-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef BLOCK_H
-#define BLOCK_H
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-using namespace std;
-#include <string>
-#include <vector>
-
-#include "../communication/utils/Gcode.h"
-#include "Planner.h"
-class Planner;
-class Conveyor;
-
-double max_allowable_speed( double acceleration, double target_velocity, double distance);
-
-class Block {
- public:
- Block();
- void calculate_trapezoid( double entry_factor, double exit_factor );
- double estimate_acceleration_distance( double initial_rate, double target_rate, double acceleration );
- double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance);
- void reverse_pass(Block* previous, Block* next);
- void forward_pass(Block* previous, Block* next);
- void debug(Kernel* kernel);
- void append_gcode(Gcode* gcode);
- void pop_and_execute_gcode(Kernel* &kernel);
- double get_duration_left(unsigned int already_taken_steps);
- void take();
- void release();
- void ready();
-
- vector<std::string> commands;
- vector<double> travel_distances;
- vector<Gcode*> gcodes;
-
- unsigned int steps[3]; // Number of steps for each axis for this block
- unsigned int steps_event_count; // Steps for the longest axis
- unsigned int nominal_rate; // Nominal rate in steps per minute
- float nominal_speed; // Nominal speed in mm per minute
- float millimeters; // Distance for this move
- double entry_speed;
- float rate_delta; // Nomber of steps to add to the speed for each acceleration tick
- unsigned int initial_rate; // Initial speed in steps per minute
- unsigned int final_rate; // Final speed in steps per minute
- unsigned int accelerate_until; // Stop accelerating after this number of steps
- unsigned int decelerate_after; // Start decelerating after this number of steps
- unsigned int direction_bits; // Direction for each axis in bit form, relative to the direction port's mask
-
-
- uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
- uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
-
- double max_entry_speed;
- Planner* planner;
- Conveyor* conveyor;
-
- bool is_ready;
-
- 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.
-
-};
-
-
-
-
-
-
-
-
-
-
-
-#endif
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef BLOCK_H
+#define BLOCK_H
+
+#include <vector>
+#include <bitset>
+#include "ActuatorCoordinates.h"
+
+class Gcode;
+
+class Block {
+ public:
+ Block();
+ void calculate_trapezoid( float entry_speed, float exit_speed );
+ float estimate_acceleration_distance( float initial_rate, float target_rate, float acceleration );
+ float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
+ float max_allowable_speed( float acceleration, float target_velocity, float distance);
+
+ float reverse_pass(float exit_speed);
+ float forward_pass(float next_entry_speed);
+
+ float max_exit_speed();
+
+ void debug();
+
+ void append_gcode(Gcode* gcode);
+
+ void take();
+ void release();
+
+ void ready();
+
+ void clear();
+
+ void begin();
+
+ std::vector<Gcode> gcodes;
+
+ std::array<uint32_t, k_max_actuators> steps; // Number of steps for each axis for this block
+ uint32_t steps_event_count; // Steps for the longest axis
+ uint32_t nominal_rate; // Nominal rate in steps per second
+ float nominal_speed; // Nominal speed in mm per second
+ float millimeters; // Distance for this move
+ float entry_speed;
+ float exit_speed;
+ float rate_delta; // Number of steps to add to the speed for each acceleration tick
+ float acceleration; // the acceleratoin for this block
+ uint32_t initial_rate; // Initial speed in steps per second
+ uint32_t final_rate; // Final speed in steps per second
+ uint32_t accelerate_until; // Stop accelerating after this number of steps
+ uint32_t decelerate_after; // Start decelerating after this number of steps
+
+ float max_entry_speed;
+
+ int16_t 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.
+
+ std::bitset<k_max_actuators> direction_bits; // Direction for each axis in bit form, relative to the direction port's mask
+ struct {
+ bool recalculate_flag:1; // Planner flag to recalculate trapezoids on entry junction
+ bool nominal_length_flag:1; // Planner flag for nominal speed always reached
+ bool is_ready:1;
+ };
+};
+
+
+#endif
HCoop / clinton / Smoothieware.git / blobdiff