- 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 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 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 );