#define BLOCK_H
#include "libs/Module.h"
#include "libs/Kernel.h"
+#include "Gcode.h"
+
using namespace std;
#include <string>
#include <vector>
-#include "../communication/utils/Gcode.h"
-#include "Planner.h"
-class Planner;
-class Conveyor;
-double max_allowable_speed( double acceleration, double target_velocity, double distance);
+
+float max_allowable_speed( float acceleration, float target_velocity, float distance);
class Block {
public:
Block();
- void calculate_trapezoid( double entry_factor, double exit_factor );
- double estimate_acceleration_distance( double initial_rate, double target_rate, double acceleration );
- double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance);
- void reverse_pass(Block* previous, Block* next);
- void forward_pass(Block* previous, Block* next);
- void debug(Kernel* kernel);
+ void calculate_trapezoid( float entry_speed, float exit_speed );
+ float estimate_acceleration_distance( float initial_rate, float target_rate, float acceleration );
+ float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
+ float get_duration_left(unsigned int already_taken_steps);
+
+ float reverse_pass(float exit_speed);
+ float forward_pass(float next_entry_speed);
+
+ float max_exit_speed();
+
+ void debug();
+
void append_gcode(Gcode* gcode);
- void pop_and_execute_gcode(Kernel* &kernel);
- double get_duration_left(unsigned int already_taken_steps);
+
void take();
void release();
+
void ready();
- vector<std::string> commands;
- vector<double> travel_distances;
- vector<Gcode*> gcodes;
+ void clear();
+
+ void begin();
+
+ //vector<std::string> commands;
+ //vector<float> travel_distances;
+ vector<Gcode> gcodes;
unsigned int steps[3]; // Number of steps for each axis for this block
unsigned int steps_event_count; // Steps for the longest axis
- unsigned int nominal_rate; // Nominal rate in steps per minute
- float nominal_speed; // Nominal speed in mm per minute
+ unsigned int nominal_rate; // Nominal rate in steps per second
+ float nominal_speed; // Nominal speed in mm per second
float millimeters; // Distance for this move
- double entry_speed;
+ float entry_speed;
+ float exit_speed;
float rate_delta; // Nomber of steps to add to the speed for each acceleration tick
- unsigned int initial_rate; // Initial speed in steps per minute
- unsigned int final_rate; // Final speed in steps per minute
+ unsigned int initial_rate; // Initial speed in steps per second
+ unsigned int final_rate; // Final speed in steps per second
unsigned int accelerate_until; // Stop accelerating after this number of steps
unsigned int decelerate_after; // Start decelerating after this number of steps
unsigned int direction_bits; // Direction for each axis in bit form, relative to the direction port's mask
- uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
- uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
+ bool recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
+ bool nominal_length_flag; // Planner flag for nominal speed always reached
+
+ float max_entry_speed;
- double max_entry_speed;
- Planner* planner;
- Conveyor* conveyor;
-
bool is_ready;
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.
};
-
-
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-
-
-
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-
-
#endif