adding a rotory link #26

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

@@ -0,0 +1,67 @@
+package com.neuronrobotics.sdk.addons.kinematics.gcodebridge;
+
+import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink;
+import com.neuronrobotics.sdk.addons.kinematics.AbstractRotoryLink;
+import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
+
+public class GcodeRotory extends AbstractRotoryLink implements IGCodeChannel {
+	private GcodeDevice device;
+	private String axis = "";
+	private double value =0;
+	public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) {
+		super(conf);
+		// TODO Auto-generated constructor stub
+		this.device = device;
+		axis=linkAxis;
+		loadCurrent();
+	}
+
+	@Override
+	public void cacheTargetValueDevice() {
+		//value
+	}
+
+	private void loadCurrent(){
+		device.loadCurrent();
+	}
+
+	@Override
+	public void flushDevice(double time) {
+		loadCurrent();
+
+		double distance = getTargetValue()-getValue();
+		if(distance !=0){
+			int feedrate = (int)Math.abs((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() {
+
+		return  getValue();
+	}
+
+	public String getAxis() {
+		return axis;
+	}
+
+	public void setAxis(String axis) {
+		this.axis = axis;
+	}
+
+	public double getValue() {
+		return value;
+	}
+
+	public void setValue(double value) {
+		this.value = value;
+		fireLinkListener( value);
+	}
+
+}