-/*
+/*
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/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ROBOT_H
#include "Planner.h"
#include "libs/Pin.h"
#include "libs/StepperMotor.h"
-
-
-#define default_seek_rate_checksum 6633
-#define default_feed_rate_checksum 47357
-#define mm_per_line_segment_checksum 30176
-#define mm_per_arc_segment_checksum 15470
-#define arc_correction_checksum 5074
-#define x_axis_max_speed_checksum 64935
-#define y_axis_max_speed_checksum 3752
-#define z_axis_max_speed_checksum 7849
+#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 execute_gcode(Gcode* gcode);
+ 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 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
- uint8_t motion_mode; // Motion mode for the current received Gcode
+ 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 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
// generations. In general, the default value is more than enough for the intended CNC applications
int arc_correction; // Setting : how often to rectify arc computation
double max_speeds[3]; // Setting : max allowable speed in mm/m for each axis
- Pin* alpha_step_pin;
- Pin* beta_step_pin;
- Pin* gamma_step_pin;
- Pin* alpha_dir_pin;
- Pin* beta_dir_pin;
- Pin* gamma_dir_pin;
- Pin* alpha_en_pin;
- Pin* beta_en_pin;
- Pin* gamma_en_pin;
-
+ // 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
};
+// 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
HCoop / clinton / Smoothieware.git / blobdiff