Planner.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 PLANNER_H
00009 #define PLANNER_H
00010 
00011 #include <vector>
00012 #include "libs/RingBuffer.h"
00013 #include "../communication/utils/Gcode.h"
00014 #include "Block.h"
00015 
00016 using namespace std;
00017 
00018 class Planner : public Module {
00019     public:
00020         Planner();
00021         void append_block( float target[], float rate_mm_s, float distance, float unit_vec[] );
00022         float max_allowable_speed( float acceleration, float target_velocity, float distance);
00023         void recalculate();
00024         Block* get_current_block();
00025         void cleanup_queue();
00026         void on_module_loaded();
00027         void on_config_reload(void* argument);
00028 
00029         float previous_unit_vec[3];
00030         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
00031         bool has_deleted_block;       // Flag for above value
00032 
00033         float acceleration;          // Setting
00034         float junction_deviation;    // Setting
00035         float minimum_planner_speed; // Setting
00036 };
00037 
00038 
00039 
00040 #endif