diff --git a/.gitmodules b/.gitmodules
index eee21bb7204d46d0f372ebc8ef524f559e0a9ea9..6deb88208aadda4f58e96873b65665a69a7d4cdf 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
[submodule "firmware/osape-smoothieroll-drop-stepper/src/osape"]
path = firmware/osape-smoothieroll-drop-stepper/src/osape
url = ssh://git@gitlab.cba.mit.edu:846/jakeread/osape.git
+[submodule "controller/osapjs"]
+ path = controller/osapjs
+ url = ssh://git@gitlab.cba.mit.edu:846/jakeread/osapjs.git
diff --git a/controller/.gitignore b/controller/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..30bc1627986aa5d1e6aebc1718de71eaee6021c5
--- /dev/null
+++ b/controller/.gitignore
@@ -0,0 +1 @@
+/node_modules
\ No newline at end of file
diff --git a/controller/cl-tuner.js b/controller/cl-tuner.js
new file mode 100644
index 0000000000000000000000000000000000000000..9cf37003863f01807e004840c796f05aafd9b94d
--- /dev/null
+++ b/controller/cl-tuner.js
@@ -0,0 +1,119 @@
+/*
+clank controller init
+
+serves client modules, bootstraps local scripts from client ui.
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2020
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+// new year new bootstrap
+
+const express = require('express')
+const app = express()
+// this include lets us read data out of put requests,
+const bodyparser = require('body-parser')
+// our fs tools,
+const fs = require('fs')
+//const filesys = require('./filesys.js')
+// and we occasionally spawn local pipes (workers)
+const child_process = require('child_process')
+// will use these to figure where tf we are
+let ownIp = ''
+const os = require('os')
+
+// serve everything: https://expressjs.com/en/resources/middleware/serve-static.html
+app.use(express.static(__dirname))
+// accept post bodies as json,
+app.use(bodyparser.json())
+app.use(bodyparser.urlencoded({extended: true}))
+
+// redirect traffic to /client,
+app.get('/', (req, res) => {
+ res.redirect('/client')
+})
+
+// we also want to institute some pipes: this is a holdover for a better system
+// more akin to nautilus, where server-side graphs are manipulated
+// for now, we just want to dive down to a usb port, probably, so this shallow link is OK
+let processes = []
+app.get('/startLocal/:file', (req, res) => {
+ // launches another node instance at this file w/ these args,
+ let args = ''
+ if(req.query.args){
+ args = req.query.args.split(',')
+ }
+ console.log(`attempt to start ${req.params.file} with args ${args}`)
+ // startup, let's spawn,
+ const process = child_process.spawn('node', ['-r', 'esm', `local/${req.params.file}`])
+ // add our own tag,
+ process.fileName = req.params.file
+ let replied = false
+ let pack = ''
+ process.stdout.on('data', (buf) => {
+ // these emerge as buffers,
+ let msg = buf.toString()
+ // can only reply once to xhr req
+ if(msg.includes('OSAP-wss-addr:') && !replied){
+ res.send(msg)
+ replied = true
+ }
+ // ok, dealing w/ newlines
+ pack = pack.concat(msg)
+ let index = pack.indexOf('\n')
+ while(index >= 0){
+ console.log(`${process.fileName} ${process.pid}: ${pack.substring(0, index)}`)
+ pack = pack.slice(index + 1)
+ index = pack.indexOf('\n')
+ }
+ })
+ process.stderr.on('data', (err) => {
+ if(!replied){
+ res.send('err in local script')
+ replied = true
+ }
+ console.log(`${process.fileName} ${process.pid} err:`, err.toString())
+ })
+ process.on('close', (code) => {
+ console.log(`${process.fileName} ${process.pid} closes:`, code)
+ if(!replied){
+ res.send('local process closed')
+ replied = true
+ }
+ })
+ console.log(`started ${process.fileName} w/ pid ${process.pid}`)
+})
+
+// finally, we tell the express server to listen here:
+let port = 8080
+app.listen(port)
+
+// once we're listening, report our IP:
+let ifaces = os.networkInterfaces()
+// this just logs the processes IP's to the termina
+Object.keys(ifaces).forEach(function(ifname) {
+ var alias = 0;
+
+ ifaces[ifname].forEach(function(iface) {
+ if ('IPv4' !== iface.family){//} || iface.internal !== false) {
+ // skip over internal (i.e. 127.0.0.1) and non-ipv4 addresses
+ return;
+ }
+ ownIp = iface.address
+ if (alias >= 1) {
+ console.log('clank-tool available on: \t' /*ifname + ':' + alias,*/ + iface.address + `:${port}`);
+ // this single interface has multiple ipv4 addresses
+ // console.log('serving at: ' ifname + ':' + alias + iface.address + `:${port}`);
+ } else {
+ console.log('clank-tool available on:\t' /*ifname + ':' + alias,*/ + iface.address + `:${port}`);
+ // this interface has only one ipv4 adress
+ //console.log(ifname, iface.address);
+ }
+ ++alias;
+ });
+});
diff --git a/controller/client/clankClient.js b/controller/client/clankClient.js
new file mode 100644
index 0000000000000000000000000000000000000000..324f822b07b8648d2b4acb0b97ff2f92ff8a3e26
--- /dev/null
+++ b/controller/client/clankClient.js
@@ -0,0 +1,808 @@
+/*
+clank-client.js
+
+clank controller client side
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2020
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+'use strict'
+
+import OSAP from '../osapjs/core/osap.js'
+import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
+import NetRunner from '../osapjs/client/netrunner/osap-render.js'
+
+// the clank 'virtual machine'
+import ClankVM from './clankVirtualMachine.js'
+
+// sort of stand-alone prototype input / output system for JS... it doth not network
+import { Input, Output } from '../osapjs/core/modules.js'
+
+import { GCodePanel } from '../osapjs/client/components/gCodePanel.js'
+import { AutoPlot } from '../osapjs/client/components/autoPlot.js'
+import { Button } from '../osapjs/client/interface/button.js'
+import { TextInput } from '../osapjs/client/interface/textInput.js'
+import { JogBox } from '../osapjs/client/components/jogBox.js'
+
+console.log("hello clank controller")
+
+// an instance of some osap capable thing (the virtual object)
+// that will appear on the network, be virtually addressable
+let osap = new OSAP()
+osap.name = "clank client"
+osap.description = "clank cz browser interface"
+
+// draws network,
+let netrunner = new NetRunner(osap, 10, 760, false)
+
+// -------------------------------------------------------- THE VM
+
+// vm,
+let vm = new ClankVM(osap)
+
+// -------------------------------------------------------- MOTION FEED
+
+// panel,
+let gCodePanel = new GCodePanel(10, 10)
+
+// pipe moves 2 machine
+window.eForward = 0
+window.eRetract = 0
+let moveInput = new Input()
+gCodePanel.moveOut.attach(moveInput)
+moveInput.addListener((move) => {
+ return new Promise((resolve, reject) => {
+ move.rate = move.rate // ?
+ /*
+ if(move.position.E > 0){
+ window.eForward += move.position.E
+ } else {
+ window.eRetract += move.position.E
+ }
+ resolve()
+ return
+ */
+ vm.addMoveToQueue(move).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+})
+
+let jogBox = new JogBox(240, 10, vm)
+
+// this is... kind of buggy. button state sometimes straightforwards, sometimes callback hell
+let posBtn = new Button(430, 10, 344, 14, 'pos')
+let posLp = false
+posBtn.onClick(() => {
+ if (posLp) {
+ posLp = false
+ posBtn.good("stop", 500)
+ } else {
+ let poll = () => {
+ if (!posLp) return
+ vm.getPos().then((pos) => {
+ if (posLp) {
+ $(posBtn.elem).text(`X: ${pos.X.toFixed(2)}, Y: ${pos.Y.toFixed(2)}, Z: ${pos.Z.toFixed(2)}, E: ${pos.E.toFixed(2)}`)
+ setTimeout(poll, 50)
+ }
+ }).catch((err) => {
+ posLp = false
+ console.error(err)
+ posBtn.bad("err", 1000)
+ })
+ }
+ posLp = true
+ poll()
+ }
+})
+
+let setStartBtn = new Button(360, 130, 94, 14, 'offset zero')
+setStartBtn.onClick(() => {
+ vm.setPos({
+ X: 0,
+ Y: 0,
+ Z: 121.8,
+ E: 0
+ }).then(() => {
+ setStartBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ setStartBtn.bad("err", 500)
+ })
+})
+
+let gotoZeroBtn = new Button(360, 160, 94, 14, 'goto zero')
+gotoZeroBtn.onClick(() => {
+ vm.addMoveToQueue({
+ rate: 600,
+ position: {
+ X: 0,
+ Y: 0,
+ Z: 0,
+ E: 0,
+ }
+ }).then(() => {
+ gotoZeroBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ gotoZeroBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- TEMP CONTROLLER
+
+let tempController = (xPlace, yPlace, i, init) => {
+ let tvm = vm.tvm[i]
+
+ let tempSet = new TextInput(xPlace, yPlace, 110, 20, `${init}`)
+
+ let tempSetBtn = new Button(xPlace, yPlace + 30, 104, 14, 'set temp')
+ tempSetBtn.onClick(() => {
+ let temp = parseFloat(tempSet.value)
+ if (Number.isNaN(temp)) {
+ tempSetBtn.bad("parse err", 1000)
+ return
+ }
+ tvm.setExtruderTemp(temp).then(() => {
+ tempSetBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ tempSetBtn.bad("err", 1000)
+ })
+ })
+
+ let tempCoolBtn = new Button(xPlace, yPlace + 60, 104, 14, 'cooldown')
+ tempCoolBtn.onClick(() => {
+ tvm.setExtruderTemp(0).then(() => {
+ tempCoolBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ tempCoolBtn.bad("err", 500)
+ })
+ })
+
+ let tempPlot = new AutoPlot(xPlace + 120, yPlace, 420, 230)
+ tempPlot.setHoldCount(500)
+ //tempPlot.setYDomain(0, 100)
+ tempPlot.redraw()
+
+ let effortPlot = new AutoPlot(xPlace + 120, yPlace + 240, 420, 150)
+ effortPlot.setHoldCount(500)
+ //effortPlot.setYDomain(-10, 10)
+ effortPlot.redraw()
+
+ let tempLpBtn = new Button(xPlace, yPlace + 90, 104, 14, 'plot temp')
+ let tempLp = false
+ let tempLpCount = 0
+ tempLpBtn.onClick(() => {
+ if (tempLp) {
+ tempLp = false
+ tempLpBtn.good("stopped", 500)
+ } else {
+ let poll = () => {
+ if (!tempLp) return
+ tvm.getExtruderTemp().then((temp) => {
+ //console.log(temp)
+ tempLpCount++
+ tempPlot.pushPt([tempLpCount, temp])
+ tempPlot.redraw()
+ return tvm.getExtruderTempOutput()
+ }).then((effort) => {
+ //console.log(effort)
+ effortPlot.pushPt([tempLpCount, effort])
+ effortPlot.redraw()
+ setTimeout(poll, 200)
+ }).catch((err) => {
+ tempLp = false
+ console.error(err)
+ tempLpBtn.bad("err", 500)
+ })
+ }
+ tempLp = true
+ poll()
+ }
+ })
+
+ let pVal = new TextInput(xPlace, yPlace + 120, 110, 20, '-0.1')
+ let iVal = new TextInput(xPlace, yPlace + 150, 110, 20, '0.0')
+ let dVal = new TextInput(xPlace, yPlace + 180, 110, 20, '0.1')
+
+ let pidSetBtn = new Button(xPlace, yPlace + 210, 104, 14, 'set PID')
+ pidSetBtn.onClick(() => {
+ let p = parseFloat(pVal.value)
+ let i = parseFloat(iVal.value)
+ let d = parseFloat(dVal.value)
+ if (Number.isNaN(p) || Number.isNaN(i) || Number.isNaN(d)) {
+ pidSetBtn.bad("bad parse", 1000)
+ return
+ }
+ tvm.setPIDTerms([p, i, d]).then(() => {
+ pidSetBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ pidSetBtn.bad("err", 1000)
+ })
+ })
+}
+
+tempController(240, 190, 0, 220)
+tempController(240, 590, 1, 60)
+
+// -------------------------------------------------------- MOTION SETTINGS
+// todo: should bundle with jog, position query, etc ? or get on with other work
+
+let setRatesBtn = new Button(790, 10, 84, 24, 'set acc & max fr')
+let accText = new Button(790, 50, 84, 14, 'mm/sec^2')
+let xAccVal = new TextInput(790, 80, 90, 20, '300')
+let yAccVal = new TextInput(790, 110, 90, 20, '300')
+let zAccVal = new TextInput(790, 140, 90, 20, '50')
+let eAccVal = new TextInput(790, 170, 90, 20, '900')
+
+let rateText = new Button(790, 200, 84, 14, 'mm/min')
+let xRateVal = new TextInput(790, 230, 90, 20, '12000')
+let yRateVal = new TextInput(790, 260, 90, 20, '12000')
+let zRateVal = new TextInput(790, 290, 90, 20, '1000')
+let eRateVal = new TextInput(790, 320, 90, 20, '60000')
+
+let setupMotion = () => {
+ // accel
+ let aVals = {
+ X: parseFloat(xAccVal.value),
+ Y: parseFloat(yAccVal.value),
+ Z: parseFloat(zAccVal.value),
+ E: parseFloat(eAccVal.value)
+ }
+ for (let v in aVals) {
+ if (Number.isNaN(aVals[v])) { console.error('bad parse for float', v); return }
+ }
+ // rates
+ let rVals = {
+ X: parseFloat(xRateVal.value),
+ Y: parseFloat(yRateVal.value),
+ Z: parseFloat(zRateVal.value),
+ E: parseFloat(eRateVal.value)
+ }
+ for (let v in rVals) {
+ if (Number.isNaN(rVals[v])) { console.error('bad parse for float', r); return }
+ }
+ // network
+ return new Promise((resolve, reject) => {
+ vm.setAccels(aVals).then(() => {
+ return vm.setRates(rVals)
+ }).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+}
+
+setRatesBtn.onClick(() => {
+ setupMotion().then(() => {
+ setRatesBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ setRatesBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- MOTOR SETTINGS
+
+let setMotorsBtn = new Button(790, 360, 84, 14, 'motor setup')
+setMotorsBtn.onClick(() => {
+ vm.initMotors().then(() => {
+ setMotorsBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ setMotorsBtn.bad("err", 500)
+ })
+})
+
+let disableMotorsBtn = new Button(790, 390, 84, 14, 'disable')
+disableMotorsBtn.onClick(() => {
+ vm.disableMotors().then(() => {
+ disableMotorsBtn('ok', 500)
+ }).catch((err) => {
+ console.error(err)
+ disableMotorsBtn.bad("err", 500)
+ })
+})
+
+let enableMotorsBtn = new Button(790, 420, 84, 14, 'enable')
+enableMotorsBtn.onClick(() => {
+ vm.enableMotors().then(() => {
+ enableMotorsBtn('ok', 500)
+ }).catch((err) => {
+ console.error(err)
+ enableMotorsBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- MACHINE INIT
+
+let initMachineBtn = new Button(470, 130, 84, 44, 'init vm')
+initMachineBtn.onClick(() => {
+ setupMotion().then(() => {
+ return vm.initMotors()
+ }).then(() => {
+ initMachineBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ initMachineBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- TOOLCHANGER
+
+let tcBtn = new Button(430, 40, 94, 14, 'tc')
+tcBtn.onClick(() => {
+ if ($(tcBtn.elem).text() == 'close tc') {
+ vm.closeTC().then(() => {
+ tcBtn.good('ok', 500)
+ setTimeout(() => {
+ $(tcBtn.elem).text('open tc')
+ }, 500)
+ }).catch((err) => {
+ console.error(err)
+ tcBtn.bad('err', 500)
+ setTimeout(() => {
+ $(tcBtn.elem).text('close tc')
+ }, 500)
+ })
+ } else {
+ vm.openTC().then(() => {
+ tcBtn.good('ok', 500)
+ setTimeout(() => {
+ $(tcBtn.elem).text('close tc')
+ }, 500)
+ }).catch((err) => {
+ console.error(err)
+ tcBtn.bad('err', 500)
+ setTimeout(() => {
+ $(tcBtn.elem).text('open tc')
+ }, 500)
+ })
+ }
+})
+$(tcBtn.elem).text('close tc')
+
+let dropBtn = new Button(430, 70, 94, 14, 'drop T0')
+dropBtn.onClick(() => {
+ vm.dropTool(0).then(() => {
+ dropBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ dropBtn.bad("err", 500)
+ })
+})
+
+let pickupBtn = new Button(430, 100, 94, 14, 'pickup T0')
+pickupBtn.onClick(() => {
+ vm.pickTool(0).then(() => {
+ pickupBtn.good("ok", 500)
+ }).catch((err) => {
+ console.error(err)
+ pickupBtn.bad("err", 500)
+ })
+})
+
+// -------------------------------------------------------- ENDPOINT TEST
+
+let ep = osap.endpoint()
+ep.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 0), 512)
+
+let epTestBtn = new Button(240, 130, 104, 14, 'ep test')
+epTestBtn.onClick(() => {
+ testRun(10).then((res) => {
+ console.warn(res)
+ epTestBtn.good(`avg ${res}`, 500)
+ }).catch((err) => {
+ console.log('err')
+ })
+ /*
+ let datagram = Uint8Array.from([12, 24, 36])
+ console.warn('begin')
+ let start = performance.now()
+ ep.write(datagram).then(() => {
+ console.log(performance.now() - start)
+ console.warn('end')
+ epTestBtn.good("resolves")
+ console.warn('RESOLVE EP WRITE')
+ }).catch((err) => {
+ epTestBtn.bad("rejects")
+ console.error('EP REJECT')
+ console.error(err)
+ })
+ */
+})
+
+let testRun = async (count) => {
+ let datagram = Uint8Array.from([12, 24, 36])
+ let start = performance.now()
+ let avg = 0
+ try {
+ for (let i = 0; i < count; i++) {
+ console.log(`test ${i}`)
+ await ep.write(datagram)
+ let now = performance.now()
+ avg += now - start
+ start = now
+ }
+ } catch (err) {
+ throw new Error(err)
+ }
+ return avg / count
+}
+
+let posns = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 0), 512)
+
+let qTestBtn = new Button(240, 160, 104, 14, 'query test')
+qTestBtn.onClick(() => {
+ posns.pull().then((data) => {
+ console.warn("query passed", data)
+ qTestBtn.good('ok', 200)
+ }).catch((err) => {
+ console.warn("query fails")
+ console.error(err)
+ qTestBtn.bad('fail', 200)
+ })
+})
+
+/*
+
+// connect awaitMotionEnd() to gcode parser
+
+let motionWaitIn = new Input()
+gCodePanel.awaitMotionEnd.attach(motionWaitIn)
+motionWaitIn.addListener(async () => {
+ return new Promise((resolve, reject) => {
+ vm.awaitMotionEnd().then(() => {
+ resolve()
+ }).catch((err) => {
+ console.error(err)
+ reject(err)
+ })
+ })
+})
+
+// pipe spindle 2 machine
+let spindleIn = new Input()
+gCodePanel.spindleOut.attach(spindleIn)
+spindleIn.addListener(async (rpm) => {
+ return new Promise((resolve, reject) => {
+ vm.setRPM(rpm).then(() => {
+ setTimeout(resolve, 500)
+ }).catch((err) => {
+ console.error(err)
+ reject(err)
+ })
+ })
+})
+
+let vm = new VirtualMachine(osap)
+
+// -------------------------------------------------------- HOME, JOG, ZERO
+
+// pardon the mess, these are redefined for the jog box...
+// could properly wrap all btn action up over there, sometime!
+
+let BTN_RED = 'rgb(242, 201, 201)'
+let BTN_GRN = 'rgb(201, 242, 201)'
+let BTN_YLW = 'rgb(240, 240, 180)'
+let BTN_GREY = 'rgb(242, 242, 242)'
+let BTN_HANGTIME = 1000
+let BTN_ERRTIME = 2000
+
+// go home
+let homeBtn = Button(240, 10, 54, 14, 'home')
+$(homeBtn).on('click', (evt) => {
+ vm.home().then(() => {
+ $(homeBtn).text('ok')
+ setTimeout(() => {
+ $(homeBtn).text('home')
+ }, 500)
+ }).catch((err) => {
+ console.error(err)
+ $(homeBtn).text('err!')
+ setTimeout(() => {
+ $(homeBtn).text('home')
+ }, 500)
+ })
+ $(homeBtn).text('homing...')
+})
+
+// query queue length
+let qqlBtn = Button(310, 10, 54, 14, 'queue ?')
+$(qqlBtn).on('click', (evt) => {
+ if (qqlBtn.clicked) return
+ qqlBtn.clicked = true
+ vm.queryQueueLength().then((len) => {
+ $(qqlBtn).text(`${len}`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(qqlBtn).text(`queue ?`).css('background-color', BTN_GREY); qqlBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(qqlBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(qqlBtn).text(`queue ?`).css('background-color', BTN_GREY); qqlBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(qqlBtn).text('...').css('background-color', BTN_YLW)
+})
+
+// query motion status
+let mqBtn = Button(380, 10, 54, 14, 'moving ?')
+$(mqBtn).on('click', (evt) => {
+ if (mqBtn.clicked) return
+ mqBtn.clicked = true
+ vm.queryMotionStatus().then((state) => {
+ $(mqBtn).text(`${state}`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(mqBtn).text(`moving ?`).css('background-color', BTN_GREY); mqBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(mqBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(mqBtn).text(`moving ?`).css('background-color', BTN_GREY); mqBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(mqBtn).text('...').css('background-color', BTN_YLW)
+})
+
+// query position
+let pqBtn = Button(450, 10, 204, 14, 'pos ?')
+$(pqBtn).on('click', (evt) => {
+ if (pqBtn.clicked) return
+ pqBtn.clicked = true
+ vm.queryPosition().then((pos) => {
+ $(pqBtn).text(`${pos.X.toFixed(3)}, ${pos.Y.toFixed(3)}, ${pos.Z.toFixed(3)}`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(pqBtn).text(`pos ?`).css('background-color', BTN_GREY); pqBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(pqBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(pqBtn).text(`pos ?`).css('background-color', BTN_GREY); pqBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(pqBtn).text('...').css('background-color', BTN_YLW)
+})
+
+let spInput = TextInput(450, 40, 210, 20, '0.000, 0.000, 0.000')
+let lpBtn = Button(240, 40, 84, 14, 'get pos')
+$(lpBtn).on('click', (ev) => {
+ if(lpBtn.clicked) return
+ lpBtn.clicked = true
+ // git posn from machine
+ let pos = vm.queryPosition().then((pos) => {
+ // write it to input value, to modify...
+ spInput.value = `${pos.X.toFixed(3)}, ${pos.Y.toFixed(3)}, ${pos.Z.toFixed(3)}`
+ $(lpBtn).text(`ok ->`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(lpBtn).text(`get pos`).css('background-color', BTN_GREY); lpBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(lpBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(lpBtn).text(`set pos`).css('background-color', BTN_GREY); lpBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(lpBtn).text('...').css('background-color', BTN_YLW)
+})
+
+let spBtn = Button(340, 40, 94, 14, 'set pos')
+$(spBtn).on('click', (evt) => {
+ if (spBtn.clicked) return
+ spBtn.clicked = true
+ // get from input, arr
+ let psns = spInput.value.split(',')
+ let badParse = false
+ for (let p in psns) {
+ psns[p] = parseFloat(psns[p])
+ if (Number.isNaN(psns[p])) {
+ badParse = true
+ }
+ }
+ if (psns.length != 3) badParse = true
+ if (badParse) {
+ $(spBtn).text('bad set-target parse')
+ setTimeout(() => {
+ $(spBtn).text(`set pos`).css('background-color', BTN_GREY)
+ spBtn.clicked = false
+ }, BTN_HANGTIME)
+ return
+ }
+ vm.setPosition({ X: psns[0], Y: psns[1], Z: psns[2] }).then(() => {
+ // this is ok, so
+ return vm.queryPosition()
+ }).then((pos) => {
+ $(spBtn).text(`ok ->`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(spBtn).text(`set pos`).css('background-color', BTN_GREY); spBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(spBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(spBtn).text(`set pos`).css('background-color', BTN_GREY); spBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(spBtn).text('...').css('background-color', BTN_YLW)
+})
+
+// remote set currents
+let scBtn = Button(240, 70, 194, 14, 'set currents')
+let scInput = TextInput(450, 70, 210, 20, '0.2, 0.2, 0.2')
+$(scBtn).on('click', (evt) => {
+ if (scBtn.clicked) return
+ scBtn.clicked = true
+ // get from input, arr
+ let currents = scInput.value.split(',')
+ let badParse = false
+ for (let p in currents) {
+ currents[p] = parseFloat(currents[p])
+ if (Number.isNaN(currents[p])) {
+ badParse = true
+ }
+ }
+ if (currents.length != 3) badParse = true
+ if (badParse) {
+ $(scBtn).text('bad set-target parse').css('background-color', BTN_RED)
+ setTimeout(() => {
+ $(scBtn).text(`set currents`).css('background-color', BTN_GREY)
+ scBtn.clicked = false
+ }, BTN_HANGTIME)
+ return
+ }
+ vm.setCurrents({ X: currents[0], Y: currents[1], Z: currents[2] }).then(() => {
+ $(scBtn).text(`ok`).css('background-color', BTN_GRN)
+ setTimeout(() => { $(scBtn).text(`set currents`).css('background-color', BTN_GREY); scBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(scBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(scBtn).text(`set currents`).css('background-color', BTN_GREY); scBtn.clicked = false }, BTN_ERRTIME)
+ })
+ $(scBtn).text('...').css('background-color', BTN_YLW)
+})
+
+// remote set tool
+let toolGripped = false
+let tgBtn = Button(240, 100, 194, 14, 'grip tool')
+$(tgBtn).on('click', (evt) => {
+ if(tgBtn.clicked) return
+ tgBtn.clicked = true
+ $(tgBtn).text('...').css('background-color', BTN_YLW)
+ if(toolGripped){
+ vm.releaseTool().then(() => {
+ toolGripped = false
+ $(tgBtn).text('grip tool').css('background-color', BTN_GREY); tgBtn.clicked = false
+ }).catch((err) => {
+ console.error(err)
+ $(tgBtn).text('error').css('background-color', BTN_RED)
+ })
+ } else {
+ vm.gripTool().then(() => {
+ toolGripped = true
+ $(tgBtn).text('release tool').css('background-color', BTN_GREY); tgBtn.clicked = false
+ }).catch((err) => {
+ console.error(err)
+ $(tgBtn).text('error').css('background-color', BTN_RED)
+ })
+ }
+})
+
+let calBtn = Button(450, 100, 94, 14, 'calibr8')
+$(calBtn).on('click', (evt) => {
+ if(calBtn.clicked) return
+ calBtn.clicked = true
+ $(calBtn).text('...').css('background-color', BTN_YLW)
+ vm.runCalibration().then(() => {
+ $(calBtn).text('ok').css('background-color', BTN_GRN)
+ setTimeout(() => { $(calBtn).text(`calibr8`).css('background-color', BTN_GREY); calBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(calBtn).text('err').css('background-color', BTN_RED)
+ setTimeout(() => { $(calBtn).text(`calibr8`).css('background-color', BTN_GREY); calBtn.clicked = false }, BTN_ERRTIME)
+ })
+})
+
+let unlockBtn = Button(560, 100, 94, 14, 'release')
+$(unlockBtn).on('click', (evt) => {
+ if(unlockBtn.clicked) return
+ unlockBtn.clicked = true
+ $(unlockBtn).text('...').css('background-color', BTN_YLW)
+ vm.unlockTool().then(() => {
+ $(unlockBtn).text('ok').css('background-color', BTN_GRN)
+ setTimeout(() => { $(unlockBtn).text('release').css('background-color', BTN_GREY); unlockBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(unlockBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(unlockBtn).text('release').css('background-color', BTN_GREY); unlockBtn.clicked = false }, BTN_ERRTIME)
+ })
+})
+
+let pickupBtn = Button(240, 130, 84, 14, 'pickup')
+$(pickupBtn).on('click', (evt) => {
+ if(pickupBtn.clicked) return
+ pickupBtn.clicked = true
+ $(pickupBtn).text('...').css('background-color', BTN_YLW)
+ vm.pickupTool(225, 2).then(() => {
+ $(pickupBtn).text('ok').css('background-color', BTN_GRN)
+ setTimeout(() => { $(pickupBtn).text('pickup').css('background-color', BTN_GREY); pickupBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(pickupBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(pickupBtn).text('pickup').css('background-color', BTN_GREY); pickupBtn.clicked = false }, BTN_ERRTIME)
+ })
+})
+
+let dropBtn = Button(340, 130, 94, 14, 'drop')
+$(dropBtn).on('click', (evt) => {
+ if(dropBtn.clicked) return
+ dropBtn.clicked = true
+ $(dropBtn).text('...').css('background-color', BTN_YLW)
+ vm.dropTool(225, 2).then(() => {
+ $(dropBtn).text('ok').css('background-color', BTN_GRN)
+ setTimeout(() => { $(dropBtn).text('drop').css('background-color', BTN_GREY); dropBtn.clicked = false }, BTN_HANGTIME)
+ }).catch((err) => {
+ console.error(err)
+ $(dropBtn).text('error').css('background-color', BTN_RED)
+ setTimeout(() => { $(dropBtn).text('drop').css('background-color', BTN_GREY); dropBtn.clicked = false }, BTN_ERRTIME)
+ })
+})
+
+let jogBox = new JogBox(670, 10, vm)
+
+// render
+let pad = new Pad(240, 160, 610, 610)
+
+*/
+
+// -------------------------------------------------------- STARTUP LOCAL
+
+let wscVPort = osap.vPort()
+wscVPort.name = 'websocket client'
+wscVPort.maxSegLength = 1024
+
+let LOGPHY = false
+
+// to test these systems, the client (us) will kickstart a new process
+// on the server, and try to establish connection to it.
+console.log("making client-to-server request to start remote process,")
+console.log("and connecting to it w/ new websocket")
+// ok, let's ask to kick a process on the server,
+// in response, we'll get it's IP and Port,
+// then we can start a websocket client to connect there,
+// automated remote-proc. w/ vPort & wss medium,
+// for args, do '/processName.js?args=arg1,arg2'
+
+jQuery.get('/startLocal/osapl-usb-bridge.js', (res) => {
+ if (res.includes('OSAP-wss-addr:')) {
+ let addr = res.substring(res.indexOf(':') + 2)
+ if (addr.includes('ws://')) {
+ let status = EP.PORTSTATUS.OPENING
+ wscVPort.status = () => { return status }
+ console.log('starting socket to remote at', addr)
+ let ws = new WebSocket(addr)
+ // opens,
+ ws.onopen = (evt) => {
+ status = EP.PORTSTATUS.OPEN
+ // implement rx
+ ws.onmessage = (msg) => {
+ msg.data.arrayBuffer().then((buffer) => {
+ let uint = new Uint8Array(buffer)
+ if (LOGPHY) console.log('PHY WSC Recv')
+ if (LOGPHY) TS.logPacket(uint)
+ wscVPort.receive(uint)
+ }).catch((err) => {
+ console.error(err)
+ })
+ }
+ // implement tx
+ wscVPort.send = (buffer) => {
+ if (LOGPHY) console.log('PHY WSC Send', buffer)
+ ws.send(buffer)
+ }
+ }
+ ws.onerror = (err) => {
+ status = EP.PORTSTATUS.CLOSED
+ console.log('sckt err', err)
+ }
+ ws.onclose = (evt) => {
+ status = EP.PORTSTATUS.CLOSED
+ console.log('sckt closed', evt)
+ }
+ }
+ } else {
+ console.error('remote OSAP not established', res)
+ }
+})
+
diff --git a/controller/client/clankVirtualMachine.js b/controller/client/clankVirtualMachine.js
new file mode 100644
index 0000000000000000000000000000000000000000..45c0328a9aec792bfc670f883b6643836d05ac58
--- /dev/null
+++ b/controller/client/clankVirtualMachine.js
@@ -0,0 +1,430 @@
+/*
+clankVirtualMachine.js
+
+vm for Clank-CZ
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2021
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+import { TS, PK, DK, AK, EP } from '../osapjs/core/ts.js'
+import TempVM from './tempVirtualMachine.js'
+import MotorVM from './motorVirtualMachine.js'
+
+/* bus ID (osap maps +1)
+X: 0
+YL: 1
+YR: 2, term
+Z: 3
+TCS: 4
+E: 5
+HE: 6
+LC: 7
+BED: 8
+*/
+
+export default function ClankVM(osap, route) {
+
+ // ------------------------------------------------------ MOTION
+ // ok: we make an 'endpoint' that will transmit moves,
+ let moveEP = osap.endpoint()
+ // add the machine head's route to it,
+ moveEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 1), 512)
+ // and set a long timeout,
+ moveEP.setTimeoutLength(60000)
+ // move like: { position: {X: num, Y: num, Z: num}, rate: num }
+ this.addMoveToQueue = (move) => {
+ // write the gram,
+ let wptr = 0
+ let datagram = new Uint8Array(20)
+ // write rate
+ wptr += TS.write('float32', move.rate, datagram, wptr, true)
+ // write posns
+ wptr += TS.write('float32', move.position.X, datagram, wptr, true)
+ wptr += TS.write('float32', move.position.Y, datagram, wptr, true)
+ wptr += TS.write('float32', move.position.Z, datagram, wptr, true)
+ if (move.position.E) {
+ //console.log(move.position.E)
+ wptr += TS.write('float32', move.position.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ // do the networking,
+ return new Promise((resolve, reject) => {
+ moveEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => {
+ reject(err)
+ })
+ })
+ }
+
+ // to set the current position,
+ let setPosEP = osap.endpoint()
+ setPosEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
+ setPosEP.setTimeoutLength(10000)
+ this.setPos = (pos) => {
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', pos.X, datagram, wptr, true)
+ wptr += TS.write('float32', pos.Y, datagram, wptr, true)
+ wptr += TS.write('float32', pos.Z, datagram, wptr, true)
+ if (pos.E) {
+ wptr += TS.write('float32', pos.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ // ship it
+ return new Promise((resolve, reject) => {
+ setPosEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // an a 'query' to check current position
+ let posQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 2), 512)
+ this.getPos = () => {
+ return new Promise((resolve, reject) => {
+ posQuery.pull().then((data) => {
+ let pos = {
+ X: TS.read('float32', data, 0, true),
+ Y: TS.read('float32', data, 4, true),
+ Z: TS.read('float32', data, 8, true),
+ E: TS.read('float32', data, 12, true)
+ }
+ resolve(pos)
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // another query to see if it's currently moving,
+ // update that endpoint so we can 'write halt' / 'write go' with a set
+ let motionQuery = osap.query(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 3), 512)
+ this.awaitMotionEnd = () => {
+ return new Promise((resolve, reject) => {
+ let check = () => {
+ motionQuery.pull().then((data) => {
+ if (data[0] > 0) {
+ setTimeout(check, 50)
+ } else {
+ resolve()
+ }
+ }).catch((err) => {
+ reject(err)
+ })
+ }
+ setTimeout(check, 50)
+ })
+ }
+
+ // an endpoint to write 'wait time' on the remote,
+ let waitTimeEP = osap.endpoint()
+ waitTimeEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 4), 512)
+ this.setWaitTime = (ms) => {
+ return new Promise((resolve, reject) => {
+ let datagram = new Uint8Array(4)
+ TS.write('uint32', ms, datagram, 0, true)
+ waitTimeEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // endpoint to set per-axis accelerations,
+ let accelEP = osap.endpoint()
+ accelEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 5), 512)
+ this.setAccels = (accels) => { // float array, len 4 XYZE
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', accels.X, datagram, wptr, true)
+ wptr += TS.write('float32', accels.Y, datagram, wptr, true)
+ wptr += TS.write('float32', accels.Z, datagram, wptr, true)
+ if (accels.E) {
+ wptr += TS.write('float32', accels.E, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 0, datagram, wptr, true)
+ }
+ return new Promise((resolve, reject) => {
+ accelEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ let rateEP = osap.endpoint()
+ rateEP.addRoute(TS.route().portf(0).portf(1).end(), TS.endpoint(0, 6), 512)
+ this.setRates = (rates) => {
+ // in firmware we think of mm/sec,
+ // in gcode and up here we think in mm/minute
+ // so conversion happens here
+ let wptr = 0
+ let datagram = new Uint8Array(16)
+ wptr += TS.write('float32', rates.X / 60, datagram, wptr, true)
+ wptr += TS.write('float32', rates.Y / 60, datagram, wptr, true)
+ wptr += TS.write('float32', rates.Z / 60, datagram, wptr, true)
+ if (rates.E) {
+ wptr += TS.write('float32', rates.E / 60, datagram, wptr, true)
+ } else {
+ wptr += TS.write('float32', 100, datagram, wptr, true)
+ }
+ return new Promise((resolve, reject) => {
+ rateEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // ------------------------------------------------------ MOTORS
+
+ // clank cz:
+ // AXIS SPU INVERT
+ // X: 320 false
+ // YL: 320 true
+ // YR: 320 false
+ // Z: 924.4r false
+ // E: 550 true
+ // per bondtech, for BMG on 16 microsteps, do 415: we are 32 microsteps
+ // https://www.bondtech.se/en/customer-service/faq/
+ // however, this is measured & calibrated: 830 was extruding 75mm for a 50mm request
+ /* bus ID (osap maps +1)
+ X: 0
+ YL: 1
+ YR: 2, term
+ Z: 3
+ TCS: 4
+ E: 5
+ HE: 6
+ LC: 7
+ BED: 8
+ */
+
+ this.motors = {
+ X: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 1).end()),
+ YL: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 2).end()),
+ YR: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 3).end()),
+ Z: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 4).end()),
+ E: new MotorVM(osap, TS.route().portf(0).portf(1).busf(1, 6).end()),
+ }
+
+ let motorCurrents = [0.5, 0.5, 0.5, 0.5, 0.5]
+ this.setMotorCurrents = async () => {
+ try {
+ await this.motors.X.setCScale(motorCurrents[0])
+ await this.motors.YL.setCScale(motorCurrents[1])
+ await this.motors.YR.setCScale(motorCurrents[2])
+ await this.motors.Z.setCScale(motorCurrents[3])
+ //await this.motors.E.setCScale(motorCurrents[4])
+ } catch (err) {
+ console.error('bad motor current set')
+ throw err
+ }
+ }
+
+ // alias...
+ this.enableMotors = this.setMotorCurrents
+
+ this.disableMotors = async () => {
+ try {
+ await this.motors.X.setCScale(0)
+ await this.motors.YL.setCScale(0)
+ await this.motors.YR.setCScale(0)
+ await this.motors.Z.setCScale(0)
+ await this.motors.E.setCScale(0)
+ } catch (err) {
+ console.error('bad motor disable set')
+ throw err
+ }
+ }
+
+ this.initMotors = async () => {
+ // so, really, for these & the disable / enable / set current
+ // could do them all parallel: like this halts if i.e. YL fails,
+ // where it might just be that motor with an error... that'd be catching / continuing, accumulating
+ // errors, and reporting them in a group
+ try {
+ await this.motors.X.setAxisPick(0)
+ await this.motors.X.setAxisInversion(false)
+ await this.motors.X.setSPU(320)
+ } catch (err) {
+ console.error('bad x motor init')
+ throw err
+ }
+ try {
+ await this.motors.YL.setAxisPick(1)
+ await this.motors.YL.setAxisInversion(true)
+ await this.motors.YL.setSPU(320)
+ } catch (err) {
+ console.error('bad yl motor init')
+ throw err
+ }
+ try {
+ await this.motors.YR.setAxisPick(1)
+ await this.motors.YR.setAxisInversion(false)
+ await this.motors.YR.setSPU(320)
+ } catch (err) {
+ console.error('bad yr motor init')
+ throw err
+ }
+ try {
+ await this.motors.Z.setAxisPick(2)
+ await this.motors.Z.setAxisInversion(false)
+ await this.motors.Z.setSPU(924.444444)
+ } catch (err) {
+ console.error('bad z motor init')
+ throw err
+ }
+ /*
+ try {
+ await this.motors.E.setAxisPick(3)
+ await this.motors.E.setAxisInversion(true)
+ await this.motors.E.setSPU(550)
+ } catch (err) {
+ console.error('bad e motor init')
+ throw err
+ }
+ */
+ await this.setMotorCurrents()
+ }
+
+ // ------------------------------------------------------ TOOLCHANGER
+
+ let tcServoEP = osap.endpoint()
+ tcServoEP.addRoute(TS.route().portf(0).portf(1).busf(1, 5).end(), TS.endpoint(0, 0), 512)
+
+ this.setTCServo = (micros) => {
+ let wptr = 0
+ let datagram = new Uint8Array(4)
+ // write micros
+ wptr += TS.write('uint32', micros, datagram, wptr, true)
+ // do the shipment
+ return new Promise((resolve, reject) => {
+ tcServoEP.write(datagram).then(() => {
+ console.warn('tc set', micros)
+ resolve()
+ }).catch((err) => {
+ reject(err)
+ })
+ })
+ }
+
+ this.openTC = () => {
+ return this.setTCServo(2000)
+ }
+
+ this.closeTC = () => {
+ return this.setTCServo(875)
+ }
+
+ // ------------------------------------------------------ TOOL CHANGING
+
+ // tool localization for put-down & pickup, tool statefulness,
+ // from back left 0,0
+ // put-down HE at (23.8, -177) -> (23.8, -222.6) -> release -> (-17.8, -208.6) clear -> (-17.8, -183)
+ // { position: {X: num, Y: num, Z: num}, rate: num }
+
+ let delay = (ms) => {
+ return new Promise((resolve, reject) => {
+ setTimeout(() => { resolve() }, ms)
+ })
+ }
+
+ this.delta = async (move, rate) => {
+ try {
+ if (!rate) rate = 6000
+ await this.setWaitTime(1)
+ await delay(5)
+ await this.awaitMotionEnd()
+ let cp = await this.getPos()
+ console.log('current', cp)
+ await this.addMoveToQueue({
+ position: { X: cp.X + move[0], Y: cp.Y + move[1], Z: cp.Z + move[2] },
+ rate: rate
+ })
+ await delay(5)
+ await this.awaitMotionEnd()
+ await this.setWaitTime(100)
+ } catch (err) {
+ console.error('arising during delta')
+ throw err
+ }
+ }
+
+ this.goto = async (pos, rate) => {
+ try {
+ if (!rate) rate = 6000
+ // set remote queue-wait-time
+ await this.setWaitTime(1)
+ await delay(5)
+ // wait for the stop
+ await this.awaitMotionEnd()
+ await this.addMoveToQueue({
+ position: { X: pos[0], Y: pos[1], Z: pos[2], E: 0 },
+ rate: rate
+ })
+ await delay(5)
+ await this.awaitMotionEnd()
+ await this.setWaitTime(100)
+ } catch (err) {
+ console.error('during goto')
+ throw err
+ }
+ }
+
+ let tools = [{
+ pickX: 16.8,
+ pickY: -177,
+ plunge: -45.6
+ }]
+
+ this.dropTool = async (num) => {
+ try {
+ await this.awaitMotionEnd()
+ await this.closeTC()
+ let cp = await this.getPos()
+ await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
+ console.warn('done setup')
+ await this.delta([0, tools[num].plunge, 0])
+ await this.openTC()
+ await delay(250)
+ console.warn('tc open')
+ await this.delta([-6, 10, 0])
+ await this.delta([0, 50, 0])
+ await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
+ } catch (err) {
+ console.error(`at T${num} drop`)
+ throw err
+ }
+ }
+
+ this.pickTool = async (num) => {
+ try {
+ await this.awaitMotionEnd()
+ await this.openTC()
+ let cp = await this.getPos()
+ await this.goto([tools[num].pickX, tools[num].pickY, cp.Z])
+ await this.delta([-6, 0, 0])
+ await this.delta([0, tools[num].plunge + 10, 0])
+ await this.delta([6, -10, 0])
+ await this.closeTC()
+ await delay(250)
+ await this.delta([0, -tools[num].plunge, 0])
+ await delay(250)
+ } catch (err) {
+ console.error(`at T${num} pick`)
+ throw err
+ }
+ }
+
+ // ------------------------------------------------------ HEATER JUNK
+
+ this.tvm = []
+ this.tvm[0] = new TempVM(osap, TS.route().portf(0).portf(1).busf(1, 7).end())
+ this.tvm[1] = new TempVM(osap, TS.route().portf(0).portf(1).busf(1, 9).end())
+
+}
\ No newline at end of file
diff --git a/controller/client/index.html b/controller/client/index.html
new file mode 100644
index 0000000000000000000000000000000000000000..f5d7dac9a06c731aa84993f5722128c1b96c97fc
--- /dev/null
+++ b/controller/client/index.html
@@ -0,0 +1,25 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+ <title>clank-tool</title>
+ <!-- these three disable caching -->
+ <meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate" />
+ <meta http-equiv="Pragma" content="no-cache" />
+ <meta http-equiv="Expires" content="-1" />
+</head>
+
+<body>
+ <link href="style.css" rel="stylesheet">
+ <script src="../osapjs/client/libs/jquery.min.js"></script>
+ <script src="../osapjs/client/libs/math.js" type="text/javascript"></script>
+ <script src="../osapjs/client/libs/d3.js"></script>
+ <script type="module" src="clankClient.js"></script>
+
+ <div id="wrapper">
+ <!-- bootloop puts first view inside of this div -->
+ </div>
+
+</body>
+
+</html>
diff --git a/controller/client/motorVirtualMachine.js b/controller/client/motorVirtualMachine.js
new file mode 100644
index 0000000000000000000000000000000000000000..b31c9a6c86d64125c831008bcdc5b1e11f374a16
--- /dev/null
+++ b/controller/client/motorVirtualMachine.js
@@ -0,0 +1,70 @@
+/*
+tempVirtualMachine.js
+
+vm for stepper motors
+
+Jake Read at the Center for Bits and Atoms
+(c) Massachusetts Institute of Technology 2021
+
+This work may be reproduced, modified, distributed, performed, and
+displayed for any purpose, but must acknowledge the open systems assembly protocol (OSAP) project.
+Copyright is retained and must be preserved. The work is provided as is;
+no warranty is provided, and users accept all liability.
+*/
+
+import { TS } from '../osapjs/core/ts.js'
+
+export default function MotorVM(osap, route) {
+
+ // 1st (0th) axis pick
+ let axisPickEP = osap.endpoint()
+ axisPickEP.addRoute(route, TS.endpoint(0, 0), 512)
+ this.setAxisPick = (pick) => {
+ let datagram = new Uint8Array(1)
+ TS.write('uint8', pick, datagram, 0, true)
+ return new Promise((resolve, reject) => {
+ axisPickEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // axis invert,
+ let axisInvertEP = osap.endpoint()
+ axisInvertEP.addRoute(route, TS.endpoint(0, 1), 512)
+ this.setAxisInversion = (invert) => {
+ let datagram = new Uint8Array(1)
+ TS.write('boolean', invert, datagram, 0, true)
+ return new Promise((resolve, reject) => {
+ axisInvertEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // steps per unit
+ let spuEP = osap.endpoint()
+ spuEP.addRoute(route, TS.endpoint(0, 2), 512)
+ this.setSPU = (spu) => {
+ let datagram = new Uint8Array(4)
+ TS.write('float32', spu, datagram, 0, true)
+ return new Promise((resolve, reject) => {
+ spuEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+
+ // current scaling 0-1
+ let cscaleEP = osap.endpoint()
+ cscaleEP.addRoute(route, TS.endpoint(0, 3), 512)
+ this.setCScale = (cscale) => {
+ let datagram = new Uint8Array(4)
+ TS.write('float32', cscale, datagram, 0, true)
+ return new Promise((resolve, reject) => {
+ cscaleEP.write(datagram).then(() => {
+ resolve()
+ }).catch((err) => { reject(err) })
+ })
+ }
+}
\ No newline at end of file
diff --git a/controller/client/save/3dp-10mmbox.gcode b/controller/client/save/3dp-10mmbox.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..e2a89c60bb8d157c042602cf910dd0963e7999c6
--- /dev/null
+++ b/controller/client/save/3dp-10mmbox.gcode
@@ -0,0 +1,4041 @@
+; generated by PrusaSlicer 2.2.0+win64 on 2021-01-30 at 19:27:21 UTC
+
+;
+
+; external perimeters extrusion width = 0.45mm
+; perimeters extrusion width = 0.45mm
+; infill extrusion width = 0.45mm
+; solid infill extrusion width = 0.45mm
+; top infill extrusion width = 0.40mm
+; support material extrusion width = 0.35mm
+; first layer extrusion width = 0.42mm
+
+M73 P0 R13
+M73 Q0 S13
+M201 X1000 Y1000 Z1000 E5000 ; sets maximum accelerations, mm/sec^2
+M203 X200 Y200 Z12 E120 ; sets maximum feedrates, mm/sec
+M204 P1250 R1250 T1250 ; sets acceleration (P, T) and retract acceleration (R), mm/sec^2
+M205 X8.00 Y8.00 Z0.40 E1.50 ; sets the jerk limits, mm/sec
+M205 S0 T0 ; sets the minimum extruding and travel feed rate, mm/sec
+M107
+M862.3 P "MK3S" ; printer model check
+M862.1 P0.4 ; nozzle diameter check
+M115 U3.8.1 ; tell printer latest fw version
+G90 ; use absolute coordinates
+M83 ; extruder relative mode
+M104 S215 ; set extruder temp
+M140 S75 ; set bed temp
+M190 S75 ; wait for bed temp
+M109 S215 ; wait for extruder temp
+G28 W ; home all without mesh bed level
+G80 ; mesh bed leveling
+G1 Y-3.0 F1000.0 ; go outside print area
+G92 E0.0
+G1 X60.0 E9.0 F1000.0 ; intro line
+M73 Q0 S13
+M73 P0 R13
+G1 X100.0 E12.5 F1000.0 ; intro line
+G92 E0.0
+M221 S95
+G21 ; set units to millimeters
+G90 ; use absolute coordinates
+M83 ; use relative distances for extrusion
+M900 K30 ; Filament gcode
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.2
+
+
+G1 Z0.200 F10800.000
+;AFTER_LAYER_CHANGE
+;0.2
+G1 X10.368 Y10.550
+M204 S1000
+G1 F900
+G1 X19.948 Y10.550 E0.30037
+G1 X19.948 Y20.130 E0.30037
+G1 X10.368 Y20.130 E0.30037
+G1 X10.368 Y10.610 E0.29849
+G1 X10.754 Y10.654 F10800.000
+G1 X10.745 Y10.927
+G1 F900
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+G1 F900
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+G1 X11.122 Y11.364 E0.25120
+G1 X11.499 Y11.682 F10800.000
+G1 F900
+G1 X18.817 Y11.682 E0.22944
+G1 X18.817 Y18.999 E0.22944
+G1 X11.499 Y18.999 E0.22944
+G1 X11.499 Y11.742 E0.22755
+G1 X11.876 Y12.059 F10800.000
+G1 F900
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+G1 X18.440 Y18.622 E0.20579
+G1 X11.876 Y18.622 E0.20579
+G1 X11.876 Y12.119 E0.20391
+G1 X18.383 Y12.889 F10800.000
+G1 F900
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+G1 X18.214 Y13.800 E0.01719
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+G1 X16.321 Y18.396 E0.01719
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+G1 X12.103 Y14.718 E0.01719
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+G1 X15.240 Y18.396 E0.01719
+G1 X12.103 Y15.259 E0.14104
+G1 X12.103 Y15.799 E0.01719
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+G1 X12.103 Y16.881 E0.01719
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+G1 X13.077 Y18.396 E0.01719
+G1 X12.103 Y17.421 E0.04381
+G1 X12.103 Y17.962 E0.01719
+G1 X12.706 Y18.565 E0.02713
+M106 S255
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.4
+
+
+G1 Z0.400 F10800.000
+;AFTER_LAYER_CHANGE
+;0.4
+M104 S210 ; set temperature
+G1 X10.383 Y20.115
+M204 S800
+G1 F900
+G1 X10.383 Y10.565 E0.32326
+G1 X19.933 Y10.565 E0.32326
+G1 X19.933 Y20.115 E0.32326
+G1 X10.443 Y20.115 E0.32123
+M204 S1000
+G1 X10.487 Y19.729 F10800.000
+G1 X10.790 Y19.708
+M204 S800
+G1 F900
+G1 X10.790 Y10.972 E0.29570
+G1 X19.526 Y10.972 E0.29570
+G1 X19.526 Y19.708 E0.29570
+G1 X10.850 Y19.708 E0.29367
+M204 S1000
+G1 X11.197 Y19.301 F10800.000
+M204 S800
+G1 F900
+G1 X11.197 Y11.379 E0.26814
+G1 X19.119 Y11.379 E0.26814
+G1 X19.119 Y19.301 E0.26814
+G1 X11.257 Y19.301 E0.26611
+M204 S1000
+G1 X11.604 Y18.894 F10800.000
+M204 S800
+G1 F900
+G1 X11.604 Y11.787 E0.24058
+G1 X18.712 Y11.787 E0.24058
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+M204 S1000
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+M204 S800
+G1 F900
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+M204 S1000
+G1 X12.919 Y12.255 F10800.000
+M204 S1250
+G1 F900
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+M204 S1000
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.6
+
+
+G1 Z0.600 F10800.000
+;AFTER_LAYER_CHANGE
+;0.6
+G1 X19.933 Y20.115
+M204 S800
+G1 F900
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+M204 S800
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+M204 S800
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+M204 S800
+G1 F900
+G1 X12.011 Y18.487 E0.21302
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+G1 X18.305 Y12.194 E0.21302
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+M204 S1000
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+M204 S1250
+G1 F900
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+G1 X13.328 Y18.243 E0.02058
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+M204 S1000
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.8
+
+
+G1 Z0.800 F10800.000
+;AFTER_LAYER_CHANGE
+;0.8
+G1 X19.933 Y10.565
+M204 S800
+G1 F900
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+G1 X10.383 Y20.115 E0.32326
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+M204 S800
+G1 F900
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+M73 Q8 S12
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+M73 P8 R12
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+G1 X19.119 Y11.379 F10800.000
+M204 S800
+G1 F900
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+M204 S800
+G1 F900
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+G1 X11.604 Y18.894 E0.24058
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+G1 X18.652 Y11.787 E0.23855
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+M204 S800
+G1 F900
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+M221 S100
+M104 S0 ; turn off temperature
+M140 S0 ; turn off heatbed
+M107 ; turn off fan
+G1 Z40 ; Move print head up
+G1 X0 Y200 F3000 ; home X axis
+M84 ; disable motors
+M73 P100 R0
+M73 Q100 S0
+; filament used [mm] = 411.5
+; filament used [cm3] = 1.0
+; filament used [g] = 1.2
+; filament cost = 0.0
+
+; total filament used [g] = 1.2
+; total filament cost = 0.0
+; estimated printing time (normal mode) = 12m 35s
+; estimated printing time (silent mode) = 12m 35s
+
+; avoid_crossing_perimeters = 0
+; bed_custom_model =
+; bed_custom_texture =
+; bed_shape = 0x0,250x0,250x210,0x210
+; bed_temperature = 75
+; before_layer_gcode = ;BEFORE_LAYER_CHANGE\nG92 E0.0\n;[layer_z]\n\n
+; between_objects_gcode =
+; bottom_fill_pattern = rectilinear
+; bottom_solid_layers = 5
+; bottom_solid_min_thickness = 0
+; bridge_acceleration = 1000
+; bridge_angle = 0
+; bridge_fan_speed = 100
+; bridge_flow_ratio = 0.95
+; bridge_speed = 30
+; brim_width = 0
+; clip_multipart_objects = 1
+; compatible_printers_condition_cummulative = "printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK3.*/ and nozzle_diameter[0]==0.4";"! (printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK(2.5|3).*/ and single_extruder_multi_material)"
+; complete_objects = 0
+; cooling = 1
+; cooling_tube_length = 5
+; cooling_tube_retraction = 91.5
+; default_acceleration = 1000
+; default_filament_profile = "Prusament PLA"
+; default_print_profile = 0.15mm QUALITY MK3
+; deretract_speed = 0
+; disable_fan_first_layers = 1
+; dont_support_bridges = 1
+; draft_shield = 0
+; duplicate_distance = 6
+; elefant_foot_compensation = 0
+; end_filament_gcode = "; Filament-specific end gcode"
+; end_gcode = G4 ; wait\nM221 S100\nM104 S0 ; turn off temperature\nM140 S0 ; turn off heatbed\nM107 ; turn off fan\n{if layer_z < max_print_height}G1 Z{z_offset+min(layer_z+30, max_print_height)}{endif} ; Move print head up\nG1 X0 Y200 F3000 ; home X axis\nM84 ; disable motors
+; ensure_vertical_shell_thickness = 1
+; external_perimeter_extrusion_width = 0.45
+; external_perimeter_speed = 35
+; external_perimeters_first = 1
+; extra_loading_move = -2
+; extra_perimeters = 0
+; extruder_clearance_height = 25
+; extruder_clearance_radius = 45
+; extruder_colour = ""
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; extrusion_width = 0.45
+; fan_always_on = 1
+; fan_below_layer_time = 100
+; filament_colour = #FF8000
+; filament_cooling_final_speed = 3.4
+; filament_cooling_initial_speed = 2.2
+; filament_cooling_moves = 4
+; filament_cost = 24.99
+; filament_density = 1.24
+; filament_diameter = 1.75
+; filament_load_time = 0
+; filament_loading_speed = 28
+; filament_loading_speed_start = 3
+; filament_max_volumetric_speed = 12.5
+; filament_minimal_purge_on_wipe_tower = 15
+; filament_notes = "Affordable filament for everyday printing in premium quality manufactured in-house by Josef Prusa"
+; filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
+; filament_settings_id = PLA
+; filament_soluble = 0
+; filament_toolchange_delay = 0
+; filament_type = PLA
+; filament_unload_time = 0
+; filament_unloading_speed = 90
+; filament_unloading_speed_start = 100
+; filament_vendor = (Unknown)
+; fill_angle = 45
+; fill_density = 100%
+; fill_pattern = rectilinear
+; first_layer_acceleration = 1000
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 0.42
+; first_layer_height = 0.2
+; first_layer_speed = 20
+; first_layer_temperature = 215
+; gap_fill_speed = 40
+; gcode_comments = 0
+; gcode_flavor = marlin
+; gcode_label_objects = 0
+; high_current_on_filament_swap = 0
+; host_type = octoprint
+; infill_acceleration = 1250
+; infill_every_layers = 2
+; infill_extruder = 1
+; infill_extrusion_width = 0.45
+; infill_first = 0
+; infill_only_where_needed = 0
+; infill_overlap = 40%
+; infill_speed = 200
+; inherits_cummulative = "0.20mm SPEED MK3";"Prusament PLA";"Original Prusa i3 MK3S"
+; interface_shells = 0
+; layer_gcode = ;AFTER_LAYER_CHANGE\n;[layer_z]
+; layer_height = 0.2
+; machine_max_acceleration_e = 5000,5000
+; machine_max_acceleration_extruding = 1250,1250
+; machine_max_acceleration_retracting = 1250,1250
+; machine_max_acceleration_x = 1000,960
+; machine_max_acceleration_y = 1000,960
+; machine_max_acceleration_z = 1000,1000
+; machine_max_feedrate_e = 120,120
+; machine_max_feedrate_x = 200,100
+; machine_max_feedrate_y = 200,100
+; machine_max_feedrate_z = 12,12
+; machine_max_jerk_e = 1.5,1.5
+; machine_max_jerk_x = 8,8
+; machine_max_jerk_y = 8,8
+; machine_max_jerk_z = 0.4,0.4
+; machine_min_extruding_rate = 0,0
+; machine_min_travel_rate = 0,0
+; max_fan_speed = 100
+; max_layer_height = 0.25
+; max_print_height = 210
+; max_print_speed = 200
+; max_volumetric_speed = 0
+; min_fan_speed = 100
+; min_layer_height = 0.07
+; min_print_speed = 15
+; min_skirt_length = 4
+; notes =
+; nozzle_diameter = 0.4
+; only_retract_when_crossing_perimeters = 0
+; ooze_prevention = 0
+; output_filename_format = {input_filename_base}_{total_weight}_{print_time}.gcode
+; overhangs = 1
+; parking_pos_retraction = 92
+; perimeter_acceleration = 800
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0.45
+; perimeter_speed = 60
+; perimeters = 5
+; post_process =
+; print_settings_id = 0.20mm SOLIDBOYS
+; printer_model = MK3S
+; printer_notes = Don't remove the following keywords! These keywords are used in the "compatible printer" condition of the print and filament profiles to link the particular print and filament profiles to this printer profile.\nPRINTER_VENDOR_PRUSA3D\nPRINTER_MODEL_MK3\n
+; printer_settings_id = Original Prusa i3 MK3S - NoIntro
+; printer_technology = FFF
+; printer_variant = 0.4
+; printer_vendor =
+; raft_layers = 0
+; remaining_times = 1
+; resolution = 0
+; retract_before_travel = 1
+; retract_before_wipe = 0%
+; retract_layer_change = 1
+; retract_length = 0
+; retract_length_toolchange = 4
+; retract_lift = 0.6
+; retract_lift_above = 0
+; retract_lift_below = 209
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 35
+; seam_position = nearest
+; serial_port =
+; serial_speed = 250000
+; silent_mode = 1
+; single_extruder_multi_material = 0
+; single_extruder_multi_material_priming = 0
+; skirt_distance = 2
+; skirt_height = 3
+; skirts = 0
+; slice_closing_radius = 0.049
+; slowdown_below_layer_time = 20
+; small_perimeter_speed = 25
+; solid_infill_below_area = 0
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0.45
+; solid_infill_speed = 200
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "M900 K{if printer_notes=~/.*PRINTER_MODEL_MINI.*/ and nozzle_diameter[0]==0.6}0.12{elsif printer_notes=~/.*PRINTER_MODEL_MINI.*/}0.2{elsif printer_notes=~/.*PRINTER_HAS_BOWDEN.*/}200{elsif nozzle_diameter[0]==0.6}18{else}30{endif} ; Filament gcode"
+; start_gcode = M862.3 P "[printer_model]" ; printer model check\nM862.1 P[nozzle_diameter] ; nozzle diameter check\nM115 U3.8.1 ; tell printer latest fw version\nG90 ; use absolute coordinates\nM83 ; extruder relative mode\nM104 S[first_layer_temperature] ; set extruder temp\nM140 S[first_layer_bed_temperature] ; set bed temp\nM190 S[first_layer_bed_temperature] ; wait for bed temp\nM109 S[first_layer_temperature] ; wait for extruder temp\nG28 W ; home all without mesh bed level\nG80 ; mesh bed leveling\nG1 Y-3.0 F1000.0 ; go outside print area\nG92 E0.0\nG1 X60.0 E9.0 F1000.0 ; intro line\nG1 X100.0 E12.5 F1000.0 ; intro line\nG92 E0.0\nM221 S{if layer_height<0.075}100{else}95{endif}
+; support_material = 1
+; support_material_angle = 0
+; support_material_auto = 1
+; support_material_buildplate_only = 0
+; support_material_contact_distance = 0.1
+; support_material_enforce_layers = 0
+; support_material_extruder = 0
+; support_material_extrusion_width = 0.35
+; support_material_interface_contact_loops = 0
+; support_material_interface_extruder = 0
+; support_material_interface_layers = 2
+; support_material_interface_spacing = 0.2
+; support_material_interface_speed = 100%
+; support_material_pattern = honeycomb
+; support_material_spacing = 2
+; support_material_speed = 50
+; support_material_synchronize_layers = 0
+; support_material_threshold = 10
+; support_material_with_sheath = 0
+; support_material_xy_spacing = 50%
+; temperature = 210
+; thin_walls = 0
+; threads = 12
+; thumbnails =
+; toolchange_gcode =
+; top_fill_pattern = rectilinear
+; top_infill_extrusion_width = 0.4
+; top_solid_infill_speed = 50
+; top_solid_layers = 6
+; top_solid_min_thickness = 0
+; travel_speed = 180
+; use_firmware_retraction = 0
+; use_relative_e_distances = 1
+; use_volumetric_e = 0
+; variable_layer_height = 1
+; wipe = 1
+; wipe_into_infill = 0
+; wipe_into_objects = 0
+; wipe_tower = 1
+; wipe_tower_bridging = 10
+; wipe_tower_no_sparse_layers = 0
+; wipe_tower_rotation_angle = 0
+; wipe_tower_width = 60
+; wipe_tower_x = 170
+; wipe_tower_y = 125
+; wiping_volumes_extruders = 70,70
+; wiping_volumes_matrix = 0
+; xy_size_compensation = 0
+; z_offset = 0
diff --git a/controller/client/save/3dp-15mmbox.gcode b/controller/client/save/3dp-15mmbox.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..47442048fff2339c09067a201a6024326d2fa0e7
--- /dev/null
+++ b/controller/client/save/3dp-15mmbox.gcode
@@ -0,0 +1,7294 @@
+; generated by PrusaSlicer 2.2.0+win64 on 2021-01-29 at 18:26:42 UTC
+
+;
+
+; external perimeters extrusion width = 0.45mm
+; perimeters extrusion width = 0.45mm
+; infill extrusion width = 0.45mm
+; solid infill extrusion width = 0.45mm
+; top infill extrusion width = 0.40mm
+; support material extrusion width = 0.35mm
+; first layer extrusion width = 0.42mm
+
+M73 P0 R25
+M73 Q0 S25
+M201 X1000 Y1000 Z1000 E5000 ; sets maximum accelerations, mm/sec^2
+M203 X200 Y200 Z12 E120 ; sets maximum feedrates, mm/sec
+M204 P1250 R1250 T1250 ; sets acceleration (P, T) and retract acceleration (R), mm/sec^2
+M205 X8.00 Y8.00 Z0.40 E1.50 ; sets the jerk limits, mm/sec
+M205 S0 T0 ; sets the minimum extruding and travel feed rate, mm/sec
+M107
+M862.3 P "MK3S" ; printer model check
+M862.1 P0.4 ; nozzle diameter check
+M115 U3.8.1 ; tell printer latest fw version
+G90 ; use absolute coordinates
+M83 ; extruder relative mode
+M104 S215 ; set extruder temp
+M140 S75 ; set bed temp
+M190 S75 ; wait for bed temp
+M109 S215 ; wait for extruder temp
+G28 W ; home all without mesh bed level
+G80 ; mesh bed leveling
+;G1 Y-3.0 F1000.0 ; go outside print area
+;G92 E0.0
+;G1 X60.0 E9.0 F1000.0 ; intro line
+;G1 X100.0 E12.5 F1000.0 ; intro line
+G92 E0.0
+M221 S95
+G21 ; set units to millimeters
+G90 ; use absolute coordinates
+M83 ; use relative distances for extrusion
+M900 K30 ; Filament gcode
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.2
+
+
+G1 Z0.200 F10800.000
+;AFTER_LAYER_CHANGE
+;0.2
+G1 X7.868 Y8.050
+M204 S1000
+G1 F1200.000
+G1 X22.448 Y8.050 E0.45715
+M73 Q0 S25
+M73 P0 R25
+G1 X22.448 Y22.630 E0.45715
+G1 X7.868 Y22.630 E0.45715
+G1 X7.868 Y8.110 E0.45526
+G1 X8.254 Y8.154 F10800.000
+G1 X8.245 Y8.427
+G1 F1200.000
+G1 X22.071 Y8.427 E0.43350
+G1 X22.071 Y22.253 E0.43350
+G1 X8.245 Y22.253 E0.43350
+G1 X8.245 Y8.487 E0.43162
+G1 X8.622 Y8.804 F10800.000
+G1 F1200.000
+G1 X21.694 Y8.804 E0.40985
+G1 X21.694 Y21.876 E0.40985
+G1 X8.622 Y21.876 E0.40985
+G1 X8.622 Y8.864 E0.40797
+G1 X8.999 Y9.182 F10800.000
+G1 F1200.000
+G1 X21.317 Y9.182 E0.38621
+G1 X21.317 Y21.499 E0.38621
+G1 X8.999 Y21.499 E0.38621
+G1 X8.999 Y9.242 E0.38433
+G1 X9.376 Y9.559 F10800.000
+G1 F1200.000
+G1 X20.940 Y9.559 E0.36256
+G1 X20.940 Y21.122 E0.36256
+G1 X9.376 Y21.122 E0.36256
+G1 X9.376 Y9.619 E0.36068
+G1 X20.883 Y10.379 F10800.000
+G1 F1200.000
+G1 X20.289 Y9.785 E0.02640
+G1 X19.755 Y9.785 E0.01679
+G1 X20.714 Y10.744 E0.04260
+G1 X20.714 Y11.278 E0.01679
+G1 X19.220 Y9.785 E0.06634
+G1 X18.686 Y9.785 E0.01679
+G1 X20.714 Y11.812 E0.09008
+G1 X20.714 Y12.347 E0.01679
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+G1 X17.617 Y9.785 E0.01679
+G1 X20.714 Y12.881 E0.13756
+G1 X20.714 Y13.415 E0.01679
+G1 X17.083 Y9.785 E0.16130
+G1 X16.549 Y9.785 E0.01679
+G1 X20.714 Y13.950 E0.18504
+G1 X20.714 Y14.484 E0.01679
+G1 X16.014 Y9.785 E0.20878
+G1 X15.480 Y9.785 E0.01679
+G1 X20.714 Y15.018 E0.23252
+G1 X20.714 Y15.553 E0.01679
+G1 X14.946 Y9.785 E0.25626
+G1 X14.411 Y9.785 E0.01679
+G1 X20.714 Y16.087 E0.27999
+G1 X20.714 Y16.621 E0.01679
+G1 X13.877 Y9.785 E0.30373
+G1 X13.343 Y9.785 E0.01679
+G1 X20.714 Y17.156 E0.32747
+G1 X20.714 Y17.690 E0.01679
+G1 X12.808 Y9.785 E0.35121
+G1 X12.274 Y9.785 E0.01679
+G1 X20.714 Y18.224 E0.37495
+G1 X20.714 Y18.759 E0.01679
+G1 X11.740 Y9.785 E0.39869
+G1 X11.206 Y9.785 E0.01679
+G1 X20.714 Y19.293 E0.42243
+G1 X20.714 Y19.827 E0.01679
+G1 X10.671 Y9.785 E0.44617
+G1 X10.137 Y9.785 E0.01679
+G1 X20.714 Y20.361 E0.46991
+G1 X20.713 Y20.896 E0.01678
+G1 X9.603 Y9.785 E0.49365
+G1 X9.603 Y10.319 E0.01679
+G1 X20.179 Y20.896 E0.46991
+G1 X19.645 Y20.896 E0.01679
+G1 X9.603 Y10.854 E0.44617
+G1 X9.603 Y11.388 E0.01679
+G1 X19.110 Y20.896 E0.42243
+G1 X18.576 Y20.896 E0.01679
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+G1 X9.603 Y12.457 E0.01679
+G1 X18.042 Y20.896 E0.37495
+G1 X17.507 Y20.896 E0.01679
+G1 X9.603 Y12.991 E0.35121
+G1 X9.603 Y13.525 E0.01679
+G1 X16.973 Y20.896 E0.32747
+G1 X16.439 Y20.896 E0.01679
+G1 X9.603 Y14.060 E0.30373
+G1 X9.603 Y14.594 E0.01679
+G1 X15.905 Y20.896 E0.27999
+G1 X15.370 Y20.896 E0.01679
+G1 X9.603 Y15.128 E0.25625
+G1 X9.603 Y15.662 E0.01679
+G1 X14.836 Y20.896 E0.23251
+G1 X14.302 Y20.896 E0.01679
+G1 X9.603 Y16.197 E0.20877
+G1 X9.603 Y16.731 E0.01679
+G1 X13.767 Y20.896 E0.18503
+G1 X13.233 Y20.896 E0.01679
+G1 X9.603 Y17.265 E0.16129
+G1 X9.603 Y17.800 E0.01679
+G1 X12.699 Y20.896 E0.13755
+G1 X12.164 Y20.896 E0.01679
+G1 X9.603 Y18.334 E0.11381
+G1 X9.603 Y18.868 E0.01679
+G1 X11.630 Y20.896 E0.09007
+G1 X11.096 Y20.896 E0.01679
+G1 X9.603 Y19.403 E0.06633
+G1 X9.603 Y19.937 E0.01679
+G1 X10.561 Y20.896 E0.04259
+G1 X10.027 Y20.896 E0.01679
+G1 X9.433 Y20.302 E0.02639
+M106 S255
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.4
+
+
+G1 Z0.400 F10800.000
+;AFTER_LAYER_CHANGE
+;0.4
+M104 S210 ; set temperature
+G1 X7.883 Y22.615
+M204 S800
+G1 F1689
+G1 X7.883 Y8.065 E0.49250
+G1 X22.433 Y8.065 E0.49250
+G1 X22.433 Y22.615 E0.49250
+G1 X7.943 Y22.615 E0.49047
+M204 S1000
+G1 X7.987 Y22.229 F10800.000
+G1 X8.290 Y22.208
+M204 S800
+G1 F1689
+G1 X8.290 Y8.472 E0.46494
+G1 X22.026 Y8.472 E0.46494
+G1 X22.026 Y22.208 E0.46494
+G1 X8.350 Y22.208 E0.46291
+M204 S1000
+G1 X8.697 Y21.801 F10800.000
+M204 S800
+G1 F1689
+G1 X8.697 Y8.879 E0.43738
+G1 X21.619 Y8.879 E0.43738
+G1 X21.619 Y21.801 E0.43738
+G1 X8.757 Y21.801 E0.43535
+M204 S1000
+G1 X9.104 Y21.394 F10800.000
+M204 S800
+G1 F1689
+G1 X9.104 Y9.287 E0.40983
+G1 X21.212 Y9.287 E0.40983
+G1 X21.212 Y21.394 E0.40983
+G1 X9.164 Y21.394 E0.40779
+M204 S1000
+G1 X9.511 Y20.987 F10800.000
+M204 S800
+G1 F1689
+G1 X9.511 Y9.694 E0.38227
+G1 X20.805 Y9.694 E0.38227
+G1 X20.805 Y20.987 E0.38227
+G1 X9.571 Y20.987 E0.38024
+M204 S1000
+G1 X9.572 Y10.599 F10800.000
+M204 S1250
+G1 F1689
+G1 X10.234 Y9.938 E0.03244
+G1 X10.824 Y9.938 E0.02047
+G1 X9.756 Y11.006 E0.05241
+G1 X9.756 Y11.596 E0.02047
+G1 X11.414 Y9.938 E0.08137
+G1 X12.004 Y9.938 E0.02047
+G1 X9.756 Y12.186 E0.11032
+G1 X9.756 Y12.776 E0.02047
+G1 X12.594 Y9.938 E0.13927
+G1 X13.184 Y9.938 E0.02047
+G1 X9.756 Y13.366 E0.16823
+G1 X9.756 Y13.957 E0.02047
+G1 X13.774 Y9.938 E0.19718
+G1 X14.364 Y9.938 E0.02047
+G1 X9.756 Y14.547 E0.22614
+G1 X9.756 Y15.137 E0.02047
+G1 X14.954 Y9.938 E0.25509
+G1 X15.545 Y9.938 E0.02047
+G1 X9.756 Y15.727 E0.28405
+G1 X9.756 Y16.317 E0.02047
+G1 X16.135 Y9.938 E0.31300
+G1 X16.725 Y9.938 E0.02047
+G1 X9.756 Y16.907 E0.34196
+G1 X9.756 Y17.497 E0.02047
+G1 X17.315 Y9.938 E0.37091
+G1 X17.905 Y9.938 E0.02047
+G1 X9.756 Y18.087 E0.39987
+G1 X9.756 Y18.677 E0.02047
+G1 X18.495 Y9.938 E0.42882
+G1 X19.085 Y9.938 E0.02047
+G1 X9.756 Y19.267 E0.45778
+G1 X9.756 Y19.858 E0.02047
+G1 X19.675 Y9.938 E0.48673
+G1 X20.265 Y9.938 E0.02047
+G1 X9.756 Y20.448 E0.51568
+G1 X9.756 Y20.743 E0.01024
+G1 X10.051 Y20.743 E0.01024
+G1 X20.560 Y10.233 E0.51569
+G1 X20.560 Y10.823 E0.02047
+G1 X10.641 Y20.743 E0.48674
+G1 X11.231 Y20.743 E0.02047
+G1 X20.560 Y11.413 E0.45778
+G1 X20.560 Y12.003 E0.02047
+G1 X11.821 Y20.743 E0.42883
+G1 X12.411 Y20.743 E0.02047
+G1 X20.560 Y12.593 E0.39987
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+; Filament-specific end gcode
+G4 ; wait
+M221 S100
+M104 S0 ; turn off temperature
+M140 S0 ; turn off heatbed
+M107 ; turn off fan
+G1 Z45 ; Move print head up
+G1 X0 Y200 F3000 ; home X axis
+M84 ; disable motors
+M73 P100 R0
+M73 Q100 S0
+; filament used [mm] = 1353.2
+; filament used [cm3] = 3.3
+; filament used [g] = 4.0
+; filament cost = 0.1
+
+; total filament used [g] = 4.0
+; total filament cost = 0.1
+; estimated printing time (normal mode) = 25m 0s
+; estimated printing time (silent mode) = 25m 0s
+
+; avoid_crossing_perimeters = 0
+; bed_custom_model =
+; bed_custom_texture =
+; bed_shape = 0x0,250x0,250x210,0x210
+; bed_temperature = 75
+; before_layer_gcode = ;BEFORE_LAYER_CHANGE\nG92 E0.0\n;[layer_z]\n\n
+; between_objects_gcode =
+; bottom_fill_pattern = rectilinear
+; bottom_solid_layers = 5
+; bottom_solid_min_thickness = 0
+; bridge_acceleration = 1000
+; bridge_angle = 0
+; bridge_fan_speed = 100
+; bridge_flow_ratio = 0.95
+; bridge_speed = 30
+; brim_width = 0
+; clip_multipart_objects = 1
+; compatible_printers_condition_cummulative = "printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK3.*/ and nozzle_diameter[0]==0.4";"! (printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK(2.5|3).*/ and single_extruder_multi_material)"
+; complete_objects = 0
+; cooling = 1
+; cooling_tube_length = 5
+; cooling_tube_retraction = 91.5
+; default_acceleration = 1000
+; default_filament_profile = "Prusament PLA"
+; default_print_profile = 0.15mm QUALITY MK3
+; deretract_speed = 0
+; disable_fan_first_layers = 1
+; dont_support_bridges = 1
+; draft_shield = 0
+; duplicate_distance = 6
+; elefant_foot_compensation = 0
+; end_filament_gcode = "; Filament-specific end gcode"
+; end_gcode = G4 ; wait\nM221 S100\nM104 S0 ; turn off temperature\nM140 S0 ; turn off heatbed\nM107 ; turn off fan\n{if layer_z < max_print_height}G1 Z{z_offset+min(layer_z+30, max_print_height)}{endif} ; Move print head up\nG1 X0 Y200 F3000 ; home X axis\nM84 ; disable motors
+; ensure_vertical_shell_thickness = 1
+; external_perimeter_extrusion_width = 0.45
+; external_perimeter_speed = 35
+; external_perimeters_first = 1
+; extra_loading_move = -2
+; extra_perimeters = 0
+; extruder_clearance_height = 25
+; extruder_clearance_radius = 45
+; extruder_colour = ""
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; extrusion_width = 0.45
+; fan_always_on = 1
+; fan_below_layer_time = 100
+; filament_colour = #FF8000
+; filament_cooling_final_speed = 3.4
+; filament_cooling_initial_speed = 2.2
+; filament_cooling_moves = 4
+; filament_cost = 24.99
+; filament_density = 1.24
+; filament_diameter = 1.75
+; filament_load_time = 0
+; filament_loading_speed = 28
+; filament_loading_speed_start = 3
+; filament_max_volumetric_speed = 12.5
+; filament_minimal_purge_on_wipe_tower = 15
+; filament_notes = "Affordable filament for everyday printing in premium quality manufactured in-house by Josef Prusa"
+; filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
+; filament_settings_id = PLA
+; filament_soluble = 0
+; filament_toolchange_delay = 0
+; filament_type = PLA
+; filament_unload_time = 0
+; filament_unloading_speed = 90
+; filament_unloading_speed_start = 100
+; filament_vendor = (Unknown)
+; fill_angle = 45
+; fill_density = 100%
+; fill_pattern = rectilinear
+; first_layer_acceleration = 1000
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 0.42
+; first_layer_height = 0.2
+; first_layer_speed = 20
+; first_layer_temperature = 215
+; gap_fill_speed = 40
+; gcode_comments = 0
+; gcode_flavor = marlin
+; gcode_label_objects = 0
+; high_current_on_filament_swap = 0
+; host_type = octoprint
+; infill_acceleration = 1250
+; infill_every_layers = 2
+; infill_extruder = 1
+; infill_extrusion_width = 0.45
+; infill_first = 0
+; infill_only_where_needed = 0
+; infill_overlap = 40%
+; infill_speed = 200
+; inherits_cummulative = "0.20mm SPEED MK3";"Prusament PLA";"Original Prusa i3 MK3S"
+; interface_shells = 0
+; layer_gcode = ;AFTER_LAYER_CHANGE\n;[layer_z]
+; layer_height = 0.2
+; machine_max_acceleration_e = 5000,5000
+; machine_max_acceleration_extruding = 1250,1250
+; machine_max_acceleration_retracting = 1250,1250
+; machine_max_acceleration_x = 1000,960
+; machine_max_acceleration_y = 1000,960
+; machine_max_acceleration_z = 1000,1000
+; machine_max_feedrate_e = 120,120
+; machine_max_feedrate_x = 200,100
+; machine_max_feedrate_y = 200,100
+; machine_max_feedrate_z = 12,12
+; machine_max_jerk_e = 1.5,1.5
+; machine_max_jerk_x = 8,8
+; machine_max_jerk_y = 8,8
+; machine_max_jerk_z = 0.4,0.4
+; machine_min_extruding_rate = 0,0
+; machine_min_travel_rate = 0,0
+; max_fan_speed = 100
+; max_layer_height = 0.25
+; max_print_height = 210
+; max_print_speed = 200
+; max_volumetric_speed = 0
+; min_fan_speed = 100
+; min_layer_height = 0.07
+; min_print_speed = 15
+; min_skirt_length = 4
+; notes =
+; nozzle_diameter = 0.4
+; only_retract_when_crossing_perimeters = 0
+; ooze_prevention = 0
+; output_filename_format = {input_filename_base}_{total_weight}_{print_time}.gcode
+; overhangs = 1
+; parking_pos_retraction = 92
+; perimeter_acceleration = 800
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0.45
+; perimeter_speed = 60
+; perimeters = 5
+; post_process =
+; print_settings_id = 0.20mm SOLIDBOYS
+; printer_model = MK3S
+; printer_notes = Don't remove the following keywords! These keywords are used in the "compatible printer" condition of the print and filament profiles to link the particular print and filament profiles to this printer profile.\nPRINTER_VENDOR_PRUSA3D\nPRINTER_MODEL_MK3\n
+; printer_settings_id = Original Prusa i3 MK3S - NoIntro
+; printer_technology = FFF
+; printer_variant = 0.4
+; printer_vendor =
+; raft_layers = 0
+; remaining_times = 1
+; resolution = 0
+; retract_before_travel = 1
+; retract_before_wipe = 0%
+; retract_layer_change = 1
+; retract_length = 0
+; retract_length_toolchange = 4
+; retract_lift = 0.6
+; retract_lift_above = 0
+; retract_lift_below = 209
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 35
+; seam_position = nearest
+; serial_port =
+; serial_speed = 250000
+; silent_mode = 1
+; single_extruder_multi_material = 0
+; single_extruder_multi_material_priming = 0
+; skirt_distance = 2
+; skirt_height = 3
+; skirts = 0
+; slice_closing_radius = 0.049
+; slowdown_below_layer_time = 20
+; small_perimeter_speed = 25
+; solid_infill_below_area = 0
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0.45
+; solid_infill_speed = 200
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "M900 K{if printer_notes=~/.*PRINTER_MODEL_MINI.*/ and nozzle_diameter[0]==0.6}0.12{elsif printer_notes=~/.*PRINTER_MODEL_MINI.*/}0.2{elsif printer_notes=~/.*PRINTER_HAS_BOWDEN.*/}200{elsif nozzle_diameter[0]==0.6}18{else}30{endif} ; Filament gcode"
+; start_gcode = M862.3 P "[printer_model]" ; printer model check\nM862.1 P[nozzle_diameter] ; nozzle diameter check\nM115 U3.8.1 ; tell printer latest fw version\nG90 ; use absolute coordinates\nM83 ; extruder relative mode\nM104 S[first_layer_temperature] ; set extruder temp\nM140 S[first_layer_bed_temperature] ; set bed temp\nM190 S[first_layer_bed_temperature] ; wait for bed temp\nM109 S[first_layer_temperature] ; wait for extruder temp\nG28 W ; home all without mesh bed level\nG80 ; mesh bed leveling\n;G1 Y-3.0 F1000.0 ; go outside print area\n;G92 E0.0\n;G1 X60.0 E9.0 F1000.0 ; intro line\n;G1 X100.0 E12.5 F1000.0 ; intro line\nG92 E0.0\nM221 S{if layer_height<0.075}100{else}95{endif}
+; support_material = 1
+; support_material_angle = 0
+; support_material_auto = 1
+; support_material_buildplate_only = 0
+; support_material_contact_distance = 0.1
+; support_material_enforce_layers = 0
+; support_material_extruder = 0
+; support_material_extrusion_width = 0.35
+; support_material_interface_contact_loops = 0
+; support_material_interface_extruder = 0
+; support_material_interface_layers = 2
+; support_material_interface_spacing = 0.2
+; support_material_interface_speed = 100%
+; support_material_pattern = honeycomb
+; support_material_spacing = 2
+; support_material_speed = 50
+; support_material_synchronize_layers = 0
+; support_material_threshold = 10
+; support_material_with_sheath = 0
+; support_material_xy_spacing = 50%
+; temperature = 210
+; thin_walls = 0
+; threads = 12
+; thumbnails =
+; toolchange_gcode =
+; top_fill_pattern = rectilinear
+; top_infill_extrusion_width = 0.4
+; top_solid_infill_speed = 50
+; top_solid_layers = 6
+; top_solid_min_thickness = 0
+; travel_speed = 180
+; use_firmware_retraction = 0
+; use_relative_e_distances = 1
+; use_volumetric_e = 0
+; variable_layer_height = 1
+; wipe = 1
+; wipe_into_infill = 0
+; wipe_into_objects = 0
+; wipe_tower = 1
+; wipe_tower_bridging = 10
+; wipe_tower_no_sparse_layers = 0
+; wipe_tower_rotation_angle = 0
+; wipe_tower_width = 60
+; wipe_tower_x = 170
+; wipe_tower_y = 125
+; wiping_volumes_extruders = 70,70
+; wiping_volumes_matrix = 0
+; xy_size_compensation = 0
+; z_offset = 0
diff --git a/controller/client/save/3dp-5mmbox-noretract-volumetric-claim.gcode b/controller/client/save/3dp-5mmbox-noretract-volumetric-claim.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..9baff2c9ee35ef8104bb56d79a6a4e5022534926
--- /dev/null
+++ b/controller/client/save/3dp-5mmbox-noretract-volumetric-claim.gcode
@@ -0,0 +1,2107 @@
+; generated by PrusaSlicer 2.2.0+win64 on 2021-01-29 at 18:08:21 UTC
+
+;
+
+; external perimeters extrusion width = 0.45mm
+; perimeters extrusion width = 0.45mm
+; infill extrusion width = 0.45mm
+; solid infill extrusion width = 0.45mm
+; top infill extrusion width = 0.40mm
+; support material extrusion width = 0.35mm
+; first layer extrusion width = 0.42mm
+
+M73 P0 R3
+M73 Q0 S3
+M201 X1000 Y1000 Z1000 E5000 ; sets maximum accelerations, mm/sec^2
+M203 X200 Y200 Z12 E120 ; sets maximum feedrates, mm/sec
+M204 P1250 R1250 T1250 ; sets acceleration (P, T) and retract acceleration (R), mm/sec^2
+M205 X8.00 Y8.00 Z0.40 E1.50 ; sets the jerk limits, mm/sec
+M205 S0 T0 ; sets the minimum extruding and travel feed rate, mm/sec
+M107
+M862.3 P "MK3S" ; printer model check
+M862.1 P0.4 ; nozzle diameter check
+M115 U3.8.1 ; tell printer latest fw version
+G90 ; use absolute coordinates
+M83 ; extruder relative mode
+M104 S215 ; set extruder temp
+M140 S75 ; set bed temp
+M190 S75 ; wait for bed temp
+M109 S215 ; wait for extruder temp
+G28 W ; home all without mesh bed level
+G80 ; mesh bed leveling
+G1 Y-3.0 F1000.0 ; go outside print area
+G92 E0.0
+G1 X60.0 E9.0 F1000.0 ; intro line
+M73 Q2 S3
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+G1 X100.0 E12.5 F1000.0 ; intro line
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+G21 ; set units to millimeters
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+M83 ; use relative distances for extrusion
+M900 K30 ; Filament gcode
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+
+G1 Z4.200 F10800.000
+;AFTER_LAYER_CHANGE
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+
+G1 Z4.400 F10800.000
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+
+
+G1 Z4.600 F10800.000
+;AFTER_LAYER_CHANGE
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+M204 S1000
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+M204 S1000
+;BEFORE_LAYER_CHANGE
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+;4.8
+
+
+G1 Z4.800 F10800.000
+;AFTER_LAYER_CHANGE
+;4.8
+G1 X17.433 Y17.615
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+G1 X12.883 Y13.065 E0.37044
+G1 X17.433 Y13.065 E0.37044
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+M204 S1000
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+M204 S1000
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+M204 S800
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+G1 X13.697 Y16.801 E0.23787
+G1 X13.697 Y13.879 E0.23787
+G1 X16.619 Y13.879 E0.23787
+G1 X16.619 Y16.741 E0.23299
+M204 S1000
+G1 X16.212 Y16.394 F10800.000
+M204 S800
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+G1 X14.104 Y14.287 E0.17159
+G1 X16.212 Y14.287 E0.17159
+G1 X16.212 Y16.334 E0.16670
+M204 S1000
+G1 X15.805 Y15.987 F10800.000
+M204 S800
+G1 F900
+G1 X14.511 Y15.987 E0.10530
+G1 X14.511 Y14.694 E0.10530
+G1 X15.805 Y14.694 E0.10530
+G1 X15.805 Y15.927 E0.10042
+M204 S1000
+G1 X14.572 Y15.623 F10800.000
+M204 S1250
+G1 F900
+G1 X15.257 Y14.938 E0.08302
+G1 X15.560 Y14.938 E0.02597
+G1 X15.560 Y15.241 E0.02596
+G1 X14.875 Y15.926 E0.08304
+M204 S1000
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;5
+
+
+G1 Z5.000 F10800.000
+;AFTER_LAYER_CHANGE
+;5
+G1 X12.883 Y17.615
+M204 S800
+G1 F900
+G1 X12.883 Y13.065 E0.37044
+G1 X17.433 Y13.065 E0.37044
+G1 X17.433 Y17.615 E0.37044
+G1 X12.943 Y17.615 E0.36556
+M204 S1000
+G1 X12.987 Y17.229 F10800.000
+G1 X13.290 Y17.208
+M204 S800
+G1 F900
+G1 X13.290 Y13.472 E0.30416
+G1 X17.026 Y13.472 E0.30416
+G1 X17.026 Y17.208 E0.30416
+G1 X13.350 Y17.208 E0.29927
+M204 S1000
+G1 X13.697 Y16.801 F10800.000
+M204 S800
+G1 F900
+G1 X13.697 Y13.879 E0.23787
+G1 X16.619 Y13.879 E0.23787
+G1 X16.619 Y16.801 E0.23787
+G1 X13.757 Y16.801 E0.23299
+M204 S1000
+G1 X14.104 Y16.394 F10800.000
+M204 S800
+G1 F900
+G1 X14.104 Y14.287 E0.17159
+G1 X16.212 Y14.287 E0.17159
+G1 X16.212 Y16.394 E0.17159
+G1 X14.164 Y16.394 E0.16670
+M204 S1000
+G1 X14.511 Y15.987 F10800.000
+M204 S800
+G1 F900
+G1 X14.511 Y14.694 E0.10530
+G1 X15.805 Y14.694 E0.10530
+G1 X15.805 Y15.987 E0.10530
+G1 X14.571 Y15.987 E0.10042
+M204 S1000
+G1 X15.746 Y15.626 F10800.000
+M204 S1250
+G1 F900
+G1 X15.034 Y14.913 E0.08637
+G1 X14.731 Y14.913 E0.02596
+G1 X14.731 Y15.216 E0.02597
+G1 X15.443 Y15.928 E0.08636
+M204 S1000
+M107
+; Filament-specific end gcode
+G4 ; wait
+M221 S100
+M104 S0 ; turn off temperature
+M140 S0 ; turn off heatbed
+M107 ; turn off fan
+G1 Z35 ; Move print head up
+G1 X0 Y200 F3000 ; home X axis
+M84 ; disable motors
+M73 P100 R0
+M73 Q100 S0
+; filament used [mm] = 69.8
+; filament used [cm3] = 0.2
+; filament used [g] = 0.2
+; filament cost = 0.0
+
+; total filament used [g] = 0.2
+; total filament cost = 0.0
+; estimated printing time (normal mode) = 2m 39s
+; estimated printing time (silent mode) = 2m 39s
+
+; avoid_crossing_perimeters = 0
+; bed_custom_model =
+; bed_custom_texture =
+; bed_shape = 0x0,250x0,250x210,0x210
+; bed_temperature = 75
+; before_layer_gcode = ;BEFORE_LAYER_CHANGE\nG92 E0.0\n;[layer_z]\n\n
+; between_objects_gcode =
+; bottom_fill_pattern = rectilinear
+; bottom_solid_layers = 5
+; bottom_solid_min_thickness = 0
+; bridge_acceleration = 1000
+; bridge_angle = 0
+; bridge_fan_speed = 100
+; bridge_flow_ratio = 0.95
+; bridge_speed = 30
+; brim_width = 2
+; clip_multipart_objects = 1
+; compatible_printers_condition_cummulative = "printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK3.*/ and nozzle_diameter[0]==0.4";"! (printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK(2.5|3).*/ and single_extruder_multi_material)"
+; complete_objects = 0
+; cooling = 1
+; cooling_tube_length = 5
+; cooling_tube_retraction = 91.5
+; default_acceleration = 1000
+; default_filament_profile = "Prusament PLA"
+; default_print_profile = 0.15mm QUALITY MK3
+; deretract_speed = 0
+; disable_fan_first_layers = 1
+; dont_support_bridges = 1
+; draft_shield = 0
+; duplicate_distance = 6
+; elefant_foot_compensation = 0
+; end_filament_gcode = "; Filament-specific end gcode"
+; end_gcode = G4 ; wait\nM221 S100\nM104 S0 ; turn off temperature\nM140 S0 ; turn off heatbed\nM107 ; turn off fan\n{if layer_z < max_print_height}G1 Z{z_offset+min(layer_z+30, max_print_height)}{endif} ; Move print head up\nG1 X0 Y200 F3000 ; home X axis\nM84 ; disable motors
+; ensure_vertical_shell_thickness = 1
+; external_perimeter_extrusion_width = 0.45
+; external_perimeter_speed = 35
+; external_perimeters_first = 1
+; extra_loading_move = -2
+; extra_perimeters = 0
+; extruder_clearance_height = 25
+; extruder_clearance_radius = 45
+; extruder_colour = ""
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; extrusion_width = 0.45
+; fan_always_on = 1
+; fan_below_layer_time = 100
+; filament_colour = #FF8000
+; filament_cooling_final_speed = 3.4
+; filament_cooling_initial_speed = 2.2
+; filament_cooling_moves = 4
+; filament_cost = 24.99
+; filament_density = 1.24
+; filament_diameter = 1.75
+; filament_load_time = 0
+; filament_loading_speed = 28
+; filament_loading_speed_start = 3
+; filament_max_volumetric_speed = 12.5
+; filament_minimal_purge_on_wipe_tower = 15
+; filament_notes = "Affordable filament for everyday printing in premium quality manufactured in-house by Josef Prusa"
+; filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
+; filament_settings_id = PLA
+; filament_soluble = 0
+; filament_toolchange_delay = 0
+; filament_type = PLA
+; filament_unload_time = 0
+; filament_unloading_speed = 90
+; filament_unloading_speed_start = 100
+; filament_vendor = (Unknown)
+; fill_angle = 45
+; fill_density = 100%
+; fill_pattern = rectilinear
+; first_layer_acceleration = 1000
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 0.42
+; first_layer_height = 0.2
+; first_layer_speed = 20
+; first_layer_temperature = 215
+; gap_fill_speed = 40
+; gcode_comments = 0
+; gcode_flavor = marlin
+; gcode_label_objects = 0
+; high_current_on_filament_swap = 0
+; host_type = octoprint
+; infill_acceleration = 1250
+; infill_every_layers = 2
+; infill_extruder = 1
+; infill_extrusion_width = 0.45
+; infill_first = 0
+; infill_only_where_needed = 0
+; infill_overlap = 40%
+; infill_speed = 200
+; inherits_cummulative = "0.20mm SPEED MK3";"Prusament PLA";
+; interface_shells = 0
+; layer_gcode = ;AFTER_LAYER_CHANGE\n;[layer_z]
+; layer_height = 0.2
+; machine_max_acceleration_e = 5000,5000
+; machine_max_acceleration_extruding = 1250,1250
+; machine_max_acceleration_retracting = 1250,1250
+; machine_max_acceleration_x = 1000,960
+; machine_max_acceleration_y = 1000,960
+; machine_max_acceleration_z = 1000,1000
+; machine_max_feedrate_e = 120,120
+; machine_max_feedrate_x = 200,100
+; machine_max_feedrate_y = 200,100
+; machine_max_feedrate_z = 12,12
+; machine_max_jerk_e = 1.5,1.5
+; machine_max_jerk_x = 8,8
+; machine_max_jerk_y = 8,8
+; machine_max_jerk_z = 0.4,0.4
+; machine_min_extruding_rate = 0,0
+; machine_min_travel_rate = 0,0
+; max_fan_speed = 100
+; max_layer_height = 0.25
+; max_print_height = 210
+; max_print_speed = 200
+; max_volumetric_speed = 0
+; min_fan_speed = 100
+; min_layer_height = 0.07
+; min_print_speed = 15
+; min_skirt_length = 4
+; notes =
+; nozzle_diameter = 0.4
+; only_retract_when_crossing_perimeters = 0
+; ooze_prevention = 0
+; output_filename_format = {input_filename_base}_{total_weight}_{print_time}.gcode
+; overhangs = 1
+; parking_pos_retraction = 92
+; perimeter_acceleration = 800
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0.45
+; perimeter_speed = 60
+; perimeters = 5
+; post_process =
+; print_settings_id = 0.20mm SOLIDBOYS
+; printer_model = MK3S
+; printer_notes = Don't remove the following keywords! These keywords are used in the "compatible printer" condition of the print and filament profiles to link the particular print and filament profiles to this printer profile.\nPRINTER_VENDOR_PRUSA3D\nPRINTER_MODEL_MK3\n
+; printer_settings_id = Original Prusa i3 MK3S
+; printer_technology = FFF
+; printer_variant = 0.4
+; printer_vendor =
+; raft_layers = 0
+; remaining_times = 1
+; resolution = 0
+; retract_before_travel = 1
+; retract_before_wipe = 0%
+; retract_layer_change = 1
+; retract_length = 0
+; retract_length_toolchange = 4
+; retract_lift = 0.6
+; retract_lift_above = 0
+; retract_lift_below = 209
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 35
+; seam_position = nearest
+; serial_port =
+; serial_speed = 250000
+; silent_mode = 1
+; single_extruder_multi_material = 0
+; single_extruder_multi_material_priming = 0
+; skirt_distance = 2
+; skirt_height = 3
+; skirts = 1
+; slice_closing_radius = 0.049
+; slowdown_below_layer_time = 20
+; small_perimeter_speed = 25
+; solid_infill_below_area = 0
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0.45
+; solid_infill_speed = 200
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "M900 K{if printer_notes=~/.*PRINTER_MODEL_MINI.*/ and nozzle_diameter[0]==0.6}0.12{elsif printer_notes=~/.*PRINTER_MODEL_MINI.*/}0.2{elsif printer_notes=~/.*PRINTER_HAS_BOWDEN.*/}200{elsif nozzle_diameter[0]==0.6}18{else}30{endif} ; Filament gcode"
+; start_gcode = M862.3 P "[printer_model]" ; printer model check\nM862.1 P[nozzle_diameter] ; nozzle diameter check\nM115 U3.8.1 ; tell printer latest fw version\nG90 ; use absolute coordinates\nM83 ; extruder relative mode\nM104 S[first_layer_temperature] ; set extruder temp\nM140 S[first_layer_bed_temperature] ; set bed temp\nM190 S[first_layer_bed_temperature] ; wait for bed temp\nM109 S[first_layer_temperature] ; wait for extruder temp\nG28 W ; home all without mesh bed level\nG80 ; mesh bed leveling\nG1 Y-3.0 F1000.0 ; go outside print area\nG92 E0.0\nG1 X60.0 E9.0 F1000.0 ; intro line\nG1 X100.0 E12.5 F1000.0 ; intro line\nG92 E0.0\nM221 S{if layer_height<0.075}100{else}95{endif}
+; support_material = 1
+; support_material_angle = 0
+; support_material_auto = 1
+; support_material_buildplate_only = 0
+; support_material_contact_distance = 0.1
+; support_material_enforce_layers = 0
+; support_material_extruder = 0
+; support_material_extrusion_width = 0.35
+; support_material_interface_contact_loops = 0
+; support_material_interface_extruder = 0
+; support_material_interface_layers = 2
+; support_material_interface_spacing = 0.2
+; support_material_interface_speed = 100%
+; support_material_pattern = honeycomb
+; support_material_spacing = 2
+; support_material_speed = 50
+; support_material_synchronize_layers = 0
+; support_material_threshold = 10
+; support_material_with_sheath = 0
+; support_material_xy_spacing = 50%
+; temperature = 210
+; thin_walls = 0
+; threads = 12
+; thumbnails =
+; toolchange_gcode =
+; top_fill_pattern = rectilinear
+; top_infill_extrusion_width = 0.4
+; top_solid_infill_speed = 50
+; top_solid_layers = 6
+; top_solid_min_thickness = 0
+; travel_speed = 180
+; use_firmware_retraction = 0
+; use_relative_e_distances = 1
+; use_volumetric_e = 1
+; variable_layer_height = 1
+; wipe = 1
+; wipe_into_infill = 0
+; wipe_into_objects = 0
+; wipe_tower = 1
+; wipe_tower_bridging = 10
+; wipe_tower_no_sparse_layers = 0
+; wipe_tower_rotation_angle = 0
+; wipe_tower_width = 60
+; wipe_tower_x = 170
+; wipe_tower_y = 125
+; wiping_volumes_extruders = 70,70
+; wiping_volumes_matrix = 0
+; xy_size_compensation = 0
+; z_offset = 0
diff --git a/controller/client/save/3dp-5mmbox-noretract.gcode b/controller/client/save/3dp-5mmbox-noretract.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..33fdb6ed30c4c465c895bf4d36de0f95fa1cf450
--- /dev/null
+++ b/controller/client/save/3dp-5mmbox-noretract.gcode
@@ -0,0 +1,2107 @@
+; generated by PrusaSlicer 2.2.0+win64 on 2021-01-29 at 18:03:04 UTC
+
+;
+
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+; perimeters extrusion width = 0.45mm
+; infill extrusion width = 0.45mm
+; solid infill extrusion width = 0.45mm
+; top infill extrusion width = 0.40mm
+; support material extrusion width = 0.35mm
+; first layer extrusion width = 0.42mm
+
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+
+
+G1 Z4.600 F10800.000
+;AFTER_LAYER_CHANGE
+;4.6
+G1 X12.883 Y17.615
+M204 S800
+G1 F900
+G1 X12.883 Y13.065 E0.15401
+G1 X17.433 Y13.065 E0.15401
+G1 X17.433 Y17.615 E0.15401
+G1 X12.943 Y17.615 E0.15198
+M204 S1000
+G1 X12.987 Y17.229 F10800.000
+G1 X13.290 Y17.208
+M204 S800
+G1 F900
+G1 X13.290 Y13.472 E0.12645
+G1 X17.026 Y13.472 E0.12645
+G1 X17.026 Y17.208 E0.12645
+G1 X13.350 Y17.208 E0.12442
+M204 S1000
+G1 X13.697 Y16.801 F10800.000
+M204 S800
+G1 F900
+G1 X13.697 Y13.879 E0.09890
+G1 X16.619 Y13.879 E0.09890
+G1 X16.619 Y16.801 E0.09890
+G1 X13.757 Y16.801 E0.09686
+M204 S1000
+G1 X14.104 Y16.394 F10800.000
+M204 S800
+G1 F900
+G1 X14.104 Y14.287 E0.07134
+G1 X16.212 Y14.287 E0.07134
+G1 X16.212 Y16.394 E0.07134
+G1 X14.164 Y16.394 E0.06931
+M204 S1000
+G1 X14.511 Y15.987 F10800.000
+M204 S800
+G1 F900
+G1 X14.511 Y14.694 E0.04378
+G1 X15.805 Y14.694 E0.04378
+G1 X15.805 Y15.987 E0.04378
+G1 X14.571 Y15.987 E0.04175
+M204 S1000
+G1 X15.744 Y15.623 F10800.000
+M204 S1250
+G1 F900
+G1 X15.059 Y14.938 E0.03452
+G1 X14.756 Y14.938 E0.01079
+G1 X14.756 Y15.241 E0.01080
+G1 X15.441 Y15.926 E0.03452
+M204 S1000
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;4.8
+
+
+G1 Z4.800 F10800.000
+;AFTER_LAYER_CHANGE
+;4.8
+G1 X17.433 Y17.615
+M204 S800
+G1 F900
+G1 X12.883 Y17.615 E0.15401
+G1 X12.883 Y13.065 E0.15401
+G1 X17.433 Y13.065 E0.15401
+G1 X17.433 Y17.555 E0.15198
+M204 S1000
+G1 X17.047 Y17.512 F10800.000
+G1 X17.026 Y17.208
+M204 S800
+G1 F900
+G1 X13.290 Y17.208 E0.12645
+G1 X13.290 Y13.472 E0.12645
+G1 X17.026 Y13.472 E0.12645
+G1 X17.026 Y17.148 E0.12442
+M204 S1000
+G1 X16.619 Y16.801 F10800.000
+M204 S800
+G1 F900
+G1 X13.697 Y16.801 E0.09890
+G1 X13.697 Y13.879 E0.09890
+G1 X16.619 Y13.879 E0.09890
+G1 X16.619 Y16.741 E0.09686
+M204 S1000
+G1 X16.212 Y16.394 F10800.000
+M204 S800
+G1 F900
+G1 X14.104 Y16.394 E0.07134
+G1 X14.104 Y14.287 E0.07134
+G1 X16.212 Y14.287 E0.07134
+G1 X16.212 Y16.334 E0.06931
+M204 S1000
+G1 X15.805 Y15.987 F10800.000
+M204 S800
+G1 F900
+G1 X14.511 Y15.987 E0.04378
+G1 X14.511 Y14.694 E0.04378
+G1 X15.805 Y14.694 E0.04378
+G1 X15.805 Y15.927 E0.04175
+M204 S1000
+G1 X14.572 Y15.623 F10800.000
+M204 S1250
+G1 F900
+G1 X15.257 Y14.938 E0.03452
+G1 X15.560 Y14.938 E0.01080
+G1 X15.560 Y15.241 E0.01079
+G1 X14.875 Y15.926 E0.03452
+M204 S1000
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;5
+
+
+G1 Z5.000 F10800.000
+;AFTER_LAYER_CHANGE
+;5
+G1 X12.883 Y17.615
+M204 S800
+G1 F900
+G1 X12.883 Y13.065 E0.15401
+G1 X17.433 Y13.065 E0.15401
+G1 X17.433 Y17.615 E0.15401
+G1 X12.943 Y17.615 E0.15198
+M204 S1000
+G1 X12.987 Y17.229 F10800.000
+G1 X13.290 Y17.208
+M204 S800
+G1 F900
+G1 X13.290 Y13.472 E0.12645
+G1 X17.026 Y13.472 E0.12645
+G1 X17.026 Y17.208 E0.12645
+G1 X13.350 Y17.208 E0.12442
+M204 S1000
+G1 X13.697 Y16.801 F10800.000
+M204 S800
+G1 F900
+G1 X13.697 Y13.879 E0.09890
+G1 X16.619 Y13.879 E0.09890
+G1 X16.619 Y16.801 E0.09890
+G1 X13.757 Y16.801 E0.09686
+M204 S1000
+G1 X14.104 Y16.394 F10800.000
+M204 S800
+G1 F900
+G1 X14.104 Y14.287 E0.07134
+G1 X16.212 Y14.287 E0.07134
+G1 X16.212 Y16.394 E0.07134
+G1 X14.164 Y16.394 E0.06931
+M204 S1000
+G1 X14.511 Y15.987 F10800.000
+M204 S800
+G1 F900
+G1 X14.511 Y14.694 E0.04378
+G1 X15.805 Y14.694 E0.04378
+G1 X15.805 Y15.987 E0.04378
+G1 X14.571 Y15.987 E0.04175
+M204 S1000
+G1 X15.746 Y15.626 F10800.000
+M204 S1250
+G1 F900
+G1 X15.034 Y14.913 E0.03591
+G1 X14.731 Y14.913 E0.01079
+G1 X14.731 Y15.216 E0.01080
+G1 X15.443 Y15.928 E0.03590
+M204 S1000
+M107
+; Filament-specific end gcode
+G4 ; wait
+M221 S100
+M104 S0 ; turn off temperature
+M140 S0 ; turn off heatbed
+M107 ; turn off fan
+G1 Z35 ; Move print head up
+G1 X0 Y200 F3000 ; home X axis
+M84 ; disable motors
+M73 P100 R0
+M73 Q100 S0
+; filament used [mm] = 69.8
+; filament used [cm3] = 0.2
+; filament used [g] = 0.2
+; filament cost = 0.0
+
+; total filament used [g] = 0.2
+; total filament cost = 0.0
+; estimated printing time (normal mode) = 2m 39s
+; estimated printing time (silent mode) = 2m 39s
+
+; avoid_crossing_perimeters = 0
+; bed_custom_model =
+; bed_custom_texture =
+; bed_shape = 0x0,250x0,250x210,0x210
+; bed_temperature = 75
+; before_layer_gcode = ;BEFORE_LAYER_CHANGE\nG92 E0.0\n;[layer_z]\n\n
+; between_objects_gcode =
+; bottom_fill_pattern = rectilinear
+; bottom_solid_layers = 5
+; bottom_solid_min_thickness = 0
+; bridge_acceleration = 1000
+; bridge_angle = 0
+; bridge_fan_speed = 100
+; bridge_flow_ratio = 0.95
+; bridge_speed = 30
+; brim_width = 2
+; clip_multipart_objects = 1
+; compatible_printers_condition_cummulative = "printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK3.*/ and nozzle_diameter[0]==0.4";"! (printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK(2.5|3).*/ and single_extruder_multi_material)"
+; complete_objects = 0
+; cooling = 1
+; cooling_tube_length = 5
+; cooling_tube_retraction = 91.5
+; default_acceleration = 1000
+; default_filament_profile = "Prusament PLA"
+; default_print_profile = 0.15mm QUALITY MK3
+; deretract_speed = 0
+; disable_fan_first_layers = 1
+; dont_support_bridges = 1
+; draft_shield = 0
+; duplicate_distance = 6
+; elefant_foot_compensation = 0
+; end_filament_gcode = "; Filament-specific end gcode"
+; end_gcode = G4 ; wait\nM221 S100\nM104 S0 ; turn off temperature\nM140 S0 ; turn off heatbed\nM107 ; turn off fan\n{if layer_z < max_print_height}G1 Z{z_offset+min(layer_z+30, max_print_height)}{endif} ; Move print head up\nG1 X0 Y200 F3000 ; home X axis\nM84 ; disable motors
+; ensure_vertical_shell_thickness = 1
+; external_perimeter_extrusion_width = 0.45
+; external_perimeter_speed = 35
+; external_perimeters_first = 1
+; extra_loading_move = -2
+; extra_perimeters = 0
+; extruder_clearance_height = 25
+; extruder_clearance_radius = 45
+; extruder_colour = ""
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; extrusion_width = 0.45
+; fan_always_on = 1
+; fan_below_layer_time = 100
+; filament_colour = #FF8000
+; filament_cooling_final_speed = 3.4
+; filament_cooling_initial_speed = 2.2
+; filament_cooling_moves = 4
+; filament_cost = 24.99
+; filament_density = 1.24
+; filament_diameter = 1.75
+; filament_load_time = 0
+; filament_loading_speed = 28
+; filament_loading_speed_start = 3
+; filament_max_volumetric_speed = 12.5
+; filament_minimal_purge_on_wipe_tower = 15
+; filament_notes = "Affordable filament for everyday printing in premium quality manufactured in-house by Josef Prusa"
+; filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
+; filament_settings_id = PLA
+; filament_soluble = 0
+; filament_toolchange_delay = 0
+; filament_type = PLA
+; filament_unload_time = 0
+; filament_unloading_speed = 90
+; filament_unloading_speed_start = 100
+; filament_vendor = (Unknown)
+; fill_angle = 45
+; fill_density = 100%
+; fill_pattern = rectilinear
+; first_layer_acceleration = 1000
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 0.42
+; first_layer_height = 0.2
+; first_layer_speed = 20
+; first_layer_temperature = 215
+; gap_fill_speed = 40
+; gcode_comments = 0
+; gcode_flavor = marlin
+; gcode_label_objects = 0
+; high_current_on_filament_swap = 0
+; host_type = octoprint
+; infill_acceleration = 1250
+; infill_every_layers = 2
+; infill_extruder = 1
+; infill_extrusion_width = 0.45
+; infill_first = 0
+; infill_only_where_needed = 0
+; infill_overlap = 40%
+; infill_speed = 200
+; inherits_cummulative = "0.20mm SPEED MK3";"Prusament PLA";
+; interface_shells = 0
+; layer_gcode = ;AFTER_LAYER_CHANGE\n;[layer_z]
+; layer_height = 0.2
+; machine_max_acceleration_e = 5000,5000
+; machine_max_acceleration_extruding = 1250,1250
+; machine_max_acceleration_retracting = 1250,1250
+; machine_max_acceleration_x = 1000,960
+; machine_max_acceleration_y = 1000,960
+; machine_max_acceleration_z = 1000,1000
+; machine_max_feedrate_e = 120,120
+; machine_max_feedrate_x = 200,100
+; machine_max_feedrate_y = 200,100
+; machine_max_feedrate_z = 12,12
+; machine_max_jerk_e = 1.5,1.5
+; machine_max_jerk_x = 8,8
+; machine_max_jerk_y = 8,8
+; machine_max_jerk_z = 0.4,0.4
+; machine_min_extruding_rate = 0,0
+; machine_min_travel_rate = 0,0
+; max_fan_speed = 100
+; max_layer_height = 0.25
+; max_print_height = 210
+; max_print_speed = 200
+; max_volumetric_speed = 0
+; min_fan_speed = 100
+; min_layer_height = 0.07
+; min_print_speed = 15
+; min_skirt_length = 4
+; notes =
+; nozzle_diameter = 0.4
+; only_retract_when_crossing_perimeters = 0
+; ooze_prevention = 0
+; output_filename_format = {input_filename_base}_{total_weight}_{print_time}.gcode
+; overhangs = 1
+; parking_pos_retraction = 92
+; perimeter_acceleration = 800
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0.45
+; perimeter_speed = 60
+; perimeters = 5
+; post_process =
+; print_settings_id = 0.20mm SOLIDBOYS
+; printer_model = MK3S
+; printer_notes = Don't remove the following keywords! These keywords are used in the "compatible printer" condition of the print and filament profiles to link the particular print and filament profiles to this printer profile.\nPRINTER_VENDOR_PRUSA3D\nPRINTER_MODEL_MK3\n
+; printer_settings_id = Original Prusa i3 MK3S
+; printer_technology = FFF
+; printer_variant = 0.4
+; printer_vendor =
+; raft_layers = 0
+; remaining_times = 1
+; resolution = 0
+; retract_before_travel = 1
+; retract_before_wipe = 0%
+; retract_layer_change = 1
+; retract_length = 0
+; retract_length_toolchange = 4
+; retract_lift = 0.6
+; retract_lift_above = 0
+; retract_lift_below = 209
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 35
+; seam_position = nearest
+; serial_port =
+; serial_speed = 250000
+; silent_mode = 1
+; single_extruder_multi_material = 0
+; single_extruder_multi_material_priming = 0
+; skirt_distance = 2
+; skirt_height = 3
+; skirts = 1
+; slice_closing_radius = 0.049
+; slowdown_below_layer_time = 20
+; small_perimeter_speed = 25
+; solid_infill_below_area = 0
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0.45
+; solid_infill_speed = 200
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "M900 K{if printer_notes=~/.*PRINTER_MODEL_MINI.*/ and nozzle_diameter[0]==0.6}0.12{elsif printer_notes=~/.*PRINTER_MODEL_MINI.*/}0.2{elsif printer_notes=~/.*PRINTER_HAS_BOWDEN.*/}200{elsif nozzle_diameter[0]==0.6}18{else}30{endif} ; Filament gcode"
+; start_gcode = M862.3 P "[printer_model]" ; printer model check\nM862.1 P[nozzle_diameter] ; nozzle diameter check\nM115 U3.8.1 ; tell printer latest fw version\nG90 ; use absolute coordinates\nM83 ; extruder relative mode\nM104 S[first_layer_temperature] ; set extruder temp\nM140 S[first_layer_bed_temperature] ; set bed temp\nM190 S[first_layer_bed_temperature] ; wait for bed temp\nM109 S[first_layer_temperature] ; wait for extruder temp\nG28 W ; home all without mesh bed level\nG80 ; mesh bed leveling\nG1 Y-3.0 F1000.0 ; go outside print area\nG92 E0.0\nG1 X60.0 E9.0 F1000.0 ; intro line\nG1 X100.0 E12.5 F1000.0 ; intro line\nG92 E0.0\nM221 S{if layer_height<0.075}100{else}95{endif}
+; support_material = 1
+; support_material_angle = 0
+; support_material_auto = 1
+; support_material_buildplate_only = 0
+; support_material_contact_distance = 0.1
+; support_material_enforce_layers = 0
+; support_material_extruder = 0
+; support_material_extrusion_width = 0.35
+; support_material_interface_contact_loops = 0
+; support_material_interface_extruder = 0
+; support_material_interface_layers = 2
+; support_material_interface_spacing = 0.2
+; support_material_interface_speed = 100%
+; support_material_pattern = honeycomb
+; support_material_spacing = 2
+; support_material_speed = 50
+; support_material_synchronize_layers = 0
+; support_material_threshold = 10
+; support_material_with_sheath = 0
+; support_material_xy_spacing = 50%
+; temperature = 210
+; thin_walls = 0
+; threads = 12
+; thumbnails =
+; toolchange_gcode =
+; top_fill_pattern = rectilinear
+; top_infill_extrusion_width = 0.4
+; top_solid_infill_speed = 50
+; top_solid_layers = 6
+; top_solid_min_thickness = 0
+; travel_speed = 180
+; use_firmware_retraction = 0
+; use_relative_e_distances = 1
+; use_volumetric_e = 0
+; variable_layer_height = 1
+; wipe = 1
+; wipe_into_infill = 0
+; wipe_into_objects = 0
+; wipe_tower = 1
+; wipe_tower_bridging = 10
+; wipe_tower_no_sparse_layers = 0
+; wipe_tower_rotation_angle = 0
+; wipe_tower_width = 60
+; wipe_tower_x = 170
+; wipe_tower_y = 125
+; wiping_volumes_extruders = 70,70
+; wiping_volumes_matrix = 0
+; xy_size_compensation = 0
+; z_offset = 0
diff --git a/controller/client/save/3dp-5mmbox.gcode b/controller/client/save/3dp-5mmbox.gcode
new file mode 100644
index 0000000000000000000000000000000000000000..26872a9fa97fce740b24f1dbfc1461a35cb96182
--- /dev/null
+++ b/controller/client/save/3dp-5mmbox.gcode
@@ -0,0 +1,1654 @@
+; generated by PrusaSlicer 2.2.0+win64 on 2021-01-29 at 18:33:20 UTC
+
+;
+
+; external perimeters extrusion width = 0.45mm
+; perimeters extrusion width = 0.45mm
+; infill extrusion width = 0.45mm
+; solid infill extrusion width = 0.45mm
+; top infill extrusion width = 0.40mm
+; support material extrusion width = 0.35mm
+; first layer extrusion width = 0.42mm
+
+M73 P0 R2
+M73 Q0 S2
+M201 X1000 Y1000 Z1000 E5000 ; sets maximum accelerations, mm/sec^2
+M203 X200 Y200 Z12 E120 ; sets maximum feedrates, mm/sec
+M204 P1250 R1250 T1250 ; sets acceleration (P, T) and retract acceleration (R), mm/sec^2
+M205 X8.00 Y8.00 Z0.40 E1.50 ; sets the jerk limits, mm/sec
+M205 S0 T0 ; sets the minimum extruding and travel feed rate, mm/sec
+M107
+M862.3 P "MK3S" ; printer model check
+M862.1 P0.4 ; nozzle diameter check
+M115 U3.8.1 ; tell printer latest fw version
+G90 ; use absolute coordinates
+M83 ; extruder relative mode
+M104 S215 ; set extruder temp
+M140 S75 ; set bed temp
+M190 S75 ; wait for bed temp
+M109 S215 ; wait for extruder temp
+G28 W ; home all without mesh bed level
+G80 ; mesh bed leveling
+;G1 Y-3.0 F1000.0 ; go outside print area
+;G92 E0.0
+;G1 X60.0 E9.0 F1000.0 ; intro line
+;G1 X100.0 E12.5 F1000.0 ; intro line
+G92 E0.0
+M221 S95
+G21 ; set units to millimeters
+G90 ; use absolute coordinates
+M83 ; use relative distances for extrusion
+M900 K30 ; Filament gcode
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.2
+
+
+G1 Z0.200 F10800.000
+;AFTER_LAYER_CHANGE
+;0.2
+G1 X12.868 Y13.050
+M204 S1000
+G1 F900
+G1 X17.448 Y13.050 E0.14360
+M73 Q0 S2
+M73 P0 R2
+G1 X17.448 Y17.630 E0.14360
+G1 X12.868 Y17.630 E0.14360
+G1 X12.868 Y13.110 E0.14172
+G1 X13.254 Y13.154 F10800.000
+G1 X13.245 Y13.427
+G1 F900
+G1 X17.071 Y13.427 E0.11996
+G1 X17.071 Y17.253 E0.11996
+G1 X13.245 Y17.253 E0.11996
+G1 X13.245 Y13.487 E0.11808
+G1 X13.622 Y13.804 F10800.000
+G1 F900
+G1 X16.694 Y13.804 E0.09631
+G1 X16.694 Y16.876 E0.09631
+G1 X13.622 Y16.876 E0.09631
+G1 X13.622 Y13.864 E0.09443
+G1 X13.999 Y14.182 F10800.000
+G1 F900
+G1 X16.317 Y14.182 E0.07266
+G1 X16.317 Y16.499 E0.07266
+G1 X13.999 Y16.499 E0.07266
+G1 X13.999 Y14.242 E0.07078
+G1 X14.376 Y14.559 F10800.000
+G1 F900
+G1 X15.940 Y14.559 E0.04902
+G1 X15.940 Y16.122 E0.04902
+G1 X14.376 Y16.122 E0.04902
+G1 X14.376 Y14.619 E0.04714
+G1 X15.883 Y15.470 F10800.000
+G1 F900
+G1 X15.198 Y14.785 E0.03392
+G1 X14.603 Y14.785 E0.02083
+G1 X15.713 Y15.896 E0.05497
+G1 X15.118 Y15.896 E0.02083
+G1 X14.433 Y15.210 E0.03392
+M106 S255
+;BEFORE_LAYER_CHANGE
+G92 E0.0
+;0.4
+
+
+G1 Z0.400 F10800.000
+;AFTER_LAYER_CHANGE
+;0.4
+M104 S210 ; set temperature
+G1 X12.883 Y13.065
+M204 S800
+G1 F900
+G1 X17.433 Y13.065 E0.15401
+G1 X17.433 Y17.615 E0.15401
+G1 X12.883 Y17.615 E0.15401
+G1 X12.883 Y13.125 E0.15198
+M204 S1000
+G1 X13.269 Y13.169 F10800.000
+G1 X13.290 Y13.472
+M204 S800
+G1 F900
+G1 X17.026 Y13.472 E0.12645
+G1 X17.026 Y17.208 E0.12645
+G1 X13.290 Y17.208 E0.12645
+G1 X13.290 Y13.532 E0.12442
+M204 S1000
+G1 X13.697 Y13.879 F10800.000
+M204 S800
+G1 F900
+G1 X16.619 Y13.879 E0.09890
+G1 X16.619 Y16.801 E0.09890
+G1 X13.697 Y16.801 E0.09890
+G1 X13.697 Y13.939 E0.09686
+M204 S1000
+G1 X14.104 Y14.287 F10800.000
+M204 S800
+G1 F900
+G1 X16.212 Y14.287 E0.07134
+G1 X16.212 Y16.394 E0.07134
+G1 X14.104 Y16.394 E0.07134
+G1 X14.104 Y14.347 E0.06931
+M204 S1000
+G1 X14.511 Y14.694 F10800.000
+M204 S800
+G1 F900
+G1 X15.805 Y14.694 E0.04378
+G1 X15.805 Y15.987 E0.04378
+G1 X14.511 Y15.987 E0.04378
+G1 X14.511 Y14.754 E0.04175
+M204 S1000
+G1 X14.875 Y15.926 F10800.000
+M204 S1250
+G1 F900
+G1 X15.560 Y15.241 E0.03452
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+G1 X15.805 Y15.987 E0.04378
+G1 X14.571 Y15.987 E0.04175
+M204 S1000
+G1 X15.746 Y15.626 F10800.000
+M204 S1250
+G1 F900
+G1 X15.034 Y14.913 E0.03591
+G1 X14.731 Y14.913 E0.01079
+G1 X14.731 Y15.216 E0.01080
+G1 X15.443 Y15.928 E0.03590
+M204 S1000
+M107
+; Filament-specific end gcode
+G4 ; wait
+M221 S100
+M104 S0 ; turn off temperature
+M140 S0 ; turn off heatbed
+M107 ; turn off fan
+G1 Z35 ; Move print head up
+G1 X0 Y200 F3000 ; home X axis
+M84 ; disable motors
+M73 P100 R0
+M73 Q100 S0
+; filament used [mm] = 51.3
+; filament used [cm3] = 0.1
+; filament used [g] = 0.2
+; filament cost = 0.0
+
+; total filament used [g] = 0.2
+; total filament cost = 0.0
+; estimated printing time (normal mode) = 1m 56s
+; estimated printing time (silent mode) = 1m 55s
+
+; avoid_crossing_perimeters = 0
+; bed_custom_model =
+; bed_custom_texture =
+; bed_shape = 0x0,250x0,250x210,0x210
+; bed_temperature = 75
+; before_layer_gcode = ;BEFORE_LAYER_CHANGE\nG92 E0.0\n;[layer_z]\n\n
+; between_objects_gcode =
+; bottom_fill_pattern = rectilinear
+; bottom_solid_layers = 5
+; bottom_solid_min_thickness = 0
+; bridge_acceleration = 1000
+; bridge_angle = 0
+; bridge_fan_speed = 100
+; bridge_flow_ratio = 0.95
+; bridge_speed = 30
+; brim_width = 0
+; clip_multipart_objects = 1
+; compatible_printers_condition_cummulative = "printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK3.*/ and nozzle_diameter[0]==0.4";"! (printer_notes=~/.*PRINTER_VENDOR_PRUSA3D.*/ and printer_notes=~/.*PRINTER_MODEL_MK(2.5|3).*/ and single_extruder_multi_material)"
+; complete_objects = 0
+; cooling = 1
+; cooling_tube_length = 5
+; cooling_tube_retraction = 91.5
+; default_acceleration = 1000
+; default_filament_profile = "Prusament PLA"
+; default_print_profile = 0.15mm QUALITY MK3
+; deretract_speed = 0
+; disable_fan_first_layers = 1
+; dont_support_bridges = 1
+; draft_shield = 0
+; duplicate_distance = 6
+; elefant_foot_compensation = 0
+; end_filament_gcode = "; Filament-specific end gcode"
+; end_gcode = G4 ; wait\nM221 S100\nM104 S0 ; turn off temperature\nM140 S0 ; turn off heatbed\nM107 ; turn off fan\n{if layer_z < max_print_height}G1 Z{z_offset+min(layer_z+30, max_print_height)}{endif} ; Move print head up\nG1 X0 Y200 F3000 ; home X axis\nM84 ; disable motors
+; ensure_vertical_shell_thickness = 1
+; external_perimeter_extrusion_width = 0.45
+; external_perimeter_speed = 35
+; external_perimeters_first = 1
+; extra_loading_move = -2
+; extra_perimeters = 0
+; extruder_clearance_height = 25
+; extruder_clearance_radius = 45
+; extruder_colour = ""
+; extruder_offset = 0x0
+; extrusion_axis = E
+; extrusion_multiplier = 1
+; extrusion_width = 0.45
+; fan_always_on = 1
+; fan_below_layer_time = 100
+; filament_colour = #FF8000
+; filament_cooling_final_speed = 3.4
+; filament_cooling_initial_speed = 2.2
+; filament_cooling_moves = 4
+; filament_cost = 24.99
+; filament_density = 1.24
+; filament_diameter = 1.75
+; filament_load_time = 0
+; filament_loading_speed = 28
+; filament_loading_speed_start = 3
+; filament_max_volumetric_speed = 12.5
+; filament_minimal_purge_on_wipe_tower = 15
+; filament_notes = "Affordable filament for everyday printing in premium quality manufactured in-house by Josef Prusa"
+; filament_ramming_parameters = "120 100 6.6 6.8 7.2 7.6 7.9 8.2 8.7 9.4 9.9 10.0| 0.05 6.6 0.45 6.8 0.95 7.8 1.45 8.3 1.95 9.7 2.45 10 2.95 7.6 3.45 7.6 3.95 7.6 4.45 7.6 4.95 7.6"
+; filament_settings_id = PLA
+; filament_soluble = 0
+; filament_toolchange_delay = 0
+; filament_type = PLA
+; filament_unload_time = 0
+; filament_unloading_speed = 90
+; filament_unloading_speed_start = 100
+; filament_vendor = (Unknown)
+; fill_angle = 45
+; fill_density = 100%
+; fill_pattern = rectilinear
+; first_layer_acceleration = 1000
+; first_layer_bed_temperature = 75
+; first_layer_extrusion_width = 0.42
+; first_layer_height = 0.2
+; first_layer_speed = 20
+; first_layer_temperature = 215
+; gap_fill_speed = 40
+; gcode_comments = 0
+; gcode_flavor = marlin
+; gcode_label_objects = 0
+; high_current_on_filament_swap = 0
+; host_type = octoprint
+; infill_acceleration = 1250
+; infill_every_layers = 2
+; infill_extruder = 1
+; infill_extrusion_width = 0.45
+; infill_first = 0
+; infill_only_where_needed = 0
+; infill_overlap = 40%
+; infill_speed = 200
+; inherits_cummulative = "0.20mm SPEED MK3";"Prusament PLA";"Original Prusa i3 MK3S"
+; interface_shells = 0
+; layer_gcode = ;AFTER_LAYER_CHANGE\n;[layer_z]
+; layer_height = 0.2
+; machine_max_acceleration_e = 5000,5000
+; machine_max_acceleration_extruding = 1250,1250
+; machine_max_acceleration_retracting = 1250,1250
+; machine_max_acceleration_x = 1000,960
+; machine_max_acceleration_y = 1000,960
+; machine_max_acceleration_z = 1000,1000
+; machine_max_feedrate_e = 120,120
+; machine_max_feedrate_x = 200,100
+; machine_max_feedrate_y = 200,100
+; machine_max_feedrate_z = 12,12
+; machine_max_jerk_e = 1.5,1.5
+; machine_max_jerk_x = 8,8
+; machine_max_jerk_y = 8,8
+; machine_max_jerk_z = 0.4,0.4
+; machine_min_extruding_rate = 0,0
+; machine_min_travel_rate = 0,0
+; max_fan_speed = 100
+; max_layer_height = 0.25
+; max_print_height = 210
+; max_print_speed = 200
+; max_volumetric_speed = 0
+; min_fan_speed = 100
+; min_layer_height = 0.07
+; min_print_speed = 15
+; min_skirt_length = 4
+; notes =
+; nozzle_diameter = 0.4
+; only_retract_when_crossing_perimeters = 0
+; ooze_prevention = 0
+; output_filename_format = {input_filename_base}_{total_weight}_{print_time}.gcode
+; overhangs = 1
+; parking_pos_retraction = 92
+; perimeter_acceleration = 800
+; perimeter_extruder = 1
+; perimeter_extrusion_width = 0.45
+; perimeter_speed = 60
+; perimeters = 5
+; post_process =
+; print_settings_id = 0.20mm SOLIDBOYS
+; printer_model = MK3S
+; printer_notes = Don't remove the following keywords! These keywords are used in the "compatible printer" condition of the print and filament profiles to link the particular print and filament profiles to this printer profile.\nPRINTER_VENDOR_PRUSA3D\nPRINTER_MODEL_MK3\n
+; printer_settings_id = Original Prusa i3 MK3S - NoIntro
+; printer_technology = FFF
+; printer_variant = 0.4
+; printer_vendor =
+; raft_layers = 0
+; remaining_times = 1
+; resolution = 0
+; retract_before_travel = 1
+; retract_before_wipe = 0%
+; retract_layer_change = 1
+; retract_length = 0
+; retract_length_toolchange = 4
+; retract_lift = 0.6
+; retract_lift_above = 0
+; retract_lift_below = 209
+; retract_restart_extra = 0
+; retract_restart_extra_toolchange = 0
+; retract_speed = 35
+; seam_position = nearest
+; serial_port =
+; serial_speed = 250000
+; silent_mode = 1
+; single_extruder_multi_material = 0
+; single_extruder_multi_material_priming = 0
+; skirt_distance = 2
+; skirt_height = 3
+; skirts = 0
+; slice_closing_radius = 0.049
+; slowdown_below_layer_time = 20
+; small_perimeter_speed = 25
+; solid_infill_below_area = 0
+; solid_infill_every_layers = 0
+; solid_infill_extruder = 1
+; solid_infill_extrusion_width = 0.45
+; solid_infill_speed = 200
+; spiral_vase = 0
+; standby_temperature_delta = -5
+; start_filament_gcode = "M900 K{if printer_notes=~/.*PRINTER_MODEL_MINI.*/ and nozzle_diameter[0]==0.6}0.12{elsif printer_notes=~/.*PRINTER_MODEL_MINI.*/}0.2{elsif printer_notes=~/.*PRINTER_HAS_BOWDEN.*/}200{elsif nozzle_diameter[0]==0.6}18{else}30{endif} ; Filament gcode"
+; start_gcode = M862.3 P "[printer_model]" ; printer model check\nM862.1 P[nozzle_diameter] ; nozzle diameter check\nM115 U3.8.1 ; tell printer latest fw version\nG90 ; use absolute coordinates\nM83 ; extruder relative mode\nM104 S[first_layer_temperature] ; set extruder temp\nM140 S[first_layer_bed_temperature] ; set bed temp\nM190 S[first_layer_bed_temperature] ; wait for bed temp\nM109 S[first_layer_temperature] ; wait for extruder temp\nG28 W ; home all without mesh bed level\nG80 ; mesh bed leveling\n;G1 Y-3.0 F1000.0 ; go outside print area\n;G92 E0.0\n;G1 X60.0 E9.0 F1000.0 ; intro line\n;G1 X100.0 E12.5 F1000.0 ; intro line\nG92 E0.0\nM221 S{if layer_height<