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/>.
10 #include "libs/Module.h"
11 #include "libs/Kernel.h"
20 float max_allowable_speed( float acceleration
, float target_velocity
, float distance
);
25 void calculate_trapezoid( float entry_speed
, float exit_speed
);
26 float estimate_acceleration_distance( float initial_rate
, float target_rate
, float acceleration
);
27 float intersection_distance(float initial_rate
, float final_rate
, float acceleration
, float distance
);
28 float get_duration_left(unsigned int already_taken_steps
);
30 float reverse_pass(float exit_speed
);
31 float forward_pass(float next_entry_speed
);
33 float max_exit_speed();
37 void append_gcode(Gcode
* gcode
);
48 //vector<std::string> commands;
49 //vector<float> travel_distances;
52 unsigned int steps
[3]; // Number of steps for each axis for this block
53 unsigned int steps_event_count
; // Steps for the longest axis
54 unsigned int nominal_rate
; // Nominal rate in steps per second
55 float nominal_speed
; // Nominal speed in mm per second
56 float millimeters
; // Distance for this move
59 float rate_delta
; // Nomber of steps to add to the speed for each acceleration tick
60 unsigned int initial_rate
; // Initial speed in steps per second
61 unsigned int final_rate
; // Final speed in steps per second
62 unsigned int accelerate_until
; // Stop accelerating after this number of steps
63 unsigned int decelerate_after
; // Start decelerating after this number of steps
64 unsigned int direction_bits
; // Direction for each axis in bit form, relative to the direction port's mask
67 bool recalculate_flag
; // Planner flag to recalculate trapezoids on entry junction
68 bool nominal_length_flag
; // Planner flag for nominal speed always reached
70 float max_entry_speed
;
74 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.