Michael Spencer / Smoothie

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Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

modules/robot/Planner.h@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
Child:
2:1df0b61d3b5a
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 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.
scachat 0:31e91bb0ef3c 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 #define acceleration_checksum 25326
scachat 0:31e91bb0ef3c 17 #define max_jerk_checksum 61012
scachat 0:31e91bb0ef3c 18 #define junction_deviation_checksum 6035
scachat 0:31e91bb0ef3c 19
scachat 0:31e91bb0ef3c 20 // TODO: Get from config
scachat 0:31e91bb0ef3c 21 #define MINIMUM_PLANNER_SPEED 0.0
scachat 0:31e91bb0ef3c 22 using namespace std;
scachat 0:31e91bb0ef3c 23
scachat 0:31e91bb0ef3c 24
scachat 0:31e91bb0ef3c 25 class Planner : public Module {
scachat 0:31e91bb0ef3c 26 public:
scachat 0:31e91bb0ef3c 27 Planner();
scachat 0:31e91bb0ef3c 28 void append_block( int target[], double feed_rate, double distance, double deltas[] );
scachat 0:31e91bb0ef3c 29 double max_allowable_speed( double acceleration, double target_velocity, double distance);
scachat 0:31e91bb0ef3c 30 void recalculate();
scachat 0:31e91bb0ef3c 31 void reverse_pass();
scachat 0:31e91bb0ef3c 32 void forward_pass();
scachat 0:31e91bb0ef3c 33 void recalculate_trapezoids();
scachat 0:31e91bb0ef3c 34 void dump_queue();
scachat 0:31e91bb0ef3c 35 Block* get_current_block();
scachat 0:31e91bb0ef3c 36 void cleanup_queue();
scachat 0:31e91bb0ef3c 37 virtual void on_module_loaded();
scachat 0:31e91bb0ef3c 38 virtual void on_config_reload(void* argument);
scachat 0:31e91bb0ef3c 39
scachat 0:31e91bb0ef3c 40 int position[3]; // Current position, in steps
scachat 0:31e91bb0ef3c 41 double previous_unit_vec[3];
scachat 0:31e91bb0ef3c 42 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 43 bool has_deleted_block; // Flag for above value
scachat 0:31e91bb0ef3c 44 float previous_nominal_speed;
scachat 0:31e91bb0ef3c 45
scachat 0:31e91bb0ef3c 46 double acceleration; // Setting
scachat 0:31e91bb0ef3c 47 double max_jerk; // Setting
scachat 0:31e91bb0ef3c 48 double junction_deviation; // Setting
scachat 0:31e91bb0ef3c 49
scachat 0:31e91bb0ef3c 50 };
scachat 0:31e91bb0ef3c 51
scachat 0:31e91bb0ef3c 52
scachat 0:31e91bb0ef3c 53
scachat 0:31e91bb0ef3c 54 #endif