Diff: modules/robot/Robot.h

Revision:

2:1df0b61d3b5a

Parent:

0:31e91bb0ef3c

--- a/modules/robot/Robot.h	Sat Mar 01 02:37:29 2014 +0000
+++ b/modules/robot/Robot.h	Fri Feb 28 18:52:52 2014 -0800
@@ -1,8 +1,8 @@
-/*  
+/*
       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
@@ -11,19 +11,7 @@
 #include <string>
 using std::string;
 #include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "../communication/utils/Gcode.h"
-#include "arm_solutions/BaseSolution.h"
-#include "Planner.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
@@ -46,47 +34,78 @@
 #define SPINDLE_DIRECTION_CW 0
 #define SPINDLE_DIRECTION_CCW 1
 
-#define M_PI 3.14159
-
+class Gcode;
+class BaseSolution;
+class StepperMotor;
 
 class Robot : public Module {
     public:
         Robot();
-        virtual void on_module_loaded();
-        virtual void on_config_reload(void* argument);
-        virtual void on_gcode_received(void* argument);
-        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_module_loaded();
+        void on_config_reload(void* argument);
+        void on_gcode_received(void* argument);
+        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 );
 
 
-        void compute_arc(Gcode* gcode, double offset[], double target[]);
-        double to_millimeters(double value);
-        double theta(double x, double y);
+        void compute_arc(Gcode* gcode, float offset[], float target[]);
+
+        float theta(float x, float 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
-        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 )
+        float last_milestone[3];                             // Last position, in millimeters
+        bool  inch_mode;                                       // true for inch mode, false for millimeter mode ( default )
+        int8_t motion_mode;                                   // Motion mode for the current received Gcode
+        float seek_rate;                                     // Current rate for seeking moves ( mm/s )
+        float 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
-        
+        float mm_per_line_segment;                           // Setting : Used to split lines into segments
+        float mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
+        float 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
         // of grbl, and should be on the order or greater than the size of the buffer to help with the
         // computational efficiency of generating arcs.
         int arc_correction;                                   // Setting : how often to rectify arc computation
-        double max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
+        float max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
 
+    // Used by Stepper
+    public:
+        StepperMotor* alpha_stepper_motor;
+        StepperMotor* beta_stepper_motor;
+        StepperMotor* gamma_stepper_motor;
+
+        std::vector<StepperMotor*> actuators;
+
+        float seconds_per_minute;                            // for realtime speed change
 };
 
+// Convert from inches to millimeters ( our internal storage unit ) if needed
+inline float Robot::to_millimeters( float value ){
+    return this->inch_mode ? value * 25.4 : value;
+}
+inline float Robot::from_millimeters( float value){
+    return this->inch_mode ? value/25.4 : value;
+}
+inline void Robot::get_axis_position(float position[]){
+    memcpy(position, this->last_milestone, sizeof(float)*3 );
+}
+
 #endif