Block.h

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 #ifndef BLOCK_H
00009 #define BLOCK_H
00010 #include "libs/Module.h"
00011 #include "libs/Kernel.h"
00012 using namespace std;
00013 #include <string>
00014 #include <vector>
00015 
00016 #include "../communication/utils/Gcode.h"
00017 #include "Planner.h"
00018 class Planner;
00019 class Conveyor;
00020 
00021 float max_allowable_speed( float acceleration, float target_velocity, float distance);
00022 
00023 class Block {
00024     public:
00025         Block();
00026         void calculate_trapezoid( float entry_speed, float exit_speed );
00027         float estimate_acceleration_distance( float initial_rate, float target_rate, float acceleration );
00028         float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance);
00029         float get_duration_left(unsigned int already_taken_steps);
00030 
00031         float reverse_pass(float exit_speed);
00032         float forward_pass(float next_entry_speed);
00033 
00034         float max_exit_speed();
00035 
00036         void debug();
00037 
00038         void append_gcode(Gcode* gcode);
00039 
00040         void take();
00041         void release();
00042 
00043         void ready();
00044 
00045         void clear();
00046 
00047         void begin();
00048 
00049         //vector<std::string> commands;
00050         //vector<float> travel_distances;
00051         vector<Gcode> gcodes;
00052 
00053         unsigned int   steps[3];           // Number of steps for each axis for this block
00054         unsigned int   steps_event_count;  // Steps for the longest axis
00055         unsigned int   nominal_rate;       // Nominal rate in steps per second
00056         float          nominal_speed;      // Nominal speed in mm per second
00057         float          millimeters;        // Distance for this move
00058         float          entry_speed;
00059         float          exit_speed;
00060         float          rate_delta;         // Nomber of steps to add to the speed for each acceleration tick
00061         unsigned int   initial_rate;       // Initial speed in steps per second
00062         unsigned int   final_rate;         // Final speed in steps per second
00063         unsigned int   accelerate_until;   // Stop accelerating after this number of steps
00064         unsigned int   decelerate_after;   // Start decelerating after this number of steps
00065         unsigned int   direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
00066 
00067 
00068         bool recalculate_flag;             // Planner flag to recalculate trapezoids on entry junction
00069         bool nominal_length_flag;          // Planner flag for nominal speed always reached
00070 
00071         float max_entry_speed;
00072 
00073         bool is_ready;
00074 
00075         short times_taken;    // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
00076 
00077 };
00078 
00079 
00080 #endif