Implement Johanns method of specifying segments for delta bots in segments per second.

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

diff --git a/src/modules/robot/Robot.h b/src/modules/robot/Robot.h
index 06a4bd6..e3d5087 100644 (file)
--- a/src/modules/robot/Robot.h
+++ b/src/modules/robot/Robot.h
@@ -22,6 +22,7 @@ using std::string;
 #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 delta_segments_per_second_checksum     CHECKSUM("delta_segments_per_second")
 #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")
@@ -29,6 +30,7 @@ using std::string;
 #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")
 
@@ -61,6 +63,7 @@ class Robot : public Module {
         void on_module_loaded();
         void on_config_reload(void* argument);
         void on_gcode_received(void* argument);
+        void reset_axis_position(double position, int axis);
 
     private:
         void execute_gcode(Gcode* gcode);
@@ -86,6 +89,7 @@ class Robot : public Module {
         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
+        double 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