smoothie port to mbed online compiler (smoothieware.org)
For documentation, license, ..., please check http://smoothieware.org/
This version has been tested with a 3 axis machine
modules/robot/Planner.h@0:31e91bb0ef3c, 2012-07-31 (annotated)
- Committer:
- scachat
- Date:
- Tue Jul 31 21:11:18 2012 +0000
- Revision:
- 0:31e91bb0ef3c
smoothie port to mbed online compiler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
scachat | 0:31e91bb0ef3c | 1 | /* |
scachat | 0:31e91bb0ef3c | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
scachat | 0:31e91bb0ef3c | 3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. |
scachat | 0:31e91bb0ef3c | 4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. |
scachat | 0:31e91bb0ef3c | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
scachat | 0:31e91bb0ef3c | 6 | */ |
scachat | 0:31e91bb0ef3c | 7 | |
scachat | 0:31e91bb0ef3c | 8 | #ifndef PLANNER_H |
scachat | 0:31e91bb0ef3c | 9 | #define PLANNER_H |
scachat | 0:31e91bb0ef3c | 10 | |
scachat | 0:31e91bb0ef3c | 11 | #include <vector> |
scachat | 0:31e91bb0ef3c | 12 | #include "libs/RingBuffer.h" |
scachat | 0:31e91bb0ef3c | 13 | #include "../communication/utils/Gcode.h" |
scachat | 0:31e91bb0ef3c | 14 | #include "Block.h" |
scachat | 0:31e91bb0ef3c | 15 | |
scachat | 0:31e91bb0ef3c | 16 | #define acceleration_checksum 25326 |
scachat | 0:31e91bb0ef3c | 17 | #define max_jerk_checksum 61012 |
scachat | 0:31e91bb0ef3c | 18 | #define junction_deviation_checksum 6035 |
scachat | 0:31e91bb0ef3c | 19 | |
scachat | 0:31e91bb0ef3c | 20 | // TODO: Get from config |
scachat | 0:31e91bb0ef3c | 21 | #define MINIMUM_PLANNER_SPEED 0.0 |
scachat | 0:31e91bb0ef3c | 22 | using namespace std; |
scachat | 0:31e91bb0ef3c | 23 | |
scachat | 0:31e91bb0ef3c | 24 | |
scachat | 0:31e91bb0ef3c | 25 | class Planner : public Module { |
scachat | 0:31e91bb0ef3c | 26 | public: |
scachat | 0:31e91bb0ef3c | 27 | Planner(); |
scachat | 0:31e91bb0ef3c | 28 | void append_block( int target[], double feed_rate, double distance, double deltas[] ); |
scachat | 0:31e91bb0ef3c | 29 | double max_allowable_speed( double acceleration, double target_velocity, double distance); |
scachat | 0:31e91bb0ef3c | 30 | void recalculate(); |
scachat | 0:31e91bb0ef3c | 31 | void reverse_pass(); |
scachat | 0:31e91bb0ef3c | 32 | void forward_pass(); |
scachat | 0:31e91bb0ef3c | 33 | void recalculate_trapezoids(); |
scachat | 0:31e91bb0ef3c | 34 | void dump_queue(); |
scachat | 0:31e91bb0ef3c | 35 | Block* get_current_block(); |
scachat | 0:31e91bb0ef3c | 36 | void cleanup_queue(); |
scachat | 0:31e91bb0ef3c | 37 | virtual void on_module_loaded(); |
scachat | 0:31e91bb0ef3c | 38 | virtual void on_config_reload(void* argument); |
scachat | 0:31e91bb0ef3c | 39 | |
scachat | 0:31e91bb0ef3c | 40 | int position[3]; // Current position, in steps |
scachat | 0:31e91bb0ef3c | 41 | double previous_unit_vec[3]; |
scachat | 0:31e91bb0ef3c | 42 | Block last_deleted_block; // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong |
scachat | 0:31e91bb0ef3c | 43 | bool has_deleted_block; // Flag for above value |
scachat | 0:31e91bb0ef3c | 44 | float previous_nominal_speed; |
scachat | 0:31e91bb0ef3c | 45 | |
scachat | 0:31e91bb0ef3c | 46 | double acceleration; // Setting |
scachat | 0:31e91bb0ef3c | 47 | double max_jerk; // Setting |
scachat | 0:31e91bb0ef3c | 48 | double junction_deviation; // Setting |
scachat | 0:31e91bb0ef3c | 49 | |
scachat | 0:31e91bb0ef3c | 50 | }; |
scachat | 0:31e91bb0ef3c | 51 | |
scachat | 0:31e91bb0ef3c | 52 | |
scachat | 0:31e91bb0ef3c | 53 | |
scachat | 0:31e91bb0ef3c | 54 | #endif |