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/>.
11 #include "ActuatorCoordinates.h"
18 void append_block(ActuatorCoordinates
&target
, float rate_mm_s
, float distance
, float unit_vec
[] );
19 float max_allowable_speed( float acceleration
, float target_velocity
, float distance
);
21 Block
*get_current_block();
23 float get_acceleration() const { return acceleration
; }
24 float get_z_acceleration() const { return z_acceleration
> 0.0F
? z_acceleration
: acceleration
; }
26 friend class Robot
; // for acceleration, junction deviation, minimum_planner_speed
30 float previous_unit_vec
[3];
31 float acceleration
; // Setting
32 float z_acceleration
; // Setting
33 float junction_deviation
; // Setting
34 float z_junction_deviation
; // Setting
35 float minimum_planner_speed
; // Setting