src/modules/tools/extruder/Extruder.h

   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
  17 #define microseconds_per_step_pulse_checksum 42333
  18 #define extruder_module_enable_checksum      6183
  19 #define extruder_steps_per_mm_checksum       58088
  20 #define default_feed_rate_checksum           53183
  21 #define extruder_acceleration_checksum       60356
  22
  23 #define OFF 0
  24 #define SOLO 1
  25 #define FOLLOW 2
  26
  27 class Extruder : public Module{
  28     public:
  29         Extruder();
  30         void on_module_loaded();
  31         void on_config_reload(void* argument);
  32         void on_gcode_execute(void* argument);
  33         void on_block_begin(void* argument);
  34         void on_block_end(void* argument);
  35         void on_play(void* argument);
  36         void on_pause(void* argument);
  37         void on_speed_change(void* argument);
  38         uint32_t acceleration_tick(uint32_t dummy);
  39         uint32_t stepper_motor_finished_move(uint32_t dummy);
  40
  41         Pin*            step_pin;                     // Step pin for the stepper driver
  42         Pin*            dir_pin;                      // Dir pin for the stepper driver
  43         Pin*            en_pin;
  44
  45         double          target_position;              // End point ( in steps ) for the current move
  46         double          current_position;             // Current point ( in steps ) for the current move, incremented every time a step is outputed
  47         int             current_steps;
  48         Block*          current_block;                // Current block we are stepping, same as Stepper's one
  49         int             microseconds_per_step_pulse;  // Pulse duration for step pulses
  50         double          steps_per_millimeter;         // Steps to travel one millimeter
  51         double          feed_rate;                    //
  52         double          acceleration;                 //
  53
  54         int             counter_increment;
  55         int             step_counter;
  56
  57         bool            solo_mode;
  58         double          travel_ratio;
  59         double          travel_distance;
  60         bool            absolute_mode;
  61
  62         bool            debug;
  63         int debug_count;
  64
  65         char mode;
  66
  67         bool paused;
  68
  69         StepperMotor* stepper_motor;
  70
  71 };
  72
  73 #endif