OK, So, I'm not sure about the best way so I copied the
file as an attachment as well as here.
#include "KMotionDef.h"
#include "Driver\Defines.c"
#define Z_UP_AFTER_TOUCH 1.0 //Move up this amount in
Inches after tool touch
#define Offset_FromTouch 1.85 //if you don't want the dro
set to zero
#define TOUCH_PROBE_PIN 17
double CountsPerInchZ;
#define GATH_OFF 0
int DoPC(int cmd);
int DoPCInt(int cmd, int i);
int MDI(char *s);
int DoPCFloat(int cmd, float f);
float saveaccel,savejerk;
double touchPos;
double offsetFromFirstTool;
double offsetFromPartZero;
float newDRO;
//-------------------------------------------------------
//-------------------------------------------------------
main()
{
CountsPerInchZ = persist.UserData[ZSPI]; //get count
// Save current Accel/Jerk
saveaccel=chan[Z].Accel;
savejerk=chan[Z].Jerk;
// Set Accel/Jerk to Very fast
chan[Z].Accel = 1000000000;
chan[Z].Jerk = 1000000000;
// Move Down
Jog(Z,-5000);
// Waite for Touch Probe hit
while(ReadBit(TOUCH_PROBE_PIN))
{
if (CheckDone(Z))
break;
}
touchPos = chan[Z].Position; // Record position
if (!ReadBit(ESTOP_SW)) return;
Jog(Z, 0);
// Restore saved Accel/Jerk
chan[Z].Accel = saveaccel;
chan[Z].Jerk = savejerk;
Move(Z, touchPos);
while(!CheckDone(Z));
newDRO = Offset_FromTouch;
//printf("%f, %f, %f\n", newDRO, offsetFromPartZero,
offsetFromFirstTool);
// Set New DRO Z Height
DoPCFloat(PC_COMM_SET_Z, newDRO);
Delay_sec(1.0);
MoveRel(Z, Z_UP_AFTER_TOUCH * CountsPerInchZ);
}
//-------------------------------------------------------
//-------------------------------------------------------
// put the MDI string (Manual Data Input - GCode) in the
// gather buffer and tell the App where it is
int MDI(char *s)
{
char *p=(char *)gather_buffer+GATH_OFF*sizeof(int);
int i;
do // copy to gather buffer w offset 0
{
*p++ = *s++;
}while (s[-1]);
// issue the command an wait till it is complete
// (or an error - such as busy)
return DoPCInt(PC_COMM_MDI,GATH_OFF);
}
// Put a Float as a parameter and pass the command to the
App
int DoPCFloat(int cmd, float f)
{
int result;
persist.UserData[PC_COMM_PERSIST+1] = *(int*)&f;
return DoPC(cmd);
}
// Put an integer as a parameter and pass the command to
the App
int DoPCInt(int cmd, int i)
{
int result;
persist.UserData[PC_COMM_PERSIST+1] = i;
return DoPC(cmd);
}
// Pass a command to the PC and wait for it to handshake
// that it was received by either clearing the command
// or changing it to a negative error code
int DoPC(int cmd)
{
int result;
persist.UserData[PC_COMM_PERSIST]=cmd;
do
{
WaitNextTimeSlice();
}while
(result=persist.UserData[PC_COMM_PERSIST]>0);
return result;
}
