hzeller/microscope-control
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Implement simple GCode stage.

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Easy experimenting with 3D printer or other CNC if
open flexure is not available.

Signed-off-by: Henner Zeller <h.zeller@acm.org>
This commit is contained in:
Henner Zeller 2026-03-08 14:04:15 +01:00
parent 4f620ad899
commit ad9b1cb8c2
4 changed files with 72 additions and 9 deletions
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29
hostcontrol/src/main.rs
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@ -1,6 +1,7 @@
use clap::Parser;
use clap::{Parser, ValueEnum};
use std::{thread::sleep, time::Duration};
mod gcode_stage;
mod openflexure_stage;
mod stage_io;
@ -19,19 +20,37 @@ struct CliArgs {
/// Speed of the stage device (bps)
#[arg(long, default_value = "115200")]
tty_speed: u32,
#[arg(long, value_enum)]
backend: Backend,
}
// [derive(DebugCopy, Clone, PartialEq, Eq, PartialOrd, Ord, ValueEnum)]
#[derive(Debug, Clone, ValueEnum)]
enum Backend {
/// OpenFlexure stage
OpenFlexure,
/// GCode stage
GCode,
}
fn main() {
let args = CliArgs::parse();
env_logger::init();
let stage_io = StageIO::new(&args.stage_device, args.tty_speed).unwrap();
let mut s = openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap();
let mut stage: Box<dyn XYStage> = match args.backend {
Backend::GCode => Box::new(gcode_stage::GCodeStage::new(stage_io).unwrap()),
Backend::OpenFlexure => {
Box::new(openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap())
}
};
let origin = nalgebra::vector![0.0, 0.0, 0.0];
s.move_absolute_cartesian(origin).unwrap();
stage.move_absolute_cartesian(origin).unwrap();
sleep(Duration::from_secs(1));
let mut max_xy = s.get_range();
let mut max_xy = stage.get_range();
max_xy[2] = 0.0;
s.move_absolute_cartesian(max_xy).unwrap();
stage.move_absolute_cartesian(max_xy).unwrap();
sleep(Duration::from_secs(5));
}