#ifndef BLOCK_H
#define BLOCK_H
-using namespace std;
-#include <string>
#include <vector>
+#include <bitset>
+#include "ActuatorCoordinates.h"
class Gcode;
-float max_allowable_speed( float acceleration, float target_velocity, float distance);
-
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 get_duration_left(unsigned int already_taken_steps);
+ float max_allowable_speed( float acceleration, float target_velocity, float distance);
float reverse_pass(float exit_speed);
float forward_pass(float next_entry_speed);
void begin();
- //vector<std::string> commands;
- //vector<float> 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 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; // Nomber of steps to add to the speed for each acceleration tick
- unsigned int initial_rate; // Initial speed in steps per second
- unsigned int final_rate; // Final speed in steps per second
- 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
-
-
- bool recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
- bool nominal_length_flag; // Planner flag for nominal speed always reached
+ 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;
- 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.
+ 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;
+ };
};