GCODE devices demonstrated

GCODEDemo.groovy

import com.neuronrobotics.sdk.addons.kinematics.AbstractLink;
import com.neuronrobotics.sdk.addons.kinematics.DHChain;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver;
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
import com.neuronrobotics.sdk.addons.kinematics.LinkFactory;
import com.neuronrobotics.sdk.addons.kinematics.LinkType;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GCodeHeater;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeRotory;
import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGCodeChannel;
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.common.DeviceManager;
import gnu.io.NRSerialPort;

String GCODE = "GCODE";
String portname = "/dev/ttyUSB0";// set your serial port name here 
Class<GcodeDevice> GCODECONTOLLER = GcodeDevice.class;
GcodeDevice device;

void fail(String message){
	throw new Exception(message)
}

if (DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE) == null){
	hasPort = false;
	for (String s : NRSerialPort.getAvailableSerialPorts()) {
		if (s.contentEquals(portname))
			hasPort = true;
		else
			println "port: "+s+" is not "+portname
	}
	if (hasPort) {
		NRSerialPort port = new NRSerialPort(portname, 115200);// set your baudrate here
		device = new GcodeDevice(port);
		device.connect();
		DeviceManager.addConnection(device, GCODE);
	}else{
		println "ERROR serial port "+portname+" not found"
		return null;
	}
}

device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE))

/**
 * You can send lines of gcode to the device this way
 */
String response = device.runLine("M105");
if (response.length() > 0)
	System.out.println("Gcode line run: " + response);
else {
	println("No response");
}
esponse = device.runLine("G90");// Absolute mode
if (response.length() > 0)
	System.out.println("Gcode line run: " + response);
else {
	fail("No response");
}
response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000");
if (response.length() > 0)
	System.out.println("Gcode line run: " + response);
else {
	fail("No response");
}
response = device.runLine("G1 X0 Y0 Z0 E0 F3000");
if (response.length() > 0)
	System.out.println("Gcode line run: " + response);
else {
	fail("No response");
}
/**
 * You can also wrap the device in a link (this is used inside the creatures)
 * this will generate  a coordinate motion gcode and send it
 */

LinkFactory lf = new LinkFactory();
LinkConfiguration confp = new LinkConfiguration();
confp.setType(LinkType.GCODE_STEPPER_ROTORY);
confp.setDeviceScriptingName(GCODE);
confp.setHardwareIndex(0);
confp.setScale(1);
AbstractLink link = lf.getLink(confp);

link.setTargetEngineeringUnits(100.5);
link.flush(1);// take 2 seconds to flush

LinkConfiguration confp2 = new LinkConfiguration();
confp2.setType(LinkType.GCODE_STEPPER_ROTORY);
confp2.setDeviceScriptingName(GCODE);
confp2.setHardwareIndex(1);
confp2.setScale(1);
AbstractLink link2 = lf.getLink(confp2);

link2.setTargetEngineeringUnits(100.5);
link2.flush(1);// take 2 seconds to flush

link2.setTargetEngineeringUnits(0);
link.setTargetEngineeringUnits(0);
// coordinated motion flush
lf.flush(1);