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cd011f58 AW |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | 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. | |
4 | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | ||
9 | ||
4cff3ded AW |
10 | #ifndef EXTURDER_MODULE_H |
11 | #define EXTRUDER_MODULE_H | |
12 | ||
4cff3ded AW |
13 | #include "libs/Module.h" |
14 | #include "libs/Kernel.h" | |
15 | #include "modules/robot/Block.h" | |
16 | ||
17 | #define microseconds_per_step_pulse_ckeckusm 42333 | |
436a2cd1 | 18 | #define extruder_module_enable_checksum 6183 |
dd3b416b AW |
19 | #define steps_per_millimeter_checksum 58088 |
20 | #define default_feed_rate_checksum 53183 | |
21 | #define acceleration_checksum 60356 | |
22 | ||
ded56b35 AW |
23 | #define OFF 0 |
24 | #define SOLO 1 | |
25 | #define FOLLOW 2 | |
4cff3ded AW |
26 | |
27 | class Extruder : public Module{ | |
28 | public: | |
0eb11a06 | 29 | Extruder(PinName stppin, PinName dirpin); |
4cff3ded | 30 | void on_module_loaded(); |
da24d6ae | 31 | void on_config_reload(void* argument); |
436a2cd1 | 32 | void on_gcode_execute(void* argument); |
4cff3ded AW |
33 | void on_block_begin(void* argument); |
34 | void on_block_end(void* argument); | |
81b547a1 AW |
35 | void on_play(void* argument); |
36 | void on_pause(void* argument); | |
ded56b35 | 37 | void set_speed(int steps_per_second); |
4cff3ded AW |
38 | void acceleration_tick(); |
39 | void stepping_tick(); | |
3b1e82d2 | 40 | void reset_step_pin(); |
4cff3ded AW |
41 | |
42 | DigitalOut step_pin; // Step pin for the stepper driver | |
0eb11a06 | 43 | DigitalOut dir_pin; // Dir pin for the stepper driver |
e2b4a32b AW |
44 | double start_position; // Start point ( in steps ) for the current move |
45 | double target_position; // End point ( in steps ) for the current move | |
46 | double current_position; // Current point ( in steps ) for the current move, incremented every time a step is outputed | |
4cff3ded AW |
47 | Block* current_block; // Current block we are stepping, same as Stepper's one |
48 | int microseconds_per_step_pulse; // Pulse duration for step pulses | |
dd3b416b AW |
49 | double steps_per_millimeter; // Steps to travel one millimeter |
50 | double feed_rate; // | |
51 | double acceleration; // | |
4cff3ded | 52 | |
3b1e82d2 AW |
53 | int counter_increment; |
54 | int step_counter; | |
ded56b35 | 55 | |
436a2cd1 AW |
56 | bool solo_mode; |
57 | double travel_ratio; | |
58 | double travel_distance; | |
59 | bool absolute_mode; | |
0eb11a06 AW |
60 | |
61 | int direction; | |
ecc402eb AW |
62 | |
63 | bool debug; | |
64 | int debug_count; | |
ded56b35 AW |
65 | |
66 | char mode; | |
67 | bool acceleration_lock; | |
81b547a1 AW |
68 | |
69 | bool paused; | |
4cff3ded AW |
70 | }; |
71 | ||
72 | #endif |