // Makelangelo 5 is 835mm.
double mw = 835 * 0.1; // mm > cm // Makelangelo 5 is 835mm.
robotUID = 0;
isRegistered = false;
limitTop = mh / 2;
limitBottom = -mh / 2;
limitRight = mw / 2;
limitLeft = -mw / 2;
paperColor = Color.WHITE;
listeners = new ArrayList<MakelangeloRobotSettingsListener>();
shouldSignName = false;
// paper area
double pw = 420 * 0.1; // cm
double ph = 594 * 0.1; // cm
paperTop = ph / 2;
paperBottom = -ph / 2;
paperLeft = -pw / 2;
paperRight = pw / 2;
paperMargin = 0.9;
maxFeedRate = 6500;
currentFeedRate = 6500;
maxAcceleration = 250;
// pen
diameter = 0.8f;
zRate = 50;
zOn = 90;
zOff = 50;
penDownColor = Color.BLACK;
penUpColor = Color.BLUE;
// diameter = circumference/pi
// circumference is 20 teeth @ 2mm/tooth
pulleyDiameter = 20.0 * 0.2 / Math.PI;
isLeftMotorInverted = false;
isRightMotorInverted = true;
reverseForGlass = false;
startingPositionIndex = 4;
// default hardware version is 2
setHardwareVersion(2);
// which configurations are available?
try {
configsAvailable = topLevelMachinesPreferenceNode.childrenNames();
} catch (Exception e) {
Log.error(e.getMessage());
configsAvailable = new String[1];
configsAvailable[0] = "Default";
}
// Load most recent config
// loadConfig(last_machine_id);
}
