Fix a bug where a move could result in zero steps for all axis
[clinton/Smoothieware.git] / src / modules / robot / Planner.h
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df27a6a3 1/*
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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.
df27a6a3 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
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6*/
7
8#ifndef PLANNER_H
9#define PLANNER_H
10
807b9b57 11#include "ActuatorCoordinates.h"
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12class Block;
13
558e170c 14class Planner
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15{
16public:
17 Planner();
38bf9a1c 18 float max_allowable_speed( float acceleration, float target_velocity, float distance);
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19
20 friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
21
22private:
6f5d947f 23 bool append_block(ActuatorCoordinates &target, uint8_t n_motors, float rate_mm_s, float distance, float unit_vec[], float accleration);
c8bac202 24 void recalculate();
558e170c 25 void config_load();
38bf9a1c 26 float previous_unit_vec[3];
38bf9a1c 27 float junction_deviation; // Setting
44de6ef3 28 float z_junction_deviation; // Setting
38bf9a1c 29 float minimum_planner_speed; // Setting
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30};
31
32
33
34#endif