import java.awt.event.
KeyEvent;
import javax.swing.JOptionPane;
import processing.serial.*;
Serial port = null;
// select and modify the appropriate line for your operating system
// leave as null to use interactive port (press 'p' in the program)
String portname = null;
//String portname = Serial.list()[0]; // Mac OS X
//String portname = "/dev/ttyUSB0"; // Linux
//String portname = "COM6"; // Windows
boolean streaming = false;
float speed = 0.001;
String[] gcode;
int i = 0;
void openSerialPort()
if (portname == null) return;
if (port != null) port.stop();
port = new Serial(this, portname, 9600);
port.bufferUntil('\n');
}
void selectSerialPort()
String result = (String) JOptionPane.showInputDialog(frame,
"Select the serial port that corresponds to your Arduino board.",
"Select serial port",
JOptionPane.QUESTION_MESSAGE,
null,
Serial.list(),
0);
if (result != null) {
portname = result;
openSerialPort();
void setup()
size(500, 250);
openSerialPort();
void draw()
{
background(0);
fill(255);
int y = 24, dy = 12;
text("INSTRUCTIONS", 12, y); y += dy;
text("p: select serial port", 12, y); y += dy;
text("1: set speed to 0.001 inches (1 mil) per jog", 12, y); y += dy;
text("2: set speed to 0.010 inches (10 mil) per jog", 12, y); y += dy;
text("3: set speed to 0.100 inches (100 mil) per jog", 12, y); y += dy;
text("arrow keys: jog in x-y plane", 12, y); y += dy;
text("page up & page down: jog in z axis", 12, y); y += dy;
text("$: display grbl settings", 12, y); y+= dy;
text("h: go home", 12, y); y += dy;
text("0: zero machine (set home to the current location)", 12, y); y += dy;
text("g: stream a g-code file", 12, y); y += dy;
text("x: stop streaming g-code (this is NOT immediate)", 12, y); y += dy;
y = height - dy;
text("current jog speed: " + speed + " inches per step", 12, y); y -= dy;
text("current serial port: " + portname, 12, y); y -= dy;
void keyPressed()
if (key == '1') speed = 0.001;
if (key == '2') speed = 0.01;
if (key == '3') speed = 0.1;
if (!streaming) {
if (keyCode == LEFT) port.write("G91\nG20\nG00 X-" + speed + " Y0.000
Z0.000\n");
if (keyCode == RIGHT) port.write("G91\nG20\nG00 X" + speed + " Y0.000
Z0.000\n");
if (keyCode == UP) port.write("G91\nG20\nG00 X0.000 Y" + speed + "
Z0.000\n");
if (keyCode == DOWN) port.write("G91\nG20\nG00 X0.000 Y-" + speed + "
Z0.000\n");
if (keyCode == KeyEvent.VK_PAGE_UP) port.write("G91\nG20\nG00 X0.000
Y0.000 Z" + speed + "\n");
if (keyCode == KeyEvent.VK_PAGE_DOWN) port.write("G91\nG20\nG00 X0.000
Y0.000 Z-" + speed + "\n");
if (key == 'h') port.write("G90\nG20\nG00 X0.000 Y0.000 Z0.000\n");
if (key == 'v') port.write("$0=75\n$1=74\n$2=75\n");
//if (key == 'v') port.write("$0=100\n$1=74\n$2=75\n");
if (key == 's') port.write("$3=10\n");
if (key == 'e') port.write("$16=1\n");
if (key == 'd') port.write("$16=0\n");
if (key == '0') openSerialPort();
if (key == 'p') selectSerialPort();
if (key == '$') port.write("$$\n");
if (!streaming && key == 'g') {
gcode = null; i = 0;
File file = null;
println("Loading file...");
selectInput("Select a file to process:", "fileSelected", file);
}
if (key == 'x') streaming = false;
void fileSelected(File selection) {
if (selection == null) {
println("Window was closed or the user hit cancel.");
} else {
println("User selected " + selection.getAbsolutePath());
gcode = loadStrings(selection.getAbsolutePath());
if (gcode == null) return;
streaming = true;
stream();
void stream()
if (!streaming) return;
while (true) {
if (i == gcode.length) {
streaming = false;
return;
}
if (gcode[i].trim().length() == 0) i++;
else break;
println(gcode[i]);
port.write(gcode[i] + '\n');
i++;
void serialEvent(Serial p)
String s = p.readStringUntil('\n');
println(s.trim());
if (s.trim().startsWith("ok")) stream();
if (s.trim().startsWith("error")) stream(); // XXX: really?
