PROGRAM MASTER AVR ATMEGA 32A

Deklasrasi Library #endif Program komunikasi

serial ( Penerimaan data
#include <mega32a.h> #ifndef DOR dari LABVIEW)

#include <mega32a.h> #define DOR 3 // USART Receiver buffer

#include <delay.h> #endif #define RX_BUFFER_SIZE 1200
#include <stdio.h> #ifndef FE char gcode[1200];
#include <math.h> #define FE 4 unsigned int rx_wr_index = 0;
#include <stdlib.h> #endif // This flag is set on USART Receiver
buffer overflow
#include <string.h> #ifndef UDRE
bit charReceived;
Deklarasi varibel #define UDRE 5
(mengatur tipe data // USART Receiver interrupt service
variable tersebut) #endif
routine

long int #ifndef RXC

interrupt [USART_RXC] void
startx,starty,akhirx,akhiry,pkx,pky,qk usart_rx_isr(void)
#define RXC 7
x,qky,dpx,dpy,iterasi_linear,iterasi_ci
rcular,MaxRegister,p1=0,p2=0,p3=0,p #endif {
4,p5,p6,p7,p8,p9=0,p10,p11,p12;
char status,data;
unsigned long int stepZ = 0,x,z, mode,
uu, vv, ww, xx, XTotal, YTotal, #define FRAMING_ERROR (1<<FE) status=UCSRA;
ZTotal,Aktif,NonAktif,XNewABS = 0,
#define PARITY_ERROR (1<<UPE) data=UDR;
YNewABS = 0, ZNewABS = 0,
kuadranlinier; if ((status & (FRAMING_ERROR |
#define DATA_OVERRUN (1<<DOR)
PARITY_ERROR |
#define DATA_REGISTER_EMPTY DATA_OVERRUN))==0)
char GMode[5], GX[5], GY[5], GZ[5], (1<<UDRE)
{
GR[5], GF[5], MMode[5], SMode[5];
#define RX_COMPLETE (1<<RXC)
gcode[rx_wr_index]=data;
unsigned int a,b,i, j, k, GSelect, p,v,b ;
#define PulseX PORTA.0 //C
rx_wr_index++;
unsigned long RADIUS = 0, GNum,
#define PulseY PORTA.1 //C
GFeed=0, MNum=0; charReceived = 1;
#define PulseZ PORTB.0 //C
long XNew = 0, YNew = 0, ZNew = 0, if (rx_wr_index == RX_BUFFER_SIZE)
XOld = 0, YOld = 0, ZOld = 0, SNum; #define DirectionX PORTA.2 //C rx_wr_index=0;
unsigned int tot_overflow, #define DirectionY PORTA.3 //C }}
Zmaju,ulang, milih, s, m;
#define DirectionZ PORTB.1 //C Program Emergency
int xtot,ytot,EMG,ztot;
#define EnableX PORTA.4 //C void emergencyloop()
#define frekuensiManual 1500
#define EnableY PORTA.5 //C {
#ifndef RXB8
#define EnableZ PORTB.2 //C PORTC.1 = 0;
#define RXB8 1
#define A PORTB.3 PORTC.0 = 0;
#endif
#define B PORTB.6 PORTC.2 = 1; //LAMPU EMG
#ifndef TXB8
#define C PORTB.7 while (PINC.5 != 1) //RESET
#define TXB8 0
#define DIRECTION PORTC.7 {
#endif
#define LAMPU_EMG PORTC.2 PulseX = 0;
#ifndef UPE
EnableX = 0;
#define UPE 2
 PulseY = 0; putsf("XF0YF0ZF1"); if ( kuadranlinier == 1)

EnableY = 0; delay_us(2000); {

PulseZ = 0; PulseZ =0; DirectionX=0; //CW X

EnableZ = 0; delay_us(2000); DirectionY=1; //CW Y

} } }

EMG =1; } else if ( kuadranlinier == 2)

} else if(Zdir == 0) {

Program Timer { DirectionX=1; //CCW X

void DelayCustom(unsigned long int DirectionZ =1; DirectionY=1; //CW Y

frekuensi){
stepZ= d_z * 50; }
unsigned int timerCount;
for(ulang=0; ulang<stepZ; ulang++) else if ( kuadranlinier == 3)
float cpuClockPeriod = 9.042245,
requiredDelay { {

requiredDelay = (1.2 / frekuensi) * if (PINC.3==1) DirectionX=1; //CCW X

100000000;
{emergencyloop();} DirectionY=0; //CCW Y
timerCount = (requiredDelay /
if (EMG==1){return;} }
cpuClockPeriod) - 1;
EnableZ = 1; else if ( kuadranlinier == 4)
while(TCNT1 <= timerCount){};
PulseZ =1; {
TCNT1 = 0;
putsf("XF0YF0ZB1"); DirectionX=0; //CW X
}
delay_us(2000); DirectionY=0; //CCW Y
Program Sumbu Z
PulseZ =0; }
void putarZ(unsigned long d_z,
unsigned int Zdir ) delay_us(2000); }

{ } else if(milih == 2) // inkriment

if(Zdir ==1) } {

{ else if(pkx < 0){DirectionX=1;} //CCW

X
PulseZ =0; {
else {DirectionX=0;} //CW X
DirectionZ = 0; //DIRZ EnableZ = 0;
if(pky < 0){DirectionY=0;} //CCW Y
stepZ= d_z / 0.02; PulseZ =0;
else {DirectionY=1;} //CW Y
for(ulang=0;ulang<stepZ;ulang++) }
}
{ }
while(x < iterasi_linear)
if (PINC.3==1) Program Linier Sumbu X
dan Y {skips:
{
void LinearInterpolation(unsigned x++;
emergencyloop();}
long int feedrate)
qkx = qkx + abs(pkx);
if (EMG==1){return;}
{ x=0;
qky = qky + abs(pky);
EnableZ = 1;
if (milih == 1) //abs
PulseZ =1;
{
 if (qkx >= MaxRegister) if(DirectionY==0 && PulseY==1 {
&&
{ EnableX = 1; PulseX==0){DelayCustom(feedrate); pkx = pkx - dpy;
p8=p8+1;} //ccw
PulseX = 1; pky = pky + dpx;
Program mengirim String
qkx = qkx - MaxRegister; } }
if (p5==50) //X-
else { PulseX = 0; } if (mode == 4)
{putsf("XB50YF0ZF0");
if (qky >= MaxRegister) {
p5=0; }
{ EnableY = 1; pkx = pkx - dpy;
if (p6==50)
PulseY = 1; pky = pky + dpx;
{ putsf("XF50YF0ZF0"); // X+
qky = qky - MaxRegister; } }
p6=0; }
else{PulseY = 0 } qkx = qkx + abs(pkx) ;
if (p7==50) //Y+
if (PINC.3==1) qky = qky + abs(pky) ;
{ putsf("XF0YF50ZF0");
{ emergencyloop(); } if (qkx >= MaxRegister)
p7=0; }
if (EMG==1){return;} {
if (p8==50) //Y-
if (PulseX == 0 && PulseY==0 ) EnableX = 1;
{ putsf("XF0YB50ZF0");
{goto skips;} PulseX = 1;
p8=0; }
if(DirectionY==1 && PulseY==1 && dpx = 1;
DirectionX==1 && }}
PulseX==1){DelayCustom(feedrate); qkx = qkx - MaxRegister;
p1=p1+1;} //cw Program Interpolasi
}
Sirkular
if(DirectionY==0 && PulseY==1
else
&& DirectionX==0 && void CircularInterpolation(unsigned
PulseX==1){DelayCustom(feedrate); long int feedrate) {
p2=p2+1;} //ccw
{ x=0; dpx = 0;
if(DirectionY==1 && PulseY==1
&& DirectionX==0 && while(x <= iterasi_circular) PulseX = 0;
PulseX==1){DelayCustom(feedrate);
{skips2: }
p3=p3+1;} //cw
x++;
if(DirectionY==0 && PulseY==1
&& DirectionX==1 && if (mode == 1) if (qky >= MaxRegister)
PulseX==1){DelayCustom(feedrate);
p4=p4+1;} //ccw { {
if(DirectionX==1 && PulseX==1 pkx = pkx + dpy; EnableY = 1;
&&
PulseY==0){DelayCustom(feedrate); pky = pky - dpx; PulseY = 1;
p5=p5+1;} //ccw
} dpy = 1;
if(DirectionX==0 && PulseX==1
&& if (mode == 3) qky = qky - MaxRegister;
PulseY==0){DelayCustom(feedrate);
{ }
p6=p6+1;} //cw
pkx = pkx + dpy; else
if(DirectionY==1 && PulseY==1
&& pky = pky - dpx; {
PulseX==0){DelayCustom(feedrate);
p7=p7+1;} //cw } dpy = 0;

if (mode == 2) PulseY = 0;
 } if (p6==50) DDRB.4 = 0;

if (PINC.3==1) { DDRB.5 = 0;

{emergencyloop();} putsf("XF50YF0ZF0"); // X+ DDRB.6 = 1; //STANDBY

if (EMG==1){return;} p6=0; DDRB.7 = 1;

} PORTC=0x00;

if (PulseX == 0 && PulseY==0) if (p7==50) //Y+ DDRC.0 = 1;

{goto skips2;} { DDRC.1 = 1;

if(DirectionY==1 && PulseY==1 putsf("XF0YF50ZF0"); DDRC.2 = 1;

&& DirectionX==1 &&
PulseX==1){DelayCustom(feedrate); p7=0; DDRC.3 = 0;
p1=p1+1;} //cw
} DDRC.4 = 0;
if(DirectionY==0 && PulseY==1
if (p8==50) //Y- DDRC.5 = 0;
&& DirectionX==0 &&
PulseX==1){DelayCustom(feedrate); { DDRC.6 = 0;
p2=p2+1;} //ccw
putsf("XF0YB50ZF0"); DDRC.7 = 1;
if(DirectionY==1 && PulseY==1
&& DirectionX==0 && p8=0;
PulseX==1){DelayCustom(feedrate);
p3=p3+1;} //cw } PORTD=0x00;

if(DirectionY==0 && PulseY==1 } PORTD.1 = 0;

&& DirectionX==1 &&
} DDRD.0 = 0;
PulseX==1){DelayCustom(feedrate);
p4=p4+1;} //ccw void main(void) DDRD.1 = 0;
if(DirectionX==1 && PulseX==1 { DDRD.2 = 0;
&&
PulseY==0){DelayCustom(feedrate); Pin Input/Output DDRD.3 = 0;
p5=p5+1;} //ccw
PORTA=0x00; DDRD.4 = 0;
if(DirectionX==0 && PulseX==1
&& DDRA.0 = 1; DDRD.5 = 0;
PulseY==0){DelayCustom(feedrate);
DDRA.1 = 1; DDRD.6 = 0;
p6=p6+1;} //cw
DDRA.2 = 1; DDRD.7 = 0;
if(DirectionY==1 && PulseY==1
&& /*TCCR0=0x00;
DDRA.3 = 1;
PulseX==0){DelayCustom(feedrate);
p7=p7+1;} //cw DDRA.4 = 1; //TCNT0=0x00;

if(DirectionY==0 && PulseY==1 DDRA.5 = 1; OCR0=0x00;

&&
PulseX==0){DelayCustom(feedrate); DDRA.6 = 0; Konfigurasi Komunikasi
p8=p8+1;} //ccw Serial (USART)
DDRA.7 = 0;
// USART initialization
PORTB=0x00;
if (p5==50) //X- // Communication Parameters: 8
DDRB=0x00; Data, 1 Stop, No Parity
{
DDRB.0 = 1; // USART Receiver: On
putsf("XB50YF0ZF0");
DDRB.1 = 1; // USART Transmitter: On
p5=0;
DDRB.2 = 1; // USART Mode: Asynchronous
}
DDRB.3 = 1; // USART Baud Rate: 19200
UCSRA=0x00; while(j < rx_wr_index) case 'M':

UCSRB=0x98; { GSelect = 7;

UCSRC=0x06; switch(gcode[j]) k = j + 1;

UBRRH=0x00; { delay_ms(50);

UBRRL=0x23; case 'G': break;

Konfigurasi penggunaan GSelect = 1; case 'S':

Timer
k = j + 1; GSelect = 8;
TCCR1B |= (1 << CS10);
delay_ms(50); k = j + 1;
TCNT1 = 0;
break; s = 1;
// enable overflow interrupt
case 'X': delay_ms(50);
TIMSK |= (1 << TOIE1);
GSelect = 2; break;
//initialize overflow counter variable
k = j + 1; case ';':
tot_overflow = 0;
delay_ms(50); #asm("cli")

break; charReceived = 0;
a=b=i=j=k=uu=vv=ww=xx=0;
case 'Y': Konversi data ke integer
GSelect=0;
GSelect = 3; GNum = atoi(GMode); //atoi adalah
x=XTotal=YTotal=ZTotal=0; array to integer, nilai array diubah ke
k = j + 1; integer
z = 0;
delay_ms(50); MNum = atoi(MMode);
Aktif =1;
break; XNew = atoi(GX);
NonAktif=0;
case 'Z': YNew = atoi(GY);
MaxRegister = 65536;
GSelect = 4; ZNew = atoi(GZ);
iterasi_linear = MaxRegister;
k = j + 1; RADIUS = atoi(GR);
iterasi_circular = 1.57 * MaxRegister;
delay_ms(50); GFeed = atoi(GF);
#asm("sei")
break; SNum = atoi(SMode);
i=0;
\
Program Parsing
case 'R': XTotal=XTotal+XNew;
while (1)
GSelect = 5; YTotal=YTotal+YNew;
{
k = j + 1; ZNewABS = abs(ZNew - ZOld);
i=j=k=GSelect=0;
delay_ms(50); Program Sumbu Z
XNew = YNew = XOld = YOld = ZNew
= ZOld= 0; break; if(ZNew > 0) Zmaju = 1;

if(charReceived == 1) case 'F': else if(ZNew < 0) Zmaju = 0;

{ GSelect = 6; if(ZNewABS != 0 )

PORTC.1 = 0; //LAMPU STANDBY k = j + 1; {

KUNING
delay_ms(50); if(EMG==1){goto skipfinish;}
PORTC.0 = 1; //LAMPU RUN HIJAU
break; putarZ(ZNewABS, Zmaju);
 ZNewABS = 0; { }

delay_ms(100); A = 0; }

goto getout; B = 0; if(MNum == 4) //

SPINDLE CCW
} C = 1;
{
goto getout;
if(EMG==1){goto
Program M-Code } skipfinish;}

if(MNum == 3) // spindle CW if(SNum <=4749 && SNum >= DIRECTION = 1;

4550)
{ if(SNum >=5250)
{
if(EMG==1){goto {
skipfinish;} A = 1;
A = 1;
PORTD.7 = 1; B = 1;
B = 1;
DIRECTION = 0; C = 0;
C = 1;
if(SNum >=5250) goto getout;
goto getout;
{ }
}
A = 1; if(SNum <=4549 && SNum >=
4100) if(SNum <=5249 && SNum
B = 1; >=5200)
{
C = 1; {
A = 0;
goto getout; A = 0;
B = 1;
} B = 1;
C = 0;
if(SNum <=5249 && SNum C = 1;
>=5200) goto getout;
goto getout;
{ }
}
A = 0; if(SNum <=4099 && SNum
>= 0) if(SNum <=5199 && SNum >=
B = 1; 4900)
{
C = 1; {
A = 0;
goto getout; A = 1;
B = 0;
} B = 0;
C = 1;
if(SNum <=5199 && SNum >= C = 1;
4900) goto getout;
goto getout;
{ }
}
A = 1; if(SNum == 0)
if(SNum <=4899 && SNum >=
B = 0; { 4750)

C = 1; A = 0; {

goto getout; B = 0; A = 0;

} C = 0; B = 0;

if(SNum <=4899 && SNum >= goto getout; C = 1;

4750)
 goto getout; { else if(XNew > XOld && YNew < YOld)
kuadranlinier = 4; // X+ Y-
} A=0;B=0;C=0;
else if(XNew > XOld && YNew ==
if(SNum <=4749 && SNum >= PORTD.7 = 0; YOld) kuadranlinier = 1; // X+
4550)
if(EMG==1){goto else if(XNew < XOld &&
{ skipfinish;} YNew == YOld) kuadranlinier = 3; //
X-
A = 1; goto getout;
else if(XNew == XOld && YNew <
B = 1; }
YOld) kuadranlinier = 3; // Y-
C = 0; Program Absolut /
else if(XNew == XOld && YNew >
Inkrimen
goto getout; YOld) kuadranlinier = 1; // Y+
if (GNum == 90) //abs
} else if(XNew == XOld && YNew ==
{ YOld) kuadranlinier = 1;// DIAM
if(SNum <=4549 && SNum >=
4100) if(EMG==1){goto XNewABS = abs(XNew - XOld);
skipfinish;}
{ YNewABS = abs(YNew - YOld);
p = 1;
A = 0; ZNewABS = abs(ZNew - ZOld);
milih = 1;
B = 1; pkx = XNewABS /0.02 ;
goto getout;
C = 0; pky = YNewABS /0.02 ;
}
goto getout; if(EMG==1){goto skipfinish;}
else if (GNum == 91) //
} LinearInterpolation(500);
inkriment
if(SNum <=4099 && SNum if(EMG==1){goto skipfinish;}
{
>= 0)
XOld = XNew;
if(EMG==1){goto
{ skipfinish;} YOld = YNew;
A = 0; p = 2; delay_ms(100);
B = 0; milih = 2; pkx=pky=qkx=qky=dpy=dpx=0;
C = 1; goto getout; }
goto getout; } if(GNum == 1)
} Program G-Code Absolut {
if(SNum == 0) if ( p == 1) if(EMG==1){goto skipfinish;}
{ { if(XNew > XOld && YNew > YOld)
A = 0; kuadranlinier = 1; // X+ Y+
if(GNum == 0)
B = 0; else if(XNew < XOld && YNew > YOld)
{
kuadranlinier = 2; // X- Y+
C = 0; if(EMG==1){goto skipfinish;}
else if(XNew < XOld && YNew < YOld)
goto getout; if(XNew > XOld && YNew > YOld) kuadranlinier = 3; // X- Y-
kuadranlinier = 1; // X+ Y+
} else if(XNew > XOld && YNew < YOld)
else if(XNew < XOld && YNew > YOld) kuadranlinier = 4; // X+ Y-
}
kuadranlinier = 2; // X- Y+
else if(XNew > XOld && YNew ==
else if(XNew < XOld && YNew < YOld) YOld) kuadranlinier = 1; // X+

if(MNum == 5) //SPINDLE kuadranlinier = 3; // X- Y-

else if(XNew < XOld && YNew ==
STOP YOld) kuadranlinier = 3; // X-
else if(XNew == XOld && YNew < mode = 1 ; XTotal=0;
YOld) kuadranlinier = 3; // Y-
DirectionX=0; //cw YTotal=0;
else if(XNew == XOld && YNew >
YOld) kuadranlinier = 1; // Y+ DirectionY=1; //cw delay_ms(100);

else if(XNew == XOld && YNew == } } }} }

YOld) kuadranlinier = 1;// DIAM
if(XNew < XOld && YNew < YOld) // if(GNum == 3) //Circular CCW
XNewABS = abs(XNew - XOld); x- y-
{
YNewABS = abs(YNew - YOld); {
if(EMG==1){goto skipfinish;}
if(EMG==1){goto skipfinish;} pkx = 0;
if(XNew != XOld && YNew != YOld){
pkx = XNewABS /0.02 ; pky = RADIUS/0.02;
XNewABS = abs(XNew - XOld);
pky = YNewABS /0.02 ; mode = 1 ;
YNewABS = abs(YNew - YOld);
if(EMG==1){goto skipfinish;} DirectionX=1; //ccw
if(XNewABS == YNewABS)
LinearInterpolation(GFeed); DirectionY=0; //ccw
{
if(EMG==1){goto skipfinish;} }
if(XNewABS == RADIUS && YNewABS
XOld = XNew; if(XNew < XOld && YNew > YOld) // == RADIUS)
x- y+
YOld = YNew; {
{
delay_ms(100); if(XNew < XOld && YNew > YOld) //
pkx = RADIUS/0.02; x- y+
pkx=pky=qkx=qky=dpy=dpx=0;
pky = 0; {
XTotal=0;
mode = 2 ; pkx = 0;
YTotal=0;
DirectionX=1; // pky = RADIUS/0.02;
}
DirectionY=1; mode = 3 ;
if(GNum == 2) //Circular CW
} DirectionX=1;
{
if(XNew > XOld && YNew < YOld) // DirectionY=1;
if(EMG==1){goto skipfinish;} x+ y-
if(XNew != XOld && YNew != YOld) if(EMG==1){goto skipfinish;}
{ CircularInterpolation(GFeed);
{
pkx = RADIUS/0.02; if(EMG==1){goto skipfinish;}
XNewABS = abs(XNew - XOld); pkx=pky=qkx=qky=dpy=dpx=0;
pky = 0;
YNewABS = abs(YNew - YOld); }
mode = 2 ;
if(XNewABS == YNewABS) else if(XNew > XOld && YNew < YOld)
DirectionX=0; // x+ y-
{
DirectionY=0; {
if(XNewABS == RADIUS && YNewABS
== RADIUS) } pkx = 0;

{ if(EMG==1){goto skipfinish;} pky = RADIUS/0.02;

CircularInterpolation(GFeed);
if(XNew > XOld && YNew > YOld) mode = 3 ;
// x+ y+ if(EMG==1){goto skipfinish;}
pkx=pky=qkx=qky=dpy=dpx=0; DirectionX=0;
{
XOld = XNew; DirectionY=0;
pkx = 0;
YOld = YNew; if(EMG==1){goto skipfinish;}
pky = RADIUS/0.02;
CircularInterpolation(GFeed); Program G-Code Inkrimen {

if(EMG==1){goto skipfinish;} else if ( p == 2) if(EMG==1){goto skipfinish;}

{ startx =0 ;
pkx=pky=qkx=qky=dpy=dpx=0;
if(GNum == 0) starty =0;
}
{ akhirx= XNew/0.02;
else if(XNew > XOld && YNew > YOld)
// x+ y+ if(EMG==1){goto skipfinish;} akhiry= YNew/0.02;

{ startx =0 ; pkx = akhirx - startx ;

pkx = RADIUS/0.02; starty =0; pky = akhiry - starty ;

pky = 0; akhirx= XNew/0.02; if ( akhirx > 0 && akhiry > 0 ) //

Kuadran1 X+Y+
mode = 4 ; akhiry= YNew/0.02;
{ pkx = 0;
DirectionX=0; pkx = akhirx - startx ;
pky = RADIUS/0.02;
DirectionY=1; pky = akhiry - starty ;
mode = 1 ;
if(EMG==1){goto skipfinish;} if(EMG==1){goto skipfinish;}
DirectionX=0; //cw
CircularInterpolation(GFeed); LinearInterpolation(1000);
DirectionY=1;} //cw
if(EMG==1){goto skipfinish;} if(EMG==1){goto skipfinish;}
if ( akhirx < 0 && akhiry < 0 ) //
pkx=pky=qkx=qky=dpy=dpx=0; XNew = YNew = 0; Kuadran3 X-Y-

} pkx=pky=qkx=qky=dpy=dpx=0; { pkx = 0;

else if(XNew < XOld && YNew < YOld) } pky = RADIUS/0.02;
// x- y-
if(GNum == 1) mode = 1 ;
{
{ DirectionX=1; //ccw
pkx = RADIUS/0.02;
if(EMG==1){goto skipfinish;} DirectionY=0; } //ccw
pky = 0;
startx =0 ; if ( akhirx < 0 && akhiry > 0 ) //
mode = 4 ; Kuadran2 X-Y+
starty =0;
DirectionX=1; { pkx = RADIUS/0.02;
akhirx= XNew/0.02;
DirectionY=0; pky = 0;
akhiry= YNew/0.02;
if(EMG==1){goto skipfinish;} mode = 2 ;
pkx = akhirx - startx ;
CircularInterpolation(GFeed);
DirectionX=1; //
pky = akhiry - starty ;
if(EMG==1){goto skipfinish;}
DirectionY=1;}
pkx=pky=qkx=qky=dpy=dpx=0;
if ( akhirx > 0 && akhiry < 0 ) //
if(EMG==1){goto skipfinish;}
} Kuadran4 X+Y-
LinearInterpolation(GFeed);
XOld = XNew; { pkx = RADIUS/0.02;
if(EMG==1){goto skipfinish;}
YOld = YNew; pky = 0;
XNew = YNew = 0;
XTotal=0; mode = 2 ;
pkx=pky=qkx=qky=dpy=dpx=0;
YTotal=0; DirectionX=0;
}
delay_ms(100); DirectionY=0;}
if(GNum == 2) //Circular CW
} } } } }
if(EMG==1){goto skipfinish;} DirectionY=1; } else if(GSelect == 6) GF[j - k] =
gcode[j];
CircularInterpolation(GFeed); =if (akhirx < 0 && akhiry < 0 ) //
Kuadran4 X-Y- else if(GSelect == 7) MMode[j - k] =
if(EMG==1){goto skipfinish;} gcode[j];
{ pkx = RADIUS/0.02;
XNew = YNew = 0; else if(GSelect == 8) SMode[j - k] =
pky = 0; gcode[j];
RADIUS = 0;
mode = 4 ; break;
pkx=pky=qkx=qky=dpy=dpx=0;
DirectionX=1; }
}
DirectionY=0;} j++;
if(GNum == 3) //Circular CCW
if(EMG==1){goto skipfinish;} }
{
CircularInterpolation(GFeed); skipfinish:
if(EMG==1){goto skipfinish;}
if(EMG==1){goto skipfinish;} if (EMG==1)
startx =0 ;
XNew = YNew = 0; {charReceived = 1;
starty =0;
RADIUS = 0; #asm("sei") }
akhirx= XNew/0.02;
pkx=pky=qkx=qky=dpy=dpx=0;
akhiry= YNew/0.02;
PulseX=PulseY=PulseZ=EnableX=Enab
} }
pkx = akhirx - startx ; leY=EnableZ=0;
getout:
pky = akhiry - starty ; s = 0;
memset(GMode, 0, sizeof(GMode));
if ( akhirx < 0 && akhiry > 0) // m = 0;
Kuadran2 X-Y+ memset(GX, 0, sizeof(GX));
rx_wr_index = 0;
{ pkx = 0; memset(GY, 0, sizeof(GY));
//tx_wr_index=0;
pky = RADIUS/0.02; memset(GZ, 0, sizeof(GZ));
memset(gcode, 0, sizeof(gcode));
mode = 3 ; memset(GR, 0, sizeof(GR));
memset(MMode, 0, sizeof(MMode));
DirectionX=1; memset(MMode, 0, sizeof(MMode));
memset(SMode, 0, sizeof(SMode));
DirectionY=1;} delay_ms(100);
charReceived = 0;
if ( akhirx > 0 && akhiry < 0 ) // charReceived = 1;
XNew = YNew = XOld = YOld = 0;
Kuadran4 X+Y-
#asm("sei")
EMG=0;
{ pkx = 0;
break;
delay_ms(200);
pky = RADIUS/0.02;
default:
}
mode = 3 ;
if(GSelect == 1)GMode[j - k] =
else if(charReceived == 0)
DirectionX=0; gcode[j];
{
DirectionY=0;} else if(GSelect == 2) GX[j - k] =
gcode[j]; PORTC.1 = 1; // LAMPU STANDBY
if ( akhirx > 0 && akhiry > 0) //
KUNING
Kuadran1 X+Y+ else if(GSelect == 3) GY[j - k] =
gcode[j]; PORTC.0 = 0; //LAMPU RUN HIJAU
{ pkx = RADIUS/0.02;
else if(GSelect == 4) GZ[j - k] = PORTC.2 = 0; //LAMPU EMG
pky = 0; gcode[j];
memset(gcode, 0, sizeof(gcode));
mode = 4 ; else if(GSelect == 5) GR[j - k] =
gcode[j]; memset(MMode, 0, sizeof(MMode));
DirectionX=0;
memset(SMode, 0, sizeof(SMode));
 } putarZ(ztot, 1); if(p10 == 50)

Program HomePost {

if (PINC.4==1) //HOMEPOST } XTotal = XTotal - 1;

{ pkx = xtot/0.02; }

PORTC.1 = 0; // LAMPU STANDBY pky = ytot/0.02; delay_us(500);

KUNING
LinearInterpolation(1000); PulseX = 0;
PORTC.0 = 1; //LAMPU RUN HIJAU
ztot = 0; delay_us(500);
if (p == 1)
XTotal=xtot=YTotal = ytot = pkx }
{ =pky =0;
else if(PIND.7==1) //z+
if (XNewABS != 0 || YNewABS !=0) } } }
{
{ Program Tombol Manual
memset(gcode, 0, sizeof(gcode));
XNew = 0; else if (PIND.5==1) //X+
DirectionZ=1;
YNew = 0; {
EnableZ = 1;
if(XNew < YNewABS && YNew < memset(gcode, 0, sizeof(gcode));
YNewABS) kuadranlinier = 3; // X- Y- PulseZ = 1;
DirectionX=0;
pkx = XNewABS /0.02 ; putsf("XB0YF0ZF1");
EnableX = 1;
pky = YNewABS /0.02 ; delay_us(500);
PulseX = 1;
PulseZ = 0;
putsf("XF1YF0ZF0");
LinearInterpolation(1000); delay_us(500);
p9=p9+1;
XNewABS=YNewABS= 0; }
if(p9 == 50)
XTotal=xtot=YTotal = ytot = pkx else if(PIND.4==1 ) //z-
=pky =0; {
{
} XTotal = XTotal + 1;
memset(gcode, 0, sizeof(gcode));
} }
DirectionZ=0;
else delay_us(500);
EnableZ = 1;
{ PulseX = 0;
PulseZ = 1;
if (XTotal != 0 || YTotal !=0) delay_us(500);
putsf("XB0YF0ZB1");
{ }
delay_us(500);
PORTB.3 = 0; else if (PIND.6==1) //x-
PulseZ = 0;
PORTB.6 = 0; {
delay_us(500);
PORTB.7 = 0; memset(gcode, 0, sizeof(gcode));
}
xtot = -1 * XTotal ; DirectionX=1;
else if(PINA.6==1) //y+ //C
ytot = -1 * YTotal ; EnableX = 1;
{
ztot = 5; PulseX = 1;
memset(gcode, 0, sizeof(gcode));
if(ztot > 0 ) p10=p10+1;
DirectionY=1;
{ putsf("XB1YF0ZF0");
EnableY = 1;
 PulseY = 1;

p11=p11+1;

putsf("XB0YF1ZF0");

if(p11 == 50)

YTotal = YTotal + 1;

delay_us(500);

PulseY = 0;

delay_us(500);

else if(PINA.7==1) //y- //C

memset(gcode, 0, sizeof(gcode));

DirectionY=0;

EnableY = 1;

PulseY = 1;

p11=p11+1;

putsf("XB0YB1ZF0");

if(p12 == 50)

YTotal = YTotal - 1;

delay_us(500);

PulseY = 0;

delay_us(500);

PulseX = 0;

PulseY = 0;

PulseZ = 0;

EnableX = 0;

EnableY = 0;

EnableZ = 0;