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 CHECKSUM("microseconds_per_step_pulse")
  18 #define extruder_module_enable_checksum      CHECKSUM("extruder_module_enable")
  19 #define extruder_steps_per_mm_checksum       CHECKSUM("extruder_steps_per_mm")
  20 #define extruder_acceleration_checksum       CHECKSUM("extruder_acceleration")
  21 #define extruder_step_pin_checksum           CHECKSUM("extruder_step_pin")
  22 #define extruder_dir_pin_checksum            CHECKSUM("extruder_dir_pin")
  23 #define extruder_en_pin_checksum             CHECKSUM("extruder_en_pin")
  24 #define extruder_max_speed_checksum          CHECKSUM("extruder_max_speed")
  25
  26 // default_feed_rate_checksum defined by Robot.h
  27
  28 #define OFF 0
  29 #define SOLO 1
  30 #define FOLLOW 2
  31
  32 class Extruder : public Module{
  33     public:
  34         Extruder();
  35         void on_module_loaded();
  36         void on_config_reload(void* argument);
  37         void on_gcode_received(void*);
  38         void on_gcode_execute(void* argument);
  39         void on_block_begin(void* argument);
  40         void on_block_end(void* argument);
  41         void on_play(void* argument);
  42         void on_pause(void* argument);
  43         void on_speed_change(void* argument);
  44         uint32_t acceleration_tick(uint32_t dummy);
  45         uint32_t stepper_motor_finished_move(uint32_t dummy);
  46
  47         Pin             step_pin;                     // Step pin for the stepper driver
  48         Pin             dir_pin;                      // Dir pin for the stepper driver
  49         Pin             en_pin;
  50
  51         double          target_position;              // End point ( in steps ) for the current move
  52         double          current_position;             // Current point ( in steps ) for the current move, incremented every time a step is outputed
  53         int             current_steps;
  54         Block*          current_block;                // Current block we are stepping, same as Stepper's one
  55         int             microseconds_per_step_pulse;  // Pulse duration for step pulses
  56         double          steps_per_millimeter;         // Steps to travel one millimeter
  57         double          feed_rate;                    //
  58         double          acceleration;                 //
  59         double          max_speed;
  60
  61         int             counter_increment;
  62         int             step_counter;
  63
  64         bool            solo_mode;
  65         double          travel_ratio;
  66         double          travel_distance;
  67         bool            absolute_mode;
  68
  69         bool            debug;
  70         int debug_count;
  71
  72         char mode;
  73
  74         bool paused;
  75
  76         StepperMotor* stepper_motor;
  77
  78 };
  79
  80 #endif