#ifndef PLANNER_H
#define PLANNER_H
+#include "ActuatorCoordinates.h"
class Block;
class Planner
{
public:
Planner();
- void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
float max_allowable_speed( float acceleration, float target_velocity, float distance);
- void recalculate();
- Block *get_current_block();
- void cleanup_queue();
- float get_acceleration() const { return acceleration; }
- float get_z_acceleration() const { return z_acceleration > 0.0F ? z_acceleration : acceleration; }
friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
private:
+ bool append_block(ActuatorCoordinates &target, uint8_t n_motors, float rate_mm_s, float distance, float unit_vec[], float accleration, float s_value, bool g123);
+ void recalculate();
void config_load();
- float previous_unit_vec[3];
- float acceleration; // Setting
- float z_acceleration; // Setting
+ float previous_unit_vec[N_PRIMARY_AXIS];
float junction_deviation; // Setting
+ float z_junction_deviation; // Setting
float minimum_planner_speed; // Setting
};