src/modules/tools/extruder/Extruder.h

/*
      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 EXTURDER_MODULE_H
#define EXTRUDER_MODULE_H

#include "libs/Module.h"
#include "libs/Kernel.h"
#include "modules/robot/Block.h"
#include "modules/tools/toolsmanager/Tool.h"

#define OFF 0
#define SOLO 1
#define FOLLOW 2

class Extruder : public Module, public Tool {
    public:
        Extruder(uint16_t config_identifier);
        void     on_module_loaded();
        void     on_config_reload(void* argument);
        void     on_gcode_received(void*);
        void     on_gcode_execute(void* argument);
        void     on_block_begin(void* argument);
        void     on_block_end(void* argument);
        void     on_play(void* argument);
        void     on_pause(void* argument);
        void     on_speed_change(void* argument);
        uint32_t acceleration_tick(uint32_t dummy);
        uint32_t stepper_motor_finished_move(uint32_t dummy);
        Block*   append_empty_block();

        Pin             step_pin;                     // Step pin for the stepper driver
        Pin             dir_pin;                      // Dir pin for the stepper driver
        Pin             en_pin;

        float          target_position;              // End point ( in mm ) for the current move
        float          current_position;             // Current point ( in mm ) for the current move, incremented every time a move is executed
        float          unstepped_distance;           // overflow buffer for requested moves that are less than 1 step
        Block*          current_block;                // Current block we are stepping, same as Stepper's one
        float          steps_per_millimeter;         // Steps to travel one millimeter
        float          feed_rate;                    //
        float          acceleration;                 //
        float          max_speed;

        float          travel_ratio;
        float          travel_distance;
        bool            absolute_mode;                // absolute/relative coordinate mode switch

        char mode;                                    // extruder motion mode,  OFF, SOLO, or FOLLOW

        bool paused;
        bool single_config;

        uint16_t identifier;

        StepperMotor* stepper_motor;

};

#endif
Commit	Line	Data
	1	/*
	2	This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
	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.
	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.
	5	You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
	6	*/
	7
	8
	9
	10	#ifndef EXTURDER_MODULE_H
	11	#define EXTRUDER_MODULE_H
	12
	13	#include "libs/Module.h"
	14	#include "libs/Kernel.h"
	15	#include "modules/robot/Block.h"
	16	#include "modules/tools/toolsmanager/Tool.h"
	17
	18	#define OFF 0
	19	#define SOLO 1
	20	#define FOLLOW 2
	21
	22	class Extruder : public Module, public Tool {
	23	public:
	24	Extruder(uint16_t config_identifier);
	25	void on_module_loaded();
	26	void on_config_reload(void* argument);
	27	void on_gcode_received(void*);
	28	void on_gcode_execute(void* argument);
	29	void on_block_begin(void* argument);
	30	void on_block_end(void* argument);
	31	void on_play(void* argument);
	32	void on_pause(void* argument);
	33	void on_speed_change(void* argument);
	34	uint32_t acceleration_tick(uint32_t dummy);
	35	uint32_t stepper_motor_finished_move(uint32_t dummy);
	36	Block* append_empty_block();
	37
	38	Pin step_pin; // Step pin for the stepper driver
	39	Pin dir_pin; // Dir pin for the stepper driver
	40	Pin en_pin;
	41
	42	float target_position; // End point ( in mm ) for the current move
	43	float current_position; // Current point ( in mm ) for the current move, incremented every time a move is executed
	44	float unstepped_distance; // overflow buffer for requested moves that are less than 1 step
	45	Block* current_block; // Current block we are stepping, same as Stepper's one
	46	float steps_per_millimeter; // Steps to travel one millimeter
	47	float feed_rate; //
	48	float acceleration; //
	49	float max_speed;
	50
	51	float travel_ratio;
	52	float travel_distance;
	53	bool absolute_mode; // absolute/relative coordinate mode switch
	54
	55	char mode; // extruder motion mode, OFF, SOLO, or FOLLOW
	56
	57	bool paused;
	58	bool single_config;
	59
	60	uint16_t identifier;
	61
	62	StepperMotor* stepper_motor;
	63
	64	};
	65
	66	#endif