farmbot-serial 0.0.1

data/lib/serial_port_sim.rb

@@ -0,0 +1,31 @@
+## SERIAL PORT SIMULATION
+## **********************
+
+# Used for unit tests
+
+module Fb
+  class SerialPortSim
+    attr_accessor :rts, :read_timeout, :test_serial_read, :test_serial_write
+
+    def initialize(comm_port, parameters)
+      @test_serial_read  = ""
+      @test_serial_write = ""
+    end
+
+    def write(text)
+      @test_serial_write = text
+    end
+
+    def read(characters)
+      i = nil
+      @test_serial_read = nil if @test_serial_read == ""
+
+      if @test_serial_read != nil
+        i = @test_serial_read[0]
+        @test_serial_read = @test_serial_read[1..-1]
+      end
+      i
+    end
+
+  end
+end

data/lib/status.rb

@@ -0,0 +1,52 @@
+module Fb
+    class Status
+      attr_accessor :command_refresh, :device_version, :emergency_stop,
+        :info_command_last, :info_command_next, :info_current_x,
+        :info_current_x_steps, :info_current_y, :info_current_y_steps,
+        :info_current_z, :info_current_z_steps, :info_end_stop_x_a,
+        :info_end_stop_x_b, :info_end_stop_y_a, :info_end_stop_y_b,
+        :info_end_stop_z_a, :info_end_stop_z_b, :info_movement,
+        :info_nr_of_commands, :info_status, :info_target_x, :info_target_y,
+        :info_target_z, :info_pin_8, :info_pin_9, :info_pin_10, :info_pin_13
+
+      def initialize
+
+        @emergency_stop       = false;
+
+        @info_command_next    = nil
+        @info_command_last    = nil
+        @info_nr_of_commands  = 0
+        @info_status          = 'initializing'
+        @info_movement        = 'idle'
+
+        @info_current_x_steps = 0
+        @info_current_y_steps = 0
+        @info_current_z_steps = 0
+
+        @info_current_x       = 0
+        @info_current_y       = 0
+        @info_current_z       = 0
+
+        @info_target_x        = 0
+        @info_target_y        = 0
+        @info_target_z        = 0
+
+        @info_end_stop_x_a    = 0
+        @info_end_stop_x_b    = 0
+        @info_end_stop_y_a    = 0
+        @info_end_stop_y_b    = 0
+        @info_end_stop_z_a    = 0
+        @info_end_stop_z_b    = 0
+
+        @info_pin_8           = 0
+        @info_pin_9           = 0
+        @info_pin_10          = 0
+        @info_pin_13          = 0
+
+        @command_refresh      = 0
+        @device_version       = 'UNKNOWN'
+
+      end
+
+    end
+end

data/spec/lib/ramps_arduino_spec.rb

@@ -0,0 +1,672 @@
+require 'spec_helper'
+describe Fb::HardwareInterfaceArduino do
+
+  before do
+    Fb::HardwareInterface.current.status = Fb::Status.new
+
+    @ramps = Fb::HardwareInterfaceArduino.new(true)
+
+    @ramps_param = Fb::HardwareInterfaceParam.new
+    @ramps.ramps_param = @ramps_param
+  end
+
+  it "read status" do
+    @ramps.connect_board
+    expect(1).to eq(1)
+  end
+
+  it "execute_command"  do
+    command = "TEST"
+
+    @ramps.serial_port.test_serial_read = "R01\nR02\n"
+    @ramps.execute_command(command, false, false)
+
+    expect(@ramps.serial_port.test_serial_write).to eq("#{command}\n")
+
+  end
+
+  it "execute_command with causing an error"  do
+
+    Fb::HardwareInterface.current.status = nil
+
+    @ramps.serial_port.rts = 0
+    @ramps.execute_command(nil,nil,nil)
+
+    Fb::HardwareInterface.current.status = Fb::Status.new
+
+    expect { @ramps }.to_not raise_error
+
+  end
+
+  it "create write status" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = true
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    expect(write_status.text     ).to eq(text     )
+    expect(write_status.log      ).to eq(log      )
+    expect(write_status.onscreen ).to eq(onscreen )
+  end
+
+  it "handle execution exception" do
+    e = Exception.new
+    @ramps.handle_execution_exception(e)
+    expect(1).to eq(1)
+  end
+
+  it "log result of execution" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = true
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    @ramps.log_result_of_execution(write_status)
+
+    expect(1).to eq(1)
+  end
+
+  it "process feedback" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    @ramps.serial_port.test_serial_read = "R02\n"
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    @ramps.process_feedback(write_status)
+    @ramps.process_feedback(write_status)
+    @ramps.process_feedback(write_status)
+    @ramps.process_feedback(write_status)
+    @ramps.process_feedback(write_status)
+
+    expect(write_status.done).to eq(1)
+
+  end
+
+  it "and and process characters" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    @ramps.add_and_process_characters(write_status, 'R')
+    @ramps.add_and_process_characters(write_status, '0')
+    @ramps.add_and_process_characters(write_status, '2')
+    @ramps.add_and_process_characters(write_status, "\n")
+
+    expect(write_status.done).to eq(1)
+
+  end
+
+  it "process codes and parameters R01" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+    write_status.code = "R01"
+    timeout = write_status.timeout
+
+    @ramps.process_code_and_params(write_status)
+
+    expect(write_status.timeout).to be > timeout
+
+  end
+
+  it "process codes and parameters R02" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+    write_status.code = "R02"
+
+    @ramps.process_code_and_params(write_status)
+
+    expect(write_status.done).to eq(1)
+
+  end
+
+  it "process codes and parameters R03" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+    write_status.code = "R03"
+
+    @ramps.process_code_and_params(write_status)
+
+    expect(write_status.done).to eq(1)
+  end
+
+  it "process codes and parameters R04" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+    write_status.code = "R04"
+    timeout = write_status.timeout
+    time = Time.now
+
+    @ramps.process_code_and_params(write_status)
+
+    expect(write_status.timeout).to be > timeout
+    expect(write_status.start).to be > time
+
+  end
+
+  it "process codes and parameters other" do
+
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+    par      = rand(9999999).to_s
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+    write_status.code = "R83"
+    write_status.params = par
+
+    @ramps.process_code_and_params(write_status)
+
+    expect(Fb::HardwareInterface.current.status.device_version).to eq(write_status.params)
+
+  end
+
+
+  it "prepare serial port" do
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    @ramps.prepare_serial_port(write_status)
+    expect(1).to eq(1)
+  end
+
+  it "clean serial buffer" do
+    @ramps.serial_port.test_serial_read = rand(9999999).to_s
+    @ramps.clean_serial_buffer
+    expect(@ramps.serial_port.test_serial_read).to eq(nil)
+
+  end
+
+  it "serial port write" do
+    text = rand(9999999).to_s
+    @ramps.serial_port_write(text)
+    expect(@ramps.serial_port.test_serial_write).to eq(text)
+  end
+
+  it "emergency stop off" do
+    @ramps.serial_port.test_serial_write = ""
+    Fb::HardwareInterface.current.status.emergency_stop = false
+    @ramps.check_emergency_stop
+    expect(@ramps.serial_port.test_serial_write).to eq("")
+  end
+
+  it "emergency stop on" do
+    @ramps.serial_port.test_serial_write = ""
+    Fb::HardwareInterface.current.status.emergency_stop = true
+    @ramps.check_emergency_stop
+    expect(@ramps.serial_port.test_serial_write).to eq("E\n")
+  end
+
+  it "log incoming text" do
+    text     = rand(9999999).to_s
+    log      = rand(9999999).to_s
+    onscreen = false
+
+    write_status = @ramps.create_write_status(text, log, onscreen)
+
+    @ramps.log_incoming_text(write_status)
+    expect(1).to eq(1)
+  end
+
+  it "process value split two letters" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = "ZA1 ZB2 XA3 XB4 YA5 YB6"
+    @ramps.process_value_split(code, params, text)
+
+    expect(params.za).to eq(1)
+    expect(params.zb).to eq(2)
+    expect(params.xa).to eq(3)
+    expect(params.xb).to eq(4)
+    expect(params.ya).to eq(5)
+    expect(params.yb).to eq(6)
+  end
+
+  it "process value split one letters" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R99"
+    text = "P1 V2 X3 Y4 Z5"
+    @ramps.process_value_split(code, params, text)
+
+    expect(params.p).to eq(1)
+    expect(params.v).to eq(2)
+    expect(params.x).to eq(3)
+    expect(params.y).to eq(4)
+    expect(params.z).to eq(5)
+
+  end
+
+  it "process value R21" do
+
+    param = 1
+    value = rand(999).to_i
+
+    code = "R21"
+    text = "P#{param} V#{value}"
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R21(params,code)
+
+    par_obj = @ramps_param.get_param_by_id(param)
+
+    expect(par_obj['value_ar']).to eq(value)
+
+  end
+
+  it "process value R23" do
+
+    param = 1
+    value = rand(999).to_i
+
+    code = "R23"
+    text = "P#{param} V#{value}"
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R23(params,code)
+
+    par_obj = @ramps_param.get_param_by_id(param)
+
+    expect(par_obj['value_db']).to eq(value)
+
+  end
+
+  it "process value R41" do
+
+    pinnr = rand(9999999).to_i
+    value = rand(9999999).to_i
+    exinf = rand(9999999).to_i
+
+    code = "R41"
+    text = "P#{pinnr} V#{value}"
+
+    @ramps.external_info = exinf
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R41(params,code)
+
+    pin_value = 0
+
+
+    list.each do |meas|
+      if meas['ext_info'].to_s == exinf.to_s
+        pin_value = meas['value']
+      end
+    end
+
+    expect(pin_value.to_i).to eq(value.to_i)
+
+  end
+
+  it "process value R81 XA" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA1 XB0 YA0 YB0 ZA0 ZB0 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(true)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
+
+  end
+
+  it "process value R81 XB" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB1 YA0 YB0 ZA0 ZB0 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(true)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
+
+  end
+
+  it "process value R81 YA" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA1 YB0 ZA0 ZB0 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(true)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
+
+  end
+
+  it "process value R81 YB" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA0 YB1 ZA0 ZB0 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(true)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
+
+  end
+
+  it "process value R81 ZA" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA0 YB0 ZA1 ZB0 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(true)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(false)
+
+  end
+
+  it "process value R81 ZB" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R81(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
+
+  end
+
+  it "process value R82" do
+
+    x = rand(9999999).to_i
+    y = rand(9999999).to_i
+    z = rand(9999999).to_i
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R82"
+    text = "X#{x} Y#{y} Z#{z}"
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_R82(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_current_x_steps).to eq(x)
+    expect(Fb::HardwareInterface.current.status.info_current_y_steps).to eq(y)
+    expect(Fb::HardwareInterface.current.status.info_current_z_steps).to eq(z)
+
+    expect(Fb::HardwareInterface.current.status.info_current_x      ).to eq(x / @ramps_param.axis_x_steps_per_unit)
+    expect(Fb::HardwareInterface.current.status.info_current_y      ).to eq(y / @ramps_param.axis_y_steps_per_unit)
+    expect(Fb::HardwareInterface.current.status.info_current_z      ).to eq(z / @ramps_param.axis_z_steps_per_unit)
+
+  end
+
+  it "process value R83" do
+    code = "R83"
+    text = rand(9999999).to_s
+
+    @ramps.process_value_process_R83(code, text)
+
+    expect(Fb::HardwareInterface.current.status.device_version).to eq(text)
+  end
+
+
+  it "process value R99" do
+
+    code = "R99"
+    text = rand(9999999).to_s
+
+    @ramps.process_value_process_R99(code, text)
+  end
+
+  it "save pin value" do
+
+    pinnr = rand(9999999).to_i
+    value = rand(9999999).to_i
+    exinf = rand(9999999).to_i
+
+    @ramps.external_info = exinf
+    pin_value = 0
+
+
+    list.each do |meas|
+      if meas['ext_info'].to_s == exinf.to_s
+        pin_value = meas['value']
+      end
+    end
+
+    expect(pin_value.to_i).to eq(value.to_i)
+  end
+
+  it "process value process param list 1" do
+
+    # "process value R21"
+
+    param = 1
+    value = rand(999).to_i
+
+    code = "R21"
+    text = "P#{param} V#{value}"
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_process_param_list(params,code)
+
+    par_obj = @ramps_param.get_param_by_id(param)
+
+    expect(par_obj['value_ar']).to eq(value)
+  end
+
+  it "process value process param list 2" do
+
+    # "process value R23"
+
+    param = 1
+    value = rand(999).to_i
+
+    code = "R23"
+    text = "P#{param} V#{value}"
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_process_param_list(params,code)
+
+    par_obj = @ramps_param.get_param_by_id(param)
+
+    expect(par_obj['value_db']).to eq(value)
+
+  end
+
+  it "process value process param list 3" do
+
+    # "process value R41"
+
+    pinnr = rand(9999999).to_i
+    value = rand(9999999).to_i
+    exinf = rand(9999999).to_i
+
+    code = "R41"
+    text = "P#{pinnr} V#{value}"
+
+    @ramps.external_info = exinf
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_process_param_list(params,code)
+
+    pin_value = 0
+
+
+    list.each do |meas|
+      if meas['ext_info'].to_s == exinf.to_s
+        pin_value = meas['value']
+      end
+    end
+
+  end
+
+  it "process value process text 1" do
+
+    # process_value_process_R83
+
+    code = "R83"
+    text = rand(9999999).to_s
+
+    @ramps.process_value_process_R83(code, text)
+
+    expect(Fb::HardwareInterface.current.status.device_version).to eq(text)
+
+  end
+
+  it "process value process text 2" do
+
+    # process_value_process_R99
+
+    code = "R99"
+    text = rand(9999999).to_s
+
+    @ramps.process_value_process_R99(code, text)
+
+  end
+
+  it "process value 1" do
+
+    # "process value R21"
+
+    param = 1
+    value = rand(999).to_i
+
+    code = "R21"
+    text = "P#{param} V#{value}"
+
+    @ramps.process_value(code,text)
+
+    par_obj = @ramps_param.get_param_by_id(param)
+
+    expect(par_obj['value_ar']).to eq(value)
+
+  end
+
+  it "process value 2" do
+
+
+    # process_value_process_R99
+
+    code = "R99"
+    text = rand(9999999).to_s
+
+    @ramps.process_value(code,text)
+
+  end
+
+  it "process value 3" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
+    @ramps.process_value(code,text)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
+
+  end
+
+  it "process value named parameters 1" do
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R81"
+    text = " XA0 XB0 YA0 YB0 ZA0 ZB1 "
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_process_named_params(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_x_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_y_b).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_a).to eq(false)
+    expect(Fb::HardwareInterface.current.status.info_end_stop_z_b).to eq(true)
+
+  end
+
+  it "process value named parameters 2" do
+
+    x = rand(9999999).to_i
+    y = rand(9999999).to_i
+    z = rand(9999999).to_i
+
+    params = Fb::HardwareInterfaceArduinoValuesReceived.new
+    code = "R82"
+    text = "X#{x} Y#{y} Z#{z}"
+    @ramps.process_value_split(code, params, text)
+    @ramps.process_value_process_named_params(params,code)
+
+    expect(Fb::HardwareInterface.current.status.info_current_x_steps).to eq(x)
+    expect(Fb::HardwareInterface.current.status.info_current_y_steps).to eq(y)
+    expect(Fb::HardwareInterface.current.status.info_current_z_steps).to eq(z)
+
+    expect(Fb::HardwareInterface.current.status.info_current_x      ).to eq(x / @ramps_param.axis_x_steps_per_unit)
+    expect(Fb::HardwareInterface.current.status.info_current_y      ).to eq(y / @ramps_param.axis_y_steps_per_unit)
+    expect(Fb::HardwareInterface.current.status.info_current_z      ).to eq(z / @ramps_param.axis_z_steps_per_unit)
+
+  end
+
+end
+