src/modules/tools/zprobe/ZProbe.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 ZPROBE_H_
   9 #define ZPROBE_H_
  10
  11 #include "Module.h"
  12 #include "Pin.h"
  13
  14 #include <vector>
  15
  16 // defined here as they are used in multiple files
  17 #define zprobe_checksum            CHECKSUM("zprobe")
  18 #define leveling_strategy_checksum CHECKSUM("leveling-strategy")
  19
  20 class StepperMotor;
  21 class Gcode;
  22 class StreamOutput;
  23 class LevelingStrategy;
  24
  25 class ZProbe: public Module
  26 {
  27
  28 public:
  29     void on_module_loaded();
  30     void on_config_reload(void *argument);
  31     void on_gcode_received(void *argument);
  32     void acceleration_tick(void);
  33
  34     bool wait_for_probe(int& steps);
  35     bool run_probe(int& steps, bool fast= false);
  36     bool return_probe(int steps);
  37     bool doProbeAt(int &steps, float x, float y);
  38     float probeDistance(float x, float y);
  39
  40     void coordinated_move(float x, float y, float z, float feedrate, bool relative=false);
  41     void home();
  42
  43     bool getProbeStatus() { return this->pin.get(); }
  44     float getSlowFeedrate() { return slow_feedrate; }
  45     float getFastFeedrate() { return fast_feedrate; }
  46     float getProbeHeight() { return probe_height; }
  47     float zsteps_to_mm(float steps);
  48
  49 private:
  50     void accelerate(int c);
  51
  52     volatile float current_feedrate;
  53     float slow_feedrate;
  54     float fast_feedrate;
  55     float probe_height;
  56     float max_z;
  57     volatile struct {
  58         volatile bool running:1;
  59         bool is_delta:1;
  60     };
  61
  62     Pin pin;
  63     uint8_t debounce_count;
  64     std::vector<LevelingStrategy*> strategies;
  65 };
  66
  67 #endif /* ZPROBE_H_ */