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
dissimilarity index 62%
index d280564..1eda441 100644 (file)
--- a/src/modules/robot/Planner.h
+++ b/src/modules/robot/Planner.h
@@ -1,50 +1,34 @@
-/*  
-      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 PLANNER_H
-#define PLANNER_H
-
-#include <vector>
-#include "libs/RingBuffer.h"
-#include "../communication/utils/Gcode.h"
-#include "Block.h"
-
-#define acceleration_checksum 25326  
-#define max_jerk_checksum     61012 
-
-using namespace std;
-
-class Planner : public Module {
-    public:
-        Planner();
-        void append_block( int target[], double feed_rate, double distance, double speeds[] );
-        void attach_gcode_to_queue(Gcode* gcode);
-        void recalculate();
-        void reverse_pass();
-        void forward_pass();
-        void recalculate_trapezoids();
-        void dump_queue();
-        Block* get_current_block(); 
-        void discard_current_block();
-        void cleanup_queue();
-        void on_module_loaded();
-        void on_config_reload(void* argument);
-
-        int position[3];              // Current position, in steps
-        RingBuffer<Block,128> queue;  // Queue of Blocks
-        bool computing;               // Whether or not we are currently computing the queue, TODO: Checks if this is necessary
-        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
-
-        double acceleration;          // Setting
-        double max_jerk;              // Setting
-
-};
-
-
-
-#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 PLANNER_H
+#define PLANNER_H
+
+#include "ActuatorCoordinates.h"
+class Block;
+
+class Planner
+{
+public:
+    Planner();
+    float max_allowable_speed( float acceleration, float target_velocity, float distance);
+
+    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[N_PRIMARY_AXIS];
+    float junction_deviation;    // Setting
+    float z_junction_deviation;  // Setting
+    float minimum_planner_speed; // Setting
+};
+
+
+
+#endif