Allow TABS in config

[clinton/Smoothieware.git] / src / modules / robot / Block.h

diff --git a/src/modules/robot/Block.h b/src/modules/robot/Block.h
index 803d52f..63dd144 100644 (file)
--- a/src/modules/robot/Block.h
+++ b/src/modules/robot/Block.h
@@ -9,27 +9,28 @@
 #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;
+
 
 float max_allowable_speed( float acceleration, float target_velocity, float distance);
 
 class Block {
     public:
         Block();
-        void calculate_trapezoid( float entry_factor, float exit_factor );
+        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);
 
-        void reverse_pass(Block* previous);
-        void forward_pass(Block* next);
+        float reverse_pass(float exit_speed);
+        float forward_pass(float next_entry_speed);
+
+        float max_exit_speed();
 
         void debug();
 
@@ -50,13 +51,14 @@ class Block {
 
         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
-        float         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