motion_control.h

00001 /*
00002   motion_control.h - high level interface for issuing motion commands
00003   Part of Grbl
00004 
00005   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
00006   Copyright (c) 2009-2011 Simen Svale Skogsrud
00007 
00008   Grbl is free software: you can redistribute it and/or modify
00009   it under the terms of the GNU General Public License as published by
00010   the Free Software Foundation, either version 3 of the License, or
00011   (at your option) any later version.
00012 
00013   Grbl is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016   GNU General Public License for more details.
00017 
00018   You should have received a copy of the GNU General Public License
00019   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
00020 */
00021 
00022 #ifndef motion_control_h
00023 #define motion_control_h
00024 
00025 
00026 // System motion commands must have a line number of zero.
00027 #define HOMING_CYCLE_LINE_NUMBER 0
00028 #define PARKING_MOTION_LINE_NUMBER 0
00029 
00030 #define HOMING_CYCLE_ALL  0  // Must be zero.
00031 #define HOMING_CYCLE_X    bit(X_AXIS)
00032 #define HOMING_CYCLE_Y    bit(Y_AXIS)
00033 #define HOMING_CYCLE_Z    bit(Z_AXIS)
00034 
00035 
00036 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
00037 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
00038 // (1 minute)/feed_rate time.
00039 void mc_line(float *target, plan_line_data_t *pl_data);
00040 
00041 // Execute an arc in offset mode format. position == current xyz, target == target xyz,
00042 // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
00043 // the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
00044 // for vector transformation direction.
00045 void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
00046   uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
00047 
00048 // Dwell for a specific number of seconds
00049 void mc_dwell(float seconds);
00050 
00051 // Perform homing cycle to locate machine zero. Requires limit switches.
00052 void mc_homing_cycle(uint8_t cycle_mask);
00053 
00054 // Perform tool length probe cycle. Requires probe switch.
00055 uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags);
00056 
00057 // Handles updating the override control state.
00058 void mc_override_ctrl_update(uint8_t override_state);
00059 
00060 // Plans and executes the single special motion case for parking. Independent of main planner buffer.
00061 void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
00062 
00063 // Performs system reset. If in motion state, kills all motion and sets system alarm.
00064 void mc_reset();
00065 
00066 #endif