src/modules/robot/Block.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 BLOCK_H
   9 #define BLOCK_H
  10 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 using namespace std;
  13 #include <string>
  14 #include <vector>
  15
  16 #include "../communication/utils/Gcode.h"
  17 #include "Planner.h"
  18 class Planner;
  19 class Conveyor;
  20
  21 float max_allowable_speed( float acceleration, float target_velocity, float distance);
  22
  23 class Block {
  24     public:
  25         Block();
  26         void calculate_trapezoid( float entry_speed, float exit_speed );
  27         float estimate_acceleration_distance( float initial_rate, float target_rate, float acceleration );
  28         float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
  29         float get_duration_left(unsigned int already_taken_steps);
  30
  31         float reverse_pass(float exit_speed);
  32         float forward_pass(float next_entry_speed);
  33
  34         float max_exit_speed();
  35
  36         void debug();
  37
  38         void append_gcode(Gcode* gcode);
  39
  40         void take();
  41         void release();
  42
  43         void ready();
  44
  45         void clear();
  46
  47         void begin();
  48
  49         //vector<std::string> commands;
  50         //vector<float> travel_distances;
  51         vector<Gcode> gcodes;
  52
  53         unsigned int   steps[3];           // Number of steps for each axis for this block
  54         unsigned int   steps_event_count;  // Steps for the longest axis
  55         unsigned int   nominal_rate;       // Nominal rate in steps per second
  56         float          nominal_speed;      // Nominal speed in mm per second
  57         float          millimeters;        // Distance for this move
  58         float          entry_speed;
  59         float          exit_speed;
  60         float          rate_delta;         // Nomber of steps to add to the speed for each acceleration tick
  61         unsigned int   initial_rate;       // Initial speed in steps per second
  62         unsigned int   final_rate;         // Final speed in steps per second
  63         unsigned int   accelerate_until;   // Stop accelerating after this number of steps
  64         unsigned int   decelerate_after;   // Start decelerating after this number of steps
  65         unsigned int   direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
  66
  67
  68         bool recalculate_flag;             // Planner flag to recalculate trapezoids on entry junction
  69         bool nominal_length_flag;          // Planner flag for nominal speed always reached
  70
  71         float max_entry_speed;
  72
  73         bool is_ready;
  74
  75         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.
  76
  77 };
  78
  79
  80 #endif