src/modules/robot/Planner.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 PLANNER_H
   9 #define PLANNER_H
  10
  11 #include "ActuatorCoordinates.h"
  12 class Block;
  13
  14 class Planner
  15 {
  16 public:
  17     Planner();
  18     float max_allowable_speed( float acceleration, float target_velocity, float distance);
  19
  20     friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
  21
  22 private:
  23     void append_block(ActuatorCoordinates &target, uint8_t n_motors, float rate_mm_s, float distance, float unit_vec[], float accleration);
  24     void recalculate();
  25     void config_load();
  26     float previous_unit_vec[3];
  27     float junction_deviation;    // Setting
  28     float z_junction_deviation;  // Setting
  29     float minimum_planner_speed; // Setting
  30 };
  31
  32
  33
  34 #endif