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 double max_allowable_speed( double acceleration, double target_velocity, double distance);
  22
  23 class Block {
  24     public:
  25         Block();
  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         void take();
  36         void release();
  37         void ready();
  38
  39         vector<std::string> commands;
  40         vector<double> travel_distances;
  41         vector<Gcode> gcodes;
  42
  43         unsigned int   steps[3];           // Number of steps for each axis for this block
  44         unsigned int   steps_event_count;  // Steps for the longest axis
  45         unsigned int   nominal_rate;       // Nominal rate in steps per minute
  46         float          nominal_speed;      // Nominal speed in mm per minute
  47         float          millimeters;        // Distance for this move
  48         double         entry_speed;
  49         float          rate_delta;         // Nomber of steps to add to the speed for each acceleration tick
  50         unsigned int   initial_rate;       // Initial speed in steps per minute
  51         unsigned int   final_rate;         // Final speed in steps per minute
  52         unsigned int   accelerate_until;   // Stop accelerating after this number of steps
  53         unsigned int   decelerate_after;   // Start decelerating after this number of steps
  54         unsigned int   direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
  55
  56
  57         uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
  58         uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
  59
  60         double max_entry_speed;
  61         Planner* planner;
  62         Conveyor*  conveyor;
  63
  64         bool is_ready;
  65
  66         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.
  67
  68 };
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  79
  80 #endif