#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 on_get_public_data(void* argument);
+ void on_set_public_data(void* argument);
+
+ void reset_axis_position(double position, int axis);
+ void get_axis_position(double position[]);
+ double to_millimeters(double value);
+ double from_millimeters(double 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 distance_in_gcode_is_known(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 compute_arc(Gcode* gcode, double offset[], double target[]);
- double to_millimeters(double value);
+
double theta(double x, double 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
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 )
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
+ 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
double seconds_per_minute; // for realtime speed change
};
+// Convert from inches to millimeters ( our internal storage unit ) if needed
+inline double Robot::to_millimeters( double value ){
+ return this->inch_mode ? value * 25.4 : value;
+}
+inline double Robot::from_millimeters( double value){
+ return this->inch_mode ? value/25.4 : value;
+}
+inline void Robot::get_axis_position(double position[]){
+ memcpy(position, this->current_position, sizeof(double)*3 );
+}
+
#endif