only check max speeds for 3 axis

[clinton/Smoothieware.git] / src / modules / robot / Planner.h

diff --git a/src/modules/robot/Planner.h b/src/modules/robot/Planner.h
index 73127b5..1eda441 100644 (file)
--- a/src/modules/robot/Planner.h
+++ b/src/modules/robot/Planner.h
@@ -8,36 +8,24 @@
 #ifndef PLANNER_H
 #define PLANNER_H
 
-#include "Block.h"
-
-using namespace std;
-
+#include "ActuatorCoordinates.h"
 class Block;
 
-class Planner : public Module
+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();
-    void on_module_loaded();
-    void on_config_reload(void *argument);
-    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:
-    float previous_unit_vec[3];
-    Block last_deleted_block;     // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
-    bool has_deleted_block;       // Flag for above value
-
-    float acceleration;          // Setting
-    float z_acceleration;        // Setting
+    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[N_PRIMARY_AXIS];
     float junction_deviation;    // Setting
+    float z_junction_deviation;  // Setting
     float minimum_planner_speed; // Setting
 };