src/modules/robot/Planner.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 #ifndef PLANNER_H
   9 #define PLANNER_H
  10
  11 class Block;
  12
  13 class Planner
  14 {
  15 public:
  16     Planner();
  17     void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
  18     float max_allowable_speed( float acceleration, float target_velocity, float distance);
  19     void recalculate();
  20     Block *get_current_block();
  21     void cleanup_queue();
  22     float get_acceleration() const { return acceleration; }
  23     float get_z_acceleration() const { return z_acceleration > 0.0F ? z_acceleration : acceleration; }
  24
  25     friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
  26
  27 private:
  28     void config_load();
  29     float previous_unit_vec[3];
  30     float acceleration;          // Setting
  31     float z_acceleration;        // Setting
  32     float junction_deviation;    // Setting
  33     float z_junction_deviation;  // Setting
  34     float minimum_planner_speed; // Setting
  35 };
  36
  37
  38
  39 #endif