Michael Spencer / Smoothie

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Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

modules/robot/Planner.h@2:1df0b61d3b5a, 2014-02-28 (annotated)

Committer:
Michael J. Spencer
Date:
Fri Feb 28 18:52:52 2014 -0800
Revision:
2:1df0b61d3b5a
Parent:
0:31e91bb0ef3c 
Update to latest Smoothie.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 3 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.
scachat 0:31e91bb0ef3c 4 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8 #ifndef PLANNER_H
scachat 0:31e91bb0ef3c 9 #define PLANNER_H
scachat 0:31e91bb0ef3c 10
scachat 0:31e91bb0ef3c 11 #include <vector>
scachat 0:31e91bb0ef3c 12 #include "libs/RingBuffer.h"
scachat 0:31e91bb0ef3c 13 #include "../communication/utils/Gcode.h"
scachat 0:31e91bb0ef3c 14 #include "Block.h"
scachat 0:31e91bb0ef3c 15
scachat 0:31e91bb0ef3c 16 using namespace std;
scachat 0:31e91bb0ef3c 17
scachat 0:31e91bb0ef3c 18 class Planner : public Module {
scachat 0:31e91bb0ef3c 19 public:
scachat 0:31e91bb0ef3c 20 Planner();
Michael J. Spencer 2:1df0b61d3b5a 21 void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
Michael J. Spencer 2:1df0b61d3b5a 22 float max_allowable_speed( float acceleration, float target_velocity, float distance);
scachat 0:31e91bb0ef3c 23 void recalculate();
Michael J. Spencer 2:1df0b61d3b5a 24 Block* get_current_block();
scachat 0:31e91bb0ef3c 25 void cleanup_queue();
Michael J. Spencer 2:1df0b61d3b5a 26 void on_module_loaded();
Michael J. Spencer 2:1df0b61d3b5a 27 void on_config_reload(void* argument);
scachat 0:31e91bb0ef3c 28
Michael J. Spencer 2:1df0b61d3b5a 29 float previous_unit_vec[3];
Michael J. Spencer 2:1df0b61d3b5a 30 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
scachat 0:31e91bb0ef3c 31 bool has_deleted_block; // Flag for above value
scachat 0:31e91bb0ef3c 32
Michael J. Spencer 2:1df0b61d3b5a 33 float acceleration; // Setting
Michael J. Spencer 2:1df0b61d3b5a 34 float junction_deviation; // Setting
Michael J. Spencer 2:1df0b61d3b5a 35 float minimum_planner_speed; // Setting
scachat 0:31e91bb0ef3c 36 };
scachat 0:31e91bb0ef3c 37
scachat 0:31e91bb0ef3c 38
scachat 0:31e91bb0ef3c 39
scachat 0:31e91bb0ef3c 40 #endif