/*The?MIT?License?（MIT）

Copyright?（c）?2014?Leonardo?Ciocari

Permission?is?hereby?granted?free?of?charge?to?any?person?obtaining?a?copy
of?this?software?and?associated?documentation?files?（the?“Software“）?to?deal
in?the?Software?without?restriction?including?without?limitation?the?rights
to?use?copy?modify?merge?publish?distribute?sublicense?and/or?sell
copies?of?the?Software?and?to?permit?persons?to?whom?the?Software?is
furnished?to?do?so?subject?to?the?following?conditions:

The?above?copyright?notice?and?this?permission?notice?shall?be?included?in?all
copies?or?substantial?portions?of?the?Software.

THE?SOFTWARE?IS?PROVIDED?“AS?IS“?WITHOUT?WARRANTY?OF?ANY?KIND?EXPRESS?OR
IMPLIED?INCLUDING?BUT?NOT?LIMITED?TO?THE?WARRANTIES?OF?MERCHANTABILITY
FITNESS?FOR?A?PARTICULAR?PURPOSE?AND?NONINFRINGEMENT.?IN?NO?EVENT?SHALL?THE
AUTHORS?OR?COPYRIGHT?HOLDERS?BE?LIABLE?FOR?ANY?CLAIM?DAMAGES?OR?OTHER
LIABILITY?WHETHER?IN?AN?ACTION?OF?CONTRACT?TORT?OR?OTHERWISE?ARISING?FROM
OUT?OF?OR?IN?CONNECTION?WITH?THE?SOFTWARE?OR?THE?USE?OR?OTHER?DEALINGS?IN?THE
SOFTWARE.*/

//COMMAND?EXAMPLES?（With?CNC?at?reset?position?“x00000y00000z1“）:
//x000147y000147z1?-?Invalid?can‘t?move?X?and?Y?axis?with?Z?down
//x000147y000147z2?-?Valid?can?move?X?and?Y?axis?with?Z?up?（will?move?X?first?then?Y）
//x000147y000000z1?-?Valid?can?move?X?to?00147?from?actual?00000?position
//x000000y000294z1?-?Valid?can?move?Y?to?00294?from?actual?00000?position


//#include?
#include?
#include?

#include?“defineports.h“

__CONFIG（INTIO?&?WDTDIS?&?MCLRDIS?&?BORDIS?&?LVPDIS）;

#define?SERIAL_TIMEOUT?65530

unsigned?int?xStepDelay?=?100;?//X軸脈沖中的間隔時間
unsigned?int?yStepDelay?=?120;?//Y軸脈沖中的間隔時間
unsigned?int?zStepDelay?=?80;?//Z軸脈沖中的間隔時間，Z軸是軟驅電機，啟動頻率不能太高
unsigned?int?xMinStepDelay?=?50;?//電機性能不好，速度無法提高，特使用一個加速過程
unsigned?int?yMinStepDelay?=?60;?//電機性能不好，速度無法提高，特使用一個加速過程
unsigned?int?stepDelayCnt?=?100;?//每隔多少步后開始升速，設置為0則為固定值


//延時函數，一個循環剛好10個指令，在最后加上函數調用的花銷7個指令即可。
//假定4m晶體，則：
//延時0.5ms可以用：delayit（50）
//延時1ms可以用：delayit（100）
//延時10ms可以用：delayit（1000）
void?delayit（unsigned?int?d）
{
????while（--d）{;}
}

//直接移動多少步，moveLeft=1為向左，=0為向右
void?Xmove（unsigned?int?steps?unsigned?char?moveLeft）
{
????unsigned?int?n;
????unsigned?int?delayNum;
????unsigned?char?runnedStep;
????
????if?（steps?==?0）
????????return;
????
????if?（moveLeft）
????????X_DIR?=?1;
????else
????????X_DIR?=?0;
????
????delayNum?=?xStepDelay;?//兼顧不丟步和速度考慮，使用一個加速過程
????runnedStep?=?0;
????for?（n?=?steps;?n?>?0;?n--）
????{
????????if?（（moveLeft?&&?（X_STOP_SW_LEFT?==?0））?
????????????||?（!moveLeft?&&?（X_STOP_SW_RIGHT?==?0）））
????????????break;
????????
????????X_STEP?=?1;?//上升沿啟動
????????delayit（delayNum）;
????????X_STEP?=?0;
????????delayit（delayNum）;
????????if?（（stepDelayCnt?>?0）?&&?（++runnedStep?>=?stepDelayCnt））?//每隔一定的步數提升一次速度
????????{
????????????runnedStep?=?0;
????????????if?（delayNum?>?xMinStepDelay

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2016-05-08?01:56??PrinterCnc-master\
?????目錄???????????0??2016-05-08?01:56??PrinterCnc-master\Eagle\
?????文件???????40507??2016-05-08?01:56??PrinterCnc-master\Eagle\import_bmp_as_wire.ulp
?????目錄???????????0??2016-05-08?01:56??PrinterCnc-master\Firmware\
?????文件????????9676??2016-05-08?01:56??PrinterCnc-master\Firmware\Main.c
?????文件?????????556??2016-05-08?01:56??PrinterCnc-master\Firmware\cmdlist.md
?????文件?????????659??2016-05-08?01:56??PrinterCnc-master\Firmware\defineports.h
?????文件????????3960??2016-05-08?01:56??PrinterCnc-master\Firmware\myPrinterCnc.X.production.hex
?????文件????????1084??2016-05-08?01:56??PrinterCnc-master\LICENSE
?????目錄???????????0??2016-05-08?01:56??PrinterCnc-master\Photos\
?????文件??????103474??2016-05-08?01:56??PrinterCnc-master\Photos\DC電機加光柵條結構.JPG
?????文件??????168520??2016-05-08?01:56??PrinterCnc-master\Photos\DC電機驅動板.JPG
?????文件??????149257??2016-05-08?01:56??PrinterCnc-master\Photos\DC電機驅動板電路圖.JPG
?????文件??????202912??2016-05-08?01:56??PrinterCnc-master\Photos\DC電機驅動板背面.JPG
?????文件??????179637??2016-05-08?01:56??PrinterCnc-master\Photos\JDM編程器.JPG
?????文件??????222494??2016-05-08?01:56??PrinterCnc-master\Photos\X軸步進電機齒輪組正面.JPG
?????文件??????262990??2016-05-08?01:56??PrinterCnc-master\Photos\X軸步進電機齒輪組背面.JPG
?????文件??????220339??2016-05-08?01:56??PrinterCnc-master\Photos\Y軸支撐平臺固定角鋁.JPG
?????文件??????215146??2016-05-08?01:56??PrinterCnc-master\Photos\Z軸筆架固定特寫.JPG
?????文件??????115890??2016-05-08?01:56??PrinterCnc-master\Photos\上位機.JPG
?????文件??????253172??2016-05-08?01:56??PrinterCnc-master\Photos\墨車固定和Z軸特寫.JPG
?????文件??????211207??2016-05-08?01:56??PrinterCnc-master\Photos\打印龍字.JPG
?????文件??????214115??2016-05-08?01:56??PrinterCnc-master\Photos\掃描儀組件改裝.JPG
?????文件??????274305??2016-05-08?01:56??PrinterCnc-master\Photos\控制板盒子.JPG
?????文件??????195889??2016-05-08?01:56??PrinterCnc-master\Photos\整機正面.JPG
?????文件??????324172??2016-05-08?01:56??PrinterCnc-master\Photos\最終控制板.JPG
?????文件??????172965??2016-05-08?01:56??PrinterCnc-master\Photos\最終洞洞板背面.JPG
?????文件??????259006??2016-05-08?01:56??PrinterCnc-master\Photos\最終洞洞板（沒EasyDriver）.JPG
?????文件??????215627??2016-05-08?01:56??PrinterCnc-master\Photos\滾輪特寫.JPG
?????文件??????259275??2016-05-08?01:56??PrinterCnc-master\Photos\第一次嘗試洞洞板.JPG
?????文件????????4588??2016-05-08?01:56??PrinterCnc-master\README.md
............此處省略60個文件信息