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 extruder_module_enable_checksum      CHECKSUM("extruder_module_enable")
  18 #define extruder_steps_per_mm_checksum       CHECKSUM("extruder_steps_per_mm")
  19 #define extruder_acceleration_checksum       CHECKSUM("extruder_acceleration")
  20 #define extruder_step_pin_checksum           CHECKSUM("extruder_step_pin")
  21 #define extruder_dir_pin_checksum            CHECKSUM("extruder_dir_pin")
  22 #define extruder_en_pin_checksum             CHECKSUM("extruder_en_pin")
  23 #define extruder_max_speed_checksum          CHECKSUM("extruder_max_speed")
  24
  25 // default_feed_rate_checksum defined by Robot.h
  26
  27 #define OFF 0
  28 #define SOLO 1
  29 #define FOLLOW 2
  30
  31 class Extruder : public Module{
  32     public:
  33         Extruder();
  34         void     on_module_loaded();
  35         void     on_config_reload(void* argument);
  36         void     on_gcode_received(void*);
  37         void     on_gcode_execute(void* argument);
  38         void     on_block_begin(void* argument);
  39         void     on_block_end(void* argument);
  40         void     on_play(void* argument);
  41         void     on_pause(void* argument);
  42         void     on_speed_change(void* argument);
  43         uint32_t acceleration_tick(uint32_t dummy);
  44         uint32_t stepper_motor_finished_move(uint32_t dummy);
  45         Block*   append_empty_block();
  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 mm ) for the current move
  52         double          current_position;             // Current point ( in mm ) for the current move, incremented every time a move is executed
  53         double          unstepped_distance;           // overflow buffer for requested moves that are less than 1 step
  54         Block*          current_block;                // Current block we are stepping, same as Stepper's one
  55         double          steps_per_millimeter;         // Steps to travel one millimeter
  56         double          feed_rate;                    //
  57         double          acceleration;                 //
  58         double          max_speed;
  59
  60         double          travel_ratio;
  61         double          travel_distance;
  62         bool            absolute_mode;                // absolute/relative coordinate mode switch
  63
  64         char mode;                                    // extruder motion mode,  OFF, SOLO, or FOLLOW
  65
  66         bool paused;
  67
  68         StepperMotor* stepper_motor;
  69
  70 };
  71
  72 #endif