X-Git-Url: http://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/4cff3ded0e09a5461b0639b939a6cbc54312d5f5..7b49793df4770c6a0bf7a4b8b0d405b5f954b841:/src/modules/robot/Block.h?ds=sidebyside

diff --git a/src/modules/robot/Block.h b/src/modules/robot/Block.h
index fd61e913..ab2c2fd2 100644
--- a/src/modules/robot/Block.h
+++ b/src/modules/robot/Block.h
@@ -12,9 +12,13 @@
 using namespace std;
 #include <string>
 #include <vector>
+
 #include "../communication/utils/Gcode.h"
 #include "Planner.h"
 class Planner;
+class Player;
+
+double max_allowable_speed( double acceleration, double target_velocity, double distance);
 
 class Block {
     public:
@@ -29,23 +33,39 @@ class Block {
         void append_gcode(Gcode* gcode);
         void pop_and_execute_gcode(Kernel* &kernel);
         double get_duration_left(unsigned int already_taken_steps);
-        vector<std::string> commands;
+        void take();
+        void release();
+        void ready();
 
-        unsigned short steps[3];           // Number of steps for each axis for this block
-        float          speeds[3];          // Speeds for each axis, used in the planning process
-        unsigned short steps_event_count;  // Steps for the longest axis
+        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
-        float          entry_factor;       // Starting speed for the block
-        unsigned int rate_delta;           // Nomber of steps to add to the speed for each acceleration tick
+        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 short accelerate_until;   // Stop accelerating after this number of steps
-        unsigned short decelerate_after;   // Start decelerating after this number of steps
+        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;
+        Player*  player;
+        
+        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.
+
 };