src/modules/tools/endstops/Endstops.h

   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 #ifndef ENDSTOPS_MODULE_H
   9 #define ENDSTOPS_MODULE_H
  10
  11 #include "libs/Module.h"
  12 #include "libs/Kernel.h"
  13 #include "modules/communication/utils/Gcode.h"
  14 #include "libs/StepperMotor.h"
  15 #include "libs/Pin.h"
  16
  17
  18 class Endstops : public Module{
  19     public:
  20         Endstops();
  21         void on_module_loaded();
  22         void on_gcode_received(void* argument);
  23         void on_config_reload(void* argument);
  24
  25     private:
  26         void do_homing(char axes_to_move);
  27         void do_homing_corexy(char axes_to_move);
  28         void wait_for_homed(char axes_to_move);
  29         void wait_for_homed_corexy(int axis);
  30         void corexy_home(int home_axis, bool dirx, bool diry, double fast_rate, double slow_rate, unsigned int retract_steps);
  31         void trim2mm(double * mm);
  32
  33         double steps_per_mm[3];
  34         double homing_position[3];
  35         float home_offset[3];
  36         bool home_direction[3];
  37         unsigned int  debounce_count;
  38         unsigned int  retract_steps[3];
  39         int  trim[3];
  40         double  fast_rates[3];
  41         double  slow_rates[3];
  42         Pin           pins[6];
  43         StepperMotor* steppers[3];
  44         char status;
  45         bool is_corexy;
  46         bool is_delta;
  47 };
  48
  49 #endif