Sergey Pastor / grbl_1_

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grbl/motion_control.h@0:9dcf85d9b2f3, 2017-09-04 (annotated)

Committer:
Sergunb
Date:
Mon Sep 04 12:05:05 2017 +0000
Revision:
0:9dcf85d9b2f3
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Sergunb 0:9dcf85d9b2f3 1 /*
Sergunb 0:9dcf85d9b2f3 2 motion_control.h - high level interface for issuing motion commands
Sergunb 0:9dcf85d9b2f3 3 Part of Grbl
Sergunb 0:9dcf85d9b2f3 4
Sergunb 0:9dcf85d9b2f3 5 Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Sergunb 0:9dcf85d9b2f3 6 Copyright (c) 2009-2011 Simen Svale Skogsrud
Sergunb 0:9dcf85d9b2f3 7
Sergunb 0:9dcf85d9b2f3 8 Grbl is free software: you can redistribute it and/or modify
Sergunb 0:9dcf85d9b2f3 9 it under the terms of the GNU General Public License as published by
Sergunb 0:9dcf85d9b2f3 10 the Free Software Foundation, either version 3 of the License, or
Sergunb 0:9dcf85d9b2f3 11 (at your option) any later version.
Sergunb 0:9dcf85d9b2f3 12
Sergunb 0:9dcf85d9b2f3 13 Grbl is distributed in the hope that it will be useful,
Sergunb 0:9dcf85d9b2f3 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
Sergunb 0:9dcf85d9b2f3 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
Sergunb 0:9dcf85d9b2f3 16 GNU General Public License for more details.
Sergunb 0:9dcf85d9b2f3 17
Sergunb 0:9dcf85d9b2f3 18 You should have received a copy of the GNU General Public License
Sergunb 0:9dcf85d9b2f3 19 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
Sergunb 0:9dcf85d9b2f3 20 */
Sergunb 0:9dcf85d9b2f3 21
Sergunb 0:9dcf85d9b2f3 22 #ifndef motion_control_h
Sergunb 0:9dcf85d9b2f3 23 #define motion_control_h
Sergunb 0:9dcf85d9b2f3 24
Sergunb 0:9dcf85d9b2f3 25
Sergunb 0:9dcf85d9b2f3 26 // System motion commands must have a line number of zero.
Sergunb 0:9dcf85d9b2f3 27 #define HOMING_CYCLE_LINE_NUMBER 0
Sergunb 0:9dcf85d9b2f3 28 #define PARKING_MOTION_LINE_NUMBER 0
Sergunb 0:9dcf85d9b2f3 29
Sergunb 0:9dcf85d9b2f3 30 #define HOMING_CYCLE_ALL 0 // Must be zero.
Sergunb 0:9dcf85d9b2f3 31 #define HOMING_CYCLE_X bit(X_AXIS)
Sergunb 0:9dcf85d9b2f3 32 #define HOMING_CYCLE_Y bit(Y_AXIS)
Sergunb 0:9dcf85d9b2f3 33 #define HOMING_CYCLE_Z bit(Z_AXIS)
Sergunb 0:9dcf85d9b2f3 34
Sergunb 0:9dcf85d9b2f3 35
Sergunb 0:9dcf85d9b2f3 36 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
Sergunb 0:9dcf85d9b2f3 37 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
Sergunb 0:9dcf85d9b2f3 38 // (1 minute)/feed_rate time.
Sergunb 0:9dcf85d9b2f3 39 void mc_line(float *target, plan_line_data_t *pl_data);
Sergunb 0:9dcf85d9b2f3 40
Sergunb 0:9dcf85d9b2f3 41 // Execute an arc in offset mode format. position == current xyz, target == target xyz,
Sergunb 0:9dcf85d9b2f3 42 // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
Sergunb 0:9dcf85d9b2f3 43 // the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
Sergunb 0:9dcf85d9b2f3 44 // for vector transformation direction.
Sergunb 0:9dcf85d9b2f3 45 void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
Sergunb 0:9dcf85d9b2f3 46 uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
Sergunb 0:9dcf85d9b2f3 47
Sergunb 0:9dcf85d9b2f3 48 // Dwell for a specific number of seconds
Sergunb 0:9dcf85d9b2f3 49 void mc_dwell(float seconds);
Sergunb 0:9dcf85d9b2f3 50
Sergunb 0:9dcf85d9b2f3 51 // Perform homing cycle to locate machine zero. Requires limit switches.
Sergunb 0:9dcf85d9b2f3 52 void mc_homing_cycle(uint8_t cycle_mask);
Sergunb 0:9dcf85d9b2f3 53
Sergunb 0:9dcf85d9b2f3 54 // Perform tool length probe cycle. Requires probe switch.
Sergunb 0:9dcf85d9b2f3 55 uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags);
Sergunb 0:9dcf85d9b2f3 56
Sergunb 0:9dcf85d9b2f3 57 // Handles updating the override control state.
Sergunb 0:9dcf85d9b2f3 58 void mc_override_ctrl_update(uint8_t override_state);
Sergunb 0:9dcf85d9b2f3 59
Sergunb 0:9dcf85d9b2f3 60 // Plans and executes the single special motion case for parking. Independent of main planner buffer.
Sergunb 0:9dcf85d9b2f3 61 void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
Sergunb 0:9dcf85d9b2f3 62
Sergunb 0:9dcf85d9b2f3 63 // Performs system reset. If in motion state, kills all motion and sets system alarm.
Sergunb 0:9dcf85d9b2f3 64 void mc_reset();
Sergunb 0:9dcf85d9b2f3 65
Sergunb 0:9dcf85d9b2f3 66 #endif