-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef PLANNER_H
-#define PLANNER_H
-
-#include <vector>
-#include "libs/RingBuffer.h"
-#include "../communication/utils/Gcode.h"
-#include "Block.h"
-
-#define acceleration_checksum CHECKSUM("acceleration")
-#define max_jerk_checksum CHECKSUM("max_jerk")
-#define junction_deviation_checksum CHECKSUM("junction_deviation")
-
-// TODO: Get from config
-#define MINIMUM_PLANNER_SPEED 0.0
-using namespace std;
-
-
-class Planner : public Module {
- public:
- Planner();
- void append_block( int target[], double feed_rate, double distance, double deltas[] );
- double max_allowable_speed( double acceleration, double target_velocity, double distance);
- void recalculate();
- void dump_queue();
- Block* get_current_block();
- void cleanup_queue();
- void on_module_loaded();
- void on_config_reload(void* argument);
-
- int position[3]; // Current position, in steps
- double previous_unit_vec[3];
- Block last_deleted_block; // Item -1 in the queue, TODO: Grbl does not need this, but Smoothie won't work without it, we are probably doing something wrong
- bool has_deleted_block; // Flag for above value
- float previous_nominal_speed;
-
- double acceleration; // Setting
- double junction_deviation; // Setting
-
-};
-
-
-
-#endif
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef PLANNER_H
+#define PLANNER_H
+
+#include "ActuatorCoordinates.h"
+class Block;
+
+class Planner
+{
+public:
+ Planner();
+ float max_allowable_speed( float acceleration, float target_velocity, float distance);
+
+ friend class Robot; // for acceleration, junction deviation, minimum_planner_speed
+
+private:
+ bool append_block(ActuatorCoordinates &target, uint8_t n_motors, float rate_mm_s, float distance, float unit_vec[], float accleration);
+ void recalculate();
+ void config_load();
+ float previous_unit_vec[3];
+ float junction_deviation; // Setting
+ float z_junction_deviation; // Setting
+ float minimum_planner_speed; // Setting
+};
+
+
+
+#endif