X-Git-Url: https://git.hcoop.net/clinton/Smoothieware.git/blobdiff_plain/bbd8cb6fc256f60a09600e910644a79e15d11ecf..4a0c8e14d1cd54c4603fb9b11838747813fe994a:/src/modules/robot/Robot.h

diff --git a/src/modules/robot/Robot.h b/src/modules/robot/Robot.h
index 21729225..e3d50870 100644
--- a/src/modules/robot/Robot.h
+++ b/src/modules/robot/Robot.h
@@ -22,11 +22,17 @@ 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")
 #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")
 
 #define NEXT_ACTION_DEFAULT 0
 #define NEXT_ACTION_DWELL 1
@@ -57,6 +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);
@@ -82,6 +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
@@ -93,15 +101,15 @@ class Robot : public Module {
 
     // Used by Stepper
     public:
-        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;
+        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;