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 #include "../communication/utils/Gcode.h"
  16 #include "Planner.h"
  17 class Planner;
  18
  19
  20 double max_allowable_speed( double acceleration, double target_velocity, double distance);
  21
  22 class Block {
  23     public:
  24         Block();
  25         double compute_factor_for_safe_speed();
  26         void calculate_trapezoid( double entry_factor, double exit_factor );
  27         double estimate_acceleration_distance( double initial_rate, double target_rate, double acceleration );
  28         double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance);
  29         void reverse_pass(Block* previous, Block* next);
  30         void forward_pass(Block* previous, Block* next);
  31         void debug(Kernel* kernel);
  32         void append_gcode(Gcode* gcode);
  33         void pop_and_execute_gcode(Kernel* &kernel);
  34         double get_duration_left(unsigned int already_taken_steps);
  35         vector<std::string> commands;
  36
  37         unsigned short steps[3];           // Number of steps for each axis for this block
  38         //float          speeds[3];          // Speeds for each axis, used in the planning process
  39         unsigned short steps_event_count;  // Steps for the longest axis
  40         unsigned int   nominal_rate;       // Nominal rate in steps per minute
  41         float          nominal_speed;      // Nominal speed in mm per minute
  42         float          millimeters;        // Distance for this move
  43         double entry_speed;
  44         unsigned int rate_delta;           // Nomber of steps to add to the speed for each acceleration tick
  45         unsigned int   initial_rate;       // Initial speed in steps per minute
  46         unsigned int   final_rate;         // Final speed in steps per minute
  47         unsigned short accelerate_until;   // Stop accelerating after this number of steps
  48         unsigned short decelerate_after;   // Start decelerating after this number of steps
  49         unsigned int   direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
  50
  51
  52         uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
  53         uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
  54
  55         double max_entry_speed;
  56         Planner* planner;
  57 };
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  68
  69 #endif