migration to a new hardware, adding additional configs

tests/circles.gcode

@@ -7,10 +7,11 @@ G3 X110 Y110 I-5 J-5 ; full circle in one move
 G2 X90 Y90 I-10 J-10 ; second half of circle
 G2 X90 Y70 I-10 J-10 ; quarter of circle
 G2 X90 Y90 I-10 J10 ; three quoter circle
-G3 X90 Y90 Z 20 I-10 J-10 ; spiral
+G3 X90 Y90 Z 20 I-10 J-10 F1000 ; spiral
+f1800
 G2 X92.07 Y85 I-5 J-5 ; small arc
 G2 X90 Y90 I-7.07 J0; more then 270 degree arc
 G18
-G2 X90 Y90 K-5
+G2 X90 Y90 K-5 F120
 G19
-G2 X90 Y90 K-5
+G2 X90 Y90 K-5 F120

tests/rects.gcode

@@ -2,7 +2,8 @@ g21
 g90
 ; move to start position
 g1x50y50f1800
-z20
+z20f120
+f1800
 g91
 ; run
 x100

tests/test_gmachine.py

@@ -63,7 +63,7 @@ class TestGMachine(unittest.TestCase):
         self.assertRaises(GMachineException,
                           m.do_command, GCode.parse_line("G1F-1"))
         self.assertRaises(GMachineException,
-                          m.do_command, GCode.parse_line("G1F999999"))
+                          m.do_command, GCode.parse_line("G1X100F999999"))
         self.assertRaises(GMachineException,
                           m.do_command, GCode.parse_line("G1X-1Y0Z0"))
         self.assertRaises(GMachineException,
@@ -71,6 +71,27 @@ class TestGMachine(unittest.TestCase):
         self.assertRaises(GMachineException,
                           m.do_command, GCode.parse_line("G1X0Y0Z-1"))
 
+    def test_feed_rate(self):
+        m = GMachine()
+        self.assertRaises(GMachineException,
+                          m.do_command, GCode.parse_line("G1X1F-1"))
+        m.do_command(GCode.parse_line("G1X100F"
+                                      + str(MAX_VELOCITY_MM_PER_MIN_X)))
+        m.do_command(GCode.parse_line("G1Y100F"
+                                      + str(MAX_VELOCITY_MM_PER_MIN_Y)))
+        m.do_command(GCode.parse_line("G1Z100F"
+                                      + str(MAX_VELOCITY_MM_PER_MIN_Z)))
+        m.do_command(GCode.parse_line("G1E100F"
+                                      + str(MAX_VELOCITY_MM_PER_MIN_E)))
+        s = "G1X0F" + str(MAX_VELOCITY_MM_PER_MIN_X + 1)
+        self.assertRaises(GMachineException, m.do_command, GCode.parse_line(s))
+        s = "G1Y0F" + str(MAX_VELOCITY_MM_PER_MIN_Y + 1)
+        self.assertRaises(GMachineException, m.do_command, GCode.parse_line(s))
+        s = "G1Z0F" + str(MAX_VELOCITY_MM_PER_MIN_Z + 1)
+        self.assertRaises(GMachineException, m.do_command, GCode.parse_line(s))
+        s = "G1E0F" + str(MAX_VELOCITY_MM_PER_MIN_E + 1)
+        self.assertRaises(GMachineException, m.do_command, GCode.parse_line(s))
+
     def test_g2_g3(self):
         m = GMachine()
         self.assertRaises(GMachineException,

tests/test_parser.gcode

@@ -21,8 +21,8 @@ g21
 g1y1
 g1y-1
 g90
-g92x100y100z100
+g92x100y100z100f240
 m111
-g1x98y98z98
-(head should be in zero position, and last movement with 500 mm/min velocity)
+g1x98y98z98f120
+(head should be in zero position)
 m2

tests/test_pulses.py

@@ -8,7 +8,10 @@ from cnc import hal_virtual
 
 class TestPulses(unittest.TestCase):
     def setUp(self):
-        self.v = STEPPER_MAX_VELOCITY_MM_PER_MIN
+        self.v = min(MAX_VELOCITY_MM_PER_MIN_X,
+                     MAX_VELOCITY_MM_PER_MIN_Y,
+                     MAX_VELOCITY_MM_PER_MIN_Z,
+                     MAX_VELOCITY_MM_PER_MIN_E)
 
     def tearDown(self):
         pass
@@ -70,6 +73,14 @@ class TestPulses(unittest.TestCase):
         for direction_i, px, py, pz, pe in g:
             if direction_i:
                 dx, dy, dz, de = px, py, pz, pe
+                if STEPPER_INVERTED_X:
+                    dx = -dx
+                if STEPPER_INVERTED_Y:
+                    dy = -dy
+                if STEPPER_INVERTED_Z:
+                    dz = -dz
+                if STEPPER_INVERTED_E:
+                    de = -de
                 dir_requested = True
                 continue
             if dir_requested:  # ignore last change
@@ -235,7 +246,8 @@ class TestPulses(unittest.TestCase):
         # is correct, since PulseGenerator is responsible for this, check only
         # one child class.
         m = Coordinates(TABLE_SIZE_X_MM, 0, 0, 0)
-        g = PulseGeneratorLinear(m, self.v)
+        velocity = 1000
+        g = PulseGeneratorLinear(m, velocity)
         i = 0
         lx = 0
         lt, at, bt = None, None, None
@@ -249,8 +261,7 @@ class TestPulses(unittest.TestCase):
             bt = px - lx
             lx = px
             i += 1
-        self.assertEqual(round(60.0 / lt / STEPPER_PULSES_PER_MM_X),
-                         round(self.v))
+        self.assertEqual(round(60.0 / lt / STEPPER_PULSES_PER_MM_X), velocity)
         self.assertGreater(at, lt)
         self.assertGreater(bt, lt)
 
@@ -261,6 +272,14 @@ class TestPulses(unittest.TestCase):
         dir_found = False
         for direction, px, py, pz, pe in g:
             if direction:
+                if STEPPER_INVERTED_X:
+                    px = -px
+                if STEPPER_INVERTED_Y:
+                    py = -py
+                if STEPPER_INVERTED_Z:
+                    pz = -pz
+                if STEPPER_INVERTED_E:
+                    pe = -pe
                 # should be once
                 self.assertFalse(dir_found)
                 dir_found = True
@@ -271,6 +290,14 @@ class TestPulses(unittest.TestCase):
         dir_found = False
         for direction, px, py, pz, pe in g:
             if direction:
+                if STEPPER_INVERTED_X:
+                    px = -px
+                if STEPPER_INVERTED_Y:
+                    py = -py
+                if STEPPER_INVERTED_Z:
+                    pz = -pz
+                if STEPPER_INVERTED_E:
+                    pe = -pe
                 # should be once
                 self.assertFalse(dir_found)
                 dir_found = True