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 <vector>
  12 #include "libs/RingBuffer.h"
  13 #include "../communication/utils/Gcode.h"
  14 #include "Block.h"
  15
  16 using namespace std;
  17
  18 class Planner : public Module {
  19     public:
  20         Planner();
  21         void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
  22         float max_allowable_speed( float acceleration, float target_velocity, float distance);
  23         void recalculate();
  24         Block* get_current_block();
  25         void cleanup_queue();
  26         void on_module_loaded();
  27         void on_config_reload(void* argument);
  28
  29         float previous_unit_vec[3];
  30         Block last_deleted_block;     // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
  31         bool has_deleted_block;       // Flag for above value
  32
  33         float acceleration;          // Setting
  34         float junction_deviation;    // Setting
  35         float minimum_planner_speed; // Setting
  36 };
  37
  38
  39
  40 #endif