#include "Planner.h"
#include "libs/Pin.h"
#include "libs/StepperMotor.h"
-
-
-#define default_seek_rate_checksum CHECKSUM("default_seek_rate")
-#define default_feed_rate_checksum CHECKSUM("default_feed_rate")
-#define mm_per_line_segment_checksum CHECKSUM("mm_per_line_segment")
-#define mm_per_arc_segment_checksum CHECKSUM("mm_per_arc_segment")
-#define arc_correction_checksum CHECKSUM("arc_correction")
-#define x_axis_max_speed_checksum CHECKSUM("x_axis_max_speed")
-#define y_axis_max_speed_checksum CHECKSUM("y_axis_max_speed")
-#define z_axis_max_speed_checksum CHECKSUM("z_axis_max_speed")
-#define arm_solution_checksum CHECKSUM("arm_solution")
-#define cartesian_checksum CHECKSUM("cartesian")
-#define rotatable_cartesian_checksum CHECKSUM("rotatable_cartesian")
-#define rostock_checksum CHECKSUM("rostock")
-#define delta_checksum CHECKSUM("delta")
+#include "RobotPublicAccess.h"
#define NEXT_ACTION_DEFAULT 0
#define NEXT_ACTION_DWELL 1
void on_module_loaded();
void on_config_reload(void* argument);
void on_gcode_received(void* argument);
- void reset_axis_position(double position, int axis);
+ void on_get_public_data(void* argument);
+ void on_set_public_data(void* argument);
+
+ void reset_axis_position(float position, int axis);
+ void get_axis_position(float position[]);
+ float to_millimeters(float value);
+ float from_millimeters(float value);
+
+ BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
+ bool absolute_mode; // true for absolute mode ( default ), false for relative mode
private:
- void execute_gcode(Gcode* gcode);
- void append_milestone( double target[], double feed_rate);
- void append_line( Gcode* gcode, double target[], double feed_rate);
- //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
- void append_arc( Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise );
+ void distance_in_gcode_is_known(Gcode* gcode);
+ void append_milestone( float target[], float rate_mm_s);
+ void append_line( Gcode* gcode, float target[], float rate_mm_s);
+ //void append_arc(float theta_start, float angular_travel, float radius, float depth, float rate);
+ void append_arc( Gcode* gcode, float target[], float offset[], float radius, bool is_clockwise );
- void compute_arc(Gcode* gcode, double offset[], double target[]);
- double to_millimeters(double value);
- double theta(double x, double y);
+ void compute_arc(Gcode* gcode, float offset[], float target[]);
+
+ float theta(float x, float y);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
- double current_position[3]; // Current position, in millimeters
- double last_milestone[3]; // Last position, in millimeters
- bool inch_mode; // true for inch mode, false for millimeter mode ( default )
- bool absolute_mode; // true for absolute mode ( default ), false for relative mode
+ float current_position[3]; // Current position, in millimeters
+ float last_milestone[3]; // Last position, in millimeters
+ bool inch_mode; // true for inch mode, false for millimeter mode ( default )
int8_t motion_mode; // Motion mode for the current received Gcode
- double seek_rate; // Current rate for seeking moves ( mm/s )
- double feed_rate; // Current rate for feeding moves ( mm/s )
+ float seek_rate; // Current rate for seeking moves ( mm/s )
+ float feed_rate; // Current rate for feeding moves ( mm/s )
uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // Current plane ( XY, XZ, YZ )
- BaseSolution* arm_solution; // Selected Arm solution ( millimeters to step calculation )
- double mm_per_line_segment; // Setting : Used to split lines into segments
- double mm_per_arc_segment; // Setting : Used to split arcs into segmentrs
+ float mm_per_line_segment; // Setting : Used to split lines into segments
+ float mm_per_arc_segment; // Setting : Used to split arcs into segmentrs
+ float delta_segments_per_second; // Setting : Used to split lines into segments for delta based on speed
// Number of arc generation iterations by small angle approximation before exact arc trajectory
// correction. This parameter maybe decreased if there are issues with the accuracy of the arc
// of grbl, and should be on the order or greater than the size of the buffer to help with the
// computational efficiency of generating arcs.
int arc_correction; // Setting : how often to rectify arc computation
- double max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
+ float max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
// Used by Stepper
public:
- Pin alpha_step_pin;
- Pin alpha_dir_pin;
- Pin alpha_en_pin;
- Pin beta_step_pin;
- Pin beta_dir_pin;
- Pin beta_en_pin;
- Pin gamma_step_pin;
- Pin gamma_dir_pin;
- Pin gamma_en_pin;
-
StepperMotor* alpha_stepper_motor;
StepperMotor* beta_stepper_motor;
StepperMotor* gamma_stepper_motor;
- double seconds_per_minute; // for realtime speed change
+ std::vector<StepperMotor*> actuators;
+
+ float seconds_per_minute; // for realtime speed change
};
+// Convert from inches to millimeters ( our internal storage unit ) if needed
+inline float Robot::to_millimeters( float value ){
+ return this->inch_mode ? value * 25.4 : value;
+}
+inline float Robot::from_millimeters( float value){
+ return this->inch_mode ? value/25.4 : value;
+}
+inline void Robot::get_axis_position(float position[]){
+ memcpy(position, this->current_position, sizeof(float)*3 );
+}
+
#endif
HCoop / clinton / Smoothieware.git / blobdiff