src/modules/robot/Block.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 BLOCK_H
   9 #define BLOCK_H
  10
  11 #include <vector>
  12 #include <bitset>
  13
  14 class Gcode;
  15
  16 class Block {
  17     public:
  18         Block();
  19         void calculate_trapezoid( float entry_speed, float exit_speed );
  20         float estimate_acceleration_distance( float initial_rate, float target_rate, float acceleration );
  21         float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
  22         float max_allowable_speed( float acceleration, float target_velocity, float distance);
  23
  24         float reverse_pass(float exit_speed);
  25         float forward_pass(float next_entry_speed);
  26
  27         float max_exit_speed();
  28
  29         void debug();
  30
  31         void append_gcode(Gcode* gcode);
  32
  33         void take();
  34         void release();
  35
  36         void ready();
  37
  38         void clear();
  39
  40         void begin();
  41
  42         std::vector<Gcode> gcodes;
  43
  44         unsigned int   steps[3];           // Number of steps for each axis for this block
  45         unsigned int   steps_event_count;  // Steps for the longest axis
  46         unsigned int   nominal_rate;       // Nominal rate in steps per second
  47         float          nominal_speed;      // Nominal speed in mm per second
  48         float          millimeters;        // Distance for this move
  49         float          entry_speed;
  50         float          exit_speed;
  51         float          rate_delta;         // Nomber of steps to add to the speed for each acceleration tick
  52         float          acceleration;       // the acceleratoin for this block
  53         unsigned int   initial_rate;       // Initial speed in steps per second
  54         unsigned int   final_rate;         // Final speed in steps per second
  55         unsigned int   accelerate_until;   // Stop accelerating after this number of steps
  56         unsigned int   decelerate_after;   // Start decelerating after this number of steps
  57
  58         float max_entry_speed;
  59
  60         short times_taken;    // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
  61
  62         std::bitset<3> direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
  63         struct {
  64             bool recalculate_flag:1;             // Planner flag to recalculate trapezoids on entry junction
  65             bool nominal_length_flag:1;          // Planner flag for nominal speed always reached
  66             bool is_ready:1;
  67         };
  68 };
  69
  70
  71 #endif