// RepRap NoLash Software BackLash Compensation Tool

// Written by Richard White on Jan. 22, 2013

// email georgeflug@gmail.com

​

using System;

using System.Collections.Generic;

using System.ComponentModel;

using System.Data;

using System.Drawing;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Windows.Forms;

using System.IO;

​

namespace WindowsFormsApplication1

{

    public partial class lash : Form

    {

        public lash()

        {

            InitializeComponent();

        }

​

        private void button1_Click(object sender, EventArgs e)

        {

            if (ofd.ShowDialog() == System.Windows.Forms.DialogResult.OK)

            {

                txtFile.Text = ofd.FileName;

            }

        }

​

        private void button2_Click(object sender, EventArgs e)

        {

​

            // verify file exists

            if (!File.Exists(txtFile.Text))

            {

                MessageBox.Show("File does not exist.");

                return;

            }

​

            // declare state variables

            double xPos = 0;

            double yPos = 0;

            int xDir = 1;

            int yDir = 1;

​

            // save the amount of lash compensation

            double xLash = double.Parse(txtX.Text) / 2; // divide by 2 to compensate for 2 directions of movement

            double yLash = double.Parse(txtY.Text) / 2; // (forward and backward)

​

            // open source file and open temporary file

            StreamReader fileLash = new StreamReader(txtFile.Text);

            StreamWriter fileNew;

            if (txtFile.Text.IndexOf("_export") > -1)

            {

                fileNew = new StreamWriter(txtFile.Text.Replace("_export", "_nolash"));

            }

            else

            {

                string strNew = Path.GetDirectoryName(txtFile.Text) +

                    Path.DirectorySeparatorChar + 

                    Path.GetFileNameWithoutExtension(txtFile.Text) + "_nolash" +

                    Path.GetExtension(txtFile.Text);

                fileNew = new StreamWriter(strNew);

            }

​

            // loop through every line

            while (!fileLash.EndOfStream)

            {

​

                // get the line of text

                string strLine = fileLash.ReadLine();

                // get the gcode command

                int intIndex = strLine.IndexOf(" ");

                string strCommand;

                if (intIndex == -1)

                {

                    strCommand = strLine;

                }

                else

                {

                    strCommand = strLine.Remove(strLine.IndexOf(" "));

                }

​

                // compare commands

                switch (strCommand.ToUpper())

                {

                    case "G0":

                    case "G1":

                        // recalculate x position

                        string strCountermeasure = string.Empty;

                        xPos = repairCommand(xPos, ref xDir, "X", xLash, ref strLine, ref strCountermeasure);

​

                        // recalculate y position

                        yPos = repairCommand(yPos, ref yDir, "Y", yLash, ref strLine, ref strCountermeasure);

​

                        // print the countermeasure string to the new file

                        if (strCountermeasure.Length > 0)

                        {

                            fileNew.WriteLine(strCountermeasure);

                        }

​

                        break;

​

                    case "G28":

​

                        // save new positions for x and y

                        //int intCmd = strCommand.IndexOf("X");

                        //int intCmdEnd = strCommand.IndexOf(" ", intCmd);

                        //xPos = double.Parse(strCommand.Substring(intCmd + 1, intCmdEnd - intCmd - 1));

                        //intCmd = strCommand.IndexOf("Y");

                        //intCmdEnd = strCommand.IndexOf(" ", intCmd);

                        //xPos = double.Parse(strCommand.Substring(intCmd + 1, intCmdEnd - intCmd - 1));

                        xPos = 0;

                        yPos = 0;

                        xDir = 1;

                        yDir = 1;

​

                        break;

                    default:

                        break;

                }

​

                // save the edited gcode

                fileNew.WriteLine(strLine);

​

            }

​

            // close both files

            fileLash.Close();

            fileNew.Close();

​

            // replace the original file

            //File.Delete(txtFile.Text);

            //File.Move(txtFile.Text + "_new", txtFile.Text);

​

            // indicate completion

            MessageBox.Show("Done");

​

        }

​

        private double repairCommand(double currentPos, ref int currentDir, string axis, double lash, ref string command, ref string countermeasure)

        {

​

            // this routine returns the new position in the X or Y direction (depending of the axis parameter)

            // axis should be "X" or "Y"

​

            // get the location of the position command

            int intCmd = command.IndexOf(axis);

​

            // if the axis does not move during this command then do nothing

            if (intCmd == -1)

            {

                return currentPos;

            }

​

            // get the ending location of the position command (denoted by a space or a semicolon)

            int intCmdEnd = command.IndexOf(" ", intCmd);

            if (intCmdEnd == -1)

            {

                intCmdEnd = command.IndexOf(";", intCmd);

            }

            else

            {

                int intComment = command.IndexOf(";", intCmd);

                if (intComment > -1) intCmdEnd = Math.Min(intCmdEnd, intComment);

            }

            if (intCmdEnd == -1) intCmdEnd = command.Length;

            // parse the command

            string strPos = command.Substring(intCmd + 1, intCmdEnd - intCmd - 1);

            double newPos = double.Parse(strPos);

​

            // recalculated position

            double recalc;

​

            // compare to currect position, implement lash countermeasure if necessary

            if (comparePositions(currentPos, newPos, currentDir) == false)

            {

                currentDir = -currentDir; // reverse the direction of movement

                double calc = currentPos + lash * currentDir; // calculate countermeasure position

                // add to 'countermeasure' string

                if (countermeasure.Length == 0)

                {

                    countermeasure = "G1";

                }

                countermeasure += " " + axis + calc.ToString();

​

            }

            recalc = newPos + lash * currentDir; // save recalculated position

​

            // update command

            command = command.Remove(intCmd) + axis + recalc.ToString() + command.Substring(intCmdEnd);

            // update position

            return newPos;

​

        }

​

        private bool comparePositions(double currentPos, double newPos, int currentDir)

        {

​

            // this routine compares the two positions and determines the direction of movement.

            // then it compares the direction of movement to the previous direction of movement.

            // it returns true if the direction is the same, it returns false otherwise

​

            int newDir = 0;

​

            if (currentPos < newPos)

            {

                newDir = 1;

            }

            else if (currentPos > newPos)

            {

                newDir = -1;

            }

            else

            {

                return true;

            }

​

            return (newDir == currentDir);

​

        }

    }

}

​