Diff: modules/robot/Planner.h

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/robot/Planner.h	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,54 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      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.
+      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.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#ifndef PLANNER_H
+#define PLANNER_H
+
+#include <vector>
+#include "libs/RingBuffer.h"
+#include "../communication/utils/Gcode.h"
+#include "Block.h"
+
+#define acceleration_checksum       25326  
+#define max_jerk_checksum           61012 
+#define junction_deviation_checksum 6035 
+
+// TODO: Get from config
+#define MINIMUM_PLANNER_SPEED 0.0
+using namespace std;
+
+
+class Planner : public Module {
+    public:
+        Planner();
+        void append_block( int target[], double feed_rate, double distance, double deltas[] );
+        double max_allowable_speed( double acceleration, double target_velocity, double distance);
+        void recalculate();
+        void reverse_pass();
+        void forward_pass();
+        void recalculate_trapezoids();
+        void dump_queue();
+        Block* get_current_block(); 
+        void cleanup_queue();
+        virtual void on_module_loaded();
+        virtual void on_config_reload(void* argument);
+
+        int position[3];              // Current position, in steps
+        double previous_unit_vec[3];
+        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
+        bool has_deleted_block;       // Flag for above value
+        float previous_nominal_speed;
+
+        double acceleration;          // Setting
+        double max_jerk;              // Setting
+        double junction_deviation;    // Setting
+
+};
+
+
+
+#endif