Some quality of life changes.

src/exec.ino

@@ -26,7 +26,7 @@ boolean exec_executeBasicCommand(String inCmd, String inParam1, String inParam2,
     exec_changeLength();
   else if (inCmd.startsWith(CMD_CHANGELENGTHDIRECT))
     exec_changeLengthDirect();
-  else if (inCmd.startsWith(CMD_CHANGEPENWIDTH))
+  else if (inCmd.startsWith(CMD_SETPENWIDTH))
     exec_changePenWidth();
   else if (inCmd.startsWith(CMD_SETMOTORSPEED))
     exec_setMotorSpeedFromCommand();

src/polargraph_server_polarshield_esp32.ino

@@ -327,9 +327,7 @@ static const byte SAW_SHAPE = 1;
 const static char COMMA[] = ",";
 const static char CMD_END[] = ",END";
 const static String CMD_CHANGELENGTH = "C01";
-const static String CMD_CHANGEPENWIDTH = "C02";
-// const static String CMD_CHANGEMOTORSPEED = "C03";
-// const static String CMD_CHANGEMOTORACCEL = "C04";
+const static String CMD_SETPENWIDTH = "C02";
 const static String CMD_DRAWPIXEL = "C05";
 const static String CMD_DRAWSCRIBBLEPIXEL = "C06";
 const static String CMD_CHANGEDRAWINGDIRECTION = "C08";

test/polargraph.py

@@ -58,6 +58,7 @@ def read_line(self, echo=True):
 
     def write_command(self, command):
         if self.ready:
+            self.commands_written_count += 1
             print("Command {}: {}"
                 .format(self.commands_written_count, command))
             self.serial_port.write(command + "\n")

test/test_serial_immediate.py

@@ -5,24 +5,22 @@
 # Immediate commands are interpreted quickly
 
 CMD_SETPENWIDTH = 'C02,{pen_width},END'
-# CMD_CHANGEMOTORSPEED = 'C03,{motor_speed},END'
-# CMD_CHANGEMOTORACCEL = 'C04,{motor_accel},END'
 CMD_SETMACHINESIZE = 'C24,{width},{height},END'
-# CMD_SETMACHINENAME = 'C25,{name},END'
 CMD_GETMACHINEDETAILS = 'C26,END'
 # CMD_RESETEEPROM = 'C27,END'
 CMD_SETMACHINEMMPERREV = 'C29,{mm_per_rev},END'
 CMD_SETMACHINESTEPSPERREV = 'C30,{steps_per_rev},END'
 CMD_SETMOTORSPEED = 'C31,{motor_speed},END'
 CMD_SETMOTORACCEL = 'C32,{motor_accel},END'
 CMD_SETMACHINESTEPMULTIPLIER = 'C37,{step_multiplier},END'
-# CMD_SETPENLIFTRANGE = 'C45,{down_pos},{up_pos},END'
+CMD_SETPENLIFTRANGE = 'C45,{down_pos},{up_pos},{write},END'
 # CMD_SET_ROVE_AREA = 'C21,{pos_x},{pos_y},{width},{height},END'
 # CMD_SET_DEBUGCOMMS = 'C47,END'
 # CMD_MODE_STORE_COMMANDS = 'C33,{newfilename},{replace},END'
 # CMD_MODE_EXEC_FROM_STORE = 'C34,{filename},END'
 # CMD_MODE_LIVE = 'C35,END'
-# CMD_START_TEXT = 'C38,END'
+
+CMD_SETPENLIFTRANGE_TEST_RANGE = 'C45,{down_pos},{up_pos},END'
 
 class TestImmediateTests(object):
 
@@ -66,6 +64,19 @@ def get_speed_spec(self):
 
         return {'speed': current_speed, 'accel': current_accel}
 
+
+    def test_get_machine_details(self):
+        spec = self.get_machine_spec()
+        expected = \
+        ['PGSIZE', 'PGMMPERREV', 'PGSTEPSPERREV', 'PGSTEPMULTIPLIER', 
+         'PGLIFT', 'PGSPEED', 'PGPENWIDTH']
+        assert len(spec) >= len(expected)
+
+        for response in expected:
+            match = [x for x in spec if x.startswith(response)]
+            assert len(match) == 1
+
+
     @pytest.mark.skip()
     def test_set_pen_width(self):
         command = CMD_SETPENWIDTH.format(pen_width=1.0)
@@ -130,3 +141,16 @@ def test_set_size(self):
         assert 'New size: 700, 800' in self.get_response_to(command)
         assert 'PGSIZE,700,800,END' in self.get_machine_spec()
 
+    def test_set_lift_range(self):
+        command = CMD_SETPENLIFTRANGE.format(down_pos=20, up_pos=60, write=1)
+        responses = self.get_response_to(command)
+        assert 'Down: 20' in responses
+        assert 'Up: 60' in responses
+        assert 'PGLIFT,20,60,END' in self.get_machine_spec()
+
+        command = CMD_SETPENLIFTRANGE.format(down_pos=90, up_pos=180, write=1)
+        responses = self.get_response_to(command)
+        assert 'Down: 90' in responses
+        assert 'Up: 180' in responses
+        assert 'PGLIFT,90,180,END' in self.get_machine_spec()
+