Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

modules/robot/Block.h@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 3 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.
scachat 0:31e91bb0ef3c 4 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.
scachat 0:31e91bb0ef3c 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8 #ifndef BLOCK_H
scachat 0:31e91bb0ef3c 9 #define BLOCK_H
scachat 0:31e91bb0ef3c 10 #include "libs/Module.h"
scachat 0:31e91bb0ef3c 11 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 12 using namespace std;
scachat 0:31e91bb0ef3c 13 #include <string>
scachat 0:31e91bb0ef3c 14 #include <vector>
scachat 0:31e91bb0ef3c 15
scachat 0:31e91bb0ef3c 16 #include "../communication/utils/Gcode.h"
scachat 0:31e91bb0ef3c 17 #include "Planner.h"
scachat 0:31e91bb0ef3c 18 class Planner;
scachat 0:31e91bb0ef3c 19 class Player;
scachat 0:31e91bb0ef3c 20
scachat 0:31e91bb0ef3c 21 double max_allowable_speed( double acceleration, double target_velocity, double distance);
scachat 0:31e91bb0ef3c 22
scachat 0:31e91bb0ef3c 23 class Block {
scachat 0:31e91bb0ef3c 24 public:
scachat 0:31e91bb0ef3c 25 Block();
scachat 0:31e91bb0ef3c 26 double compute_factor_for_safe_speed();
scachat 0:31e91bb0ef3c 27 void calculate_trapezoid( double entry_factor, double exit_factor );
scachat 0:31e91bb0ef3c 28 double estimate_acceleration_distance( double initial_rate, double target_rate, double acceleration );
scachat 0:31e91bb0ef3c 29 double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance);
scachat 0:31e91bb0ef3c 30 void reverse_pass(Block* previous, Block* next);
scachat 0:31e91bb0ef3c 31 void forward_pass(Block* previous, Block* next);
scachat 0:31e91bb0ef3c 32 void debug(Kernel* kernel);
scachat 0:31e91bb0ef3c 33 void append_gcode(Gcode* gcode);
scachat 0:31e91bb0ef3c 34 void pop_and_execute_gcode(Kernel* &kernel);
scachat 0:31e91bb0ef3c 35 double get_duration_left(unsigned int already_taken_steps);
scachat 0:31e91bb0ef3c 36 void take();
scachat 0:31e91bb0ef3c 37 void release();
scachat 0:31e91bb0ef3c 38 void ready();
scachat 0:31e91bb0ef3c 39
scachat 0:31e91bb0ef3c 40 vector<std::string> commands;
scachat 0:31e91bb0ef3c 41 vector<double> travel_distances;
scachat 0:31e91bb0ef3c 42 vector<Gcode> gcodes;
scachat 0:31e91bb0ef3c 43
scachat 0:31e91bb0ef3c 44 unsigned int steps[3]; // Number of steps for each axis for this block
scachat 0:31e91bb0ef3c 45 unsigned int steps_event_count; // Steps for the longest axis
scachat 0:31e91bb0ef3c 46 unsigned int nominal_rate; // Nominal rate in steps per minute
scachat 0:31e91bb0ef3c 47 float nominal_speed; // Nominal speed in mm per minute
scachat 0:31e91bb0ef3c 48 float millimeters; // Distance for this move
scachat 0:31e91bb0ef3c 49 double entry_speed;
scachat 0:31e91bb0ef3c 50 unsigned int rate_delta; // Nomber of steps to add to the speed for each acceleration tick
scachat 0:31e91bb0ef3c 51 int initial_rate; // Initial speed in steps per minute
scachat 0:31e91bb0ef3c 52 int final_rate; // Final speed in steps per minute
scachat 0:31e91bb0ef3c 53 unsigned int accelerate_until; // Stop accelerating after this number of steps
scachat 0:31e91bb0ef3c 54 unsigned int decelerate_after; // Start decelerating after this number of steps
scachat 0:31e91bb0ef3c 55 unsigned int direction_bits; // Direction for each axis in bit form, relative to the direction port's mask
scachat 0:31e91bb0ef3c 56
scachat 0:31e91bb0ef3c 57
scachat 0:31e91bb0ef3c 58 uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
scachat 0:31e91bb0ef3c 59 uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
scachat 0:31e91bb0ef3c 60
scachat 0:31e91bb0ef3c 61 double max_entry_speed;
scachat 0:31e91bb0ef3c 62 Planner* planner;
scachat 0:31e91bb0ef3c 63 Player* player;
scachat 0:31e91bb0ef3c 64
scachat 0:31e91bb0ef3c 65 bool is_ready;
scachat 0:31e91bb0ef3c 66
scachat 0:31e91bb0ef3c 67 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.
scachat 0:31e91bb0ef3c 68
scachat 0:31e91bb0ef3c 69 };
scachat 0:31e91bb0ef3c 70
scachat 0:31e91bb0ef3c 71
scachat 0:31e91bb0ef3c 72
scachat 0:31e91bb0ef3c 73
scachat 0:31e91bb0ef3c 74
scachat 0:31e91bb0ef3c 75
scachat 0:31e91bb0ef3c 76
scachat 0:31e91bb0ef3c 77
scachat 0:31e91bb0ef3c 78
scachat 0:31e91bb0ef3c 79
scachat 0:31e91bb0ef3c 80
scachat 0:31e91bb0ef3c 81 #endif