/*
    GCode Generator For Robotic Microscope
    (C) 2012 Jason Hunt - nulluser@gmail.com
*/

#include <stdio.h>

int main(int argc, char *argv[])
{
    FILE *f = fopen("path.nc", "wt");
    
    double x_span = 0.07;
    double y_span = 0.07;
    
    double x_advance = 0.005;
    double y_advance = 0.005;
    
    double base_feed = 20;
   
    double image_feed = 10;
    double image_delay = 30;



    // Calcs

    int x_steps = x_span / x_advance + 1;
    int y_steps = y_span / y_advance + 1;

    // Home and make sure shutter is off
    fprintf(f, "G00 X0.0 Y0.1 Z-0.001 \n");
    fprintf(f, "G00 Z0.0\n");
    fprintf(f, "G00 Y0\n");
    
    
    double y_pos = 0;


    // Y Movement
    for (int y = 0; y < y_steps; y++)
    {
        double x_pos = 0;
    
        // Rapid locate to start of row
        fprintf(f, "F%7.3f\n", base_feed);
        fprintf(f, "G00 X%7.3f Y%7.3f\n", x_pos, y_pos); 
   
        // X Movement
        for (int x = 0; x < x_steps; x++)
        {
            fprintf(f, "F%7.3f\n", base_feed);
            fprintf(f, "G01 X%7.3f Y%7.3f\n", x_pos, y_pos);
            
            fprintf(f, "F%7.3f\n", image_feed);
            fprintf(f, "G01 Z%7.3f\n", image_delay/1000.0);           // Delay to stabalize
            fprintf(f, "G01 Z-0.010\n");          // take image
            fprintf(f, "G00 Z0.0  \n");            // return

            x_pos += x_advance;
        }
        
        y_pos -= y_advance;
    }

    // Home
    fprintf(f,"G01 X0.0 Y0.0\n");

    fclose(f);


    printf("X Steps: %d  Y Steps: %d  Total: %d\n", x_steps, y_steps, x_steps * y_steps);


    getchar();

  return 0;
}