creating a GcodePrismatic link #26

src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java

@@ -0,0 +1,57 @@
+package com.neuronrobotics.sdk.addons.kinematics.gcodebridge;
+
+import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink;
+import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
+
+public class GcodePrismatic extends AbstractPrismaticLink {
+	private GcodeDevice device;
+	private String axis = "";
+	double value =0;
+	public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxis) {
+		super(conf);
+		// TODO Auto-generated constructor stub
+		this.device = device;
+		axis=linkAxis;
+	}
+
+	@Override
+	public void cacheTargetValueDevice() {
+		//value
+	}
+
+	@Override
+	public void flushDevice(double time) {
+		String[] currentPosStr = device.runLine("M114").split(" ");// get the current position
+		for(String s:currentPosStr){
+			if(s.contains(getAxis())){
+				String [] parts = s.split(":");
+				value = Double.parseDouble(parts[1]);
+			}
+		}
+		double distance = getTargetValue()-value;
+		if(distance !=0){
+			int feedrate = (int)(distance/(time/60));//mm/min
+			device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate);
+		}
+	}
+
+	@Override
+	public void flushAllDevice(double time) {
+		device.flush(time);
+	}
+
+	@Override
+	public double getCurrentPosition() {
+		// TODO Auto-generated method stub
+		return  value;
+	}
+
+	public String getAxis() {
+		return axis;
+	}
+
+	public void setAxis(String axis) {
+		this.axis = axis;
+	}
+
+}