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 #include <vector>
  12 #include "libs/RingBuffer.h"
  13 #include "../communication/utils/Gcode.h"
  14 #include "Block.h"
  15
  16 #define acceleration_checksum 25326
  17 #define max_jerk_checksum     61012
  18
  19 // TODO: Get from config
  20 #define MINIMUM_PLANNER_SPEED 0.0
  21 using namespace std;
  22
  23
  24
  25
  26
  27 class Planner : public Module {
  28     public:
  29         Planner();
  30         void append_block( int target[], double feed_rate, double distance, double deltas[] );
  31         double max_allowable_speed( double acceleration, double target_velocity, double distance);
  32         void attach_gcode_to_queue(Gcode* gcode);
  33         void recalculate();
  34         void reverse_pass();
  35         void forward_pass();
  36         void recalculate_trapezoids();
  37         void dump_queue();
  38         Block* get_current_block();
  39         void discard_current_block();
  40         void cleanup_queue();
  41         void on_module_loaded();
  42         void on_config_reload(void* argument);
  43
  44         int position[3];              // Current position, in steps
  45         double previous_unit_vec[3];
  46         RingBuffer<Block,64> queue;  // Queue of Blocks
  47         bool computing;               // Whether or not we are currently computing the queue, TODO: Checks if this is necessary
  48         Block last_deleted_block;     // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
  49         bool has_deleted_block;       // Flag for above value
  50         float previous_nominal_speed;
  51
  52         double acceleration;          // Setting
  53         double max_jerk;              // Setting
  54
  55 };
  56
  57
  58
  59 #endif