Diff: modules/robot/Robot.h

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/robot/Robot.h	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,92 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      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.
+      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.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include <string>
+using std::string;
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "../communication/utils/Gcode.h"
+#include "arm_solutions/BaseSolution.h"
+#include "Planner.h"
+
+#define default_seek_rate_checksum             6633
+#define default_feed_rate_checksum             47357
+#define mm_per_line_segment_checksum           30176
+#define mm_per_arc_segment_checksum            15470
+#define arc_correction_checksum                5074
+#define x_axis_max_speed_checksum              64935
+#define y_axis_max_speed_checksum              3752
+#define z_axis_max_speed_checksum              7849
+
+#define NEXT_ACTION_DEFAULT 0
+#define NEXT_ACTION_DWELL 1
+#define NEXT_ACTION_GO_HOME 2
+
+#define MOTION_MODE_SEEK 0 // G0
+#define MOTION_MODE_LINEAR 1 // G1
+#define MOTION_MODE_CW_ARC 2 // G2
+#define MOTION_MODE_CCW_ARC 3 // G3
+#define MOTION_MODE_CANCEL 4 // G80
+
+#define PATH_CONTROL_MODE_EXACT_PATH 0
+#define PATH_CONTROL_MODE_EXACT_STOP 1
+#define PATH_CONTROL_MODE_CONTINOUS 2
+
+#define PROGRAM_FLOW_RUNNING 0
+#define PROGRAM_FLOW_PAUSED 1
+#define PROGRAM_FLOW_COMPLETED 2
+
+#define SPINDLE_DIRECTION_CW 0
+#define SPINDLE_DIRECTION_CCW 1
+
+#define M_PI 3.14159
+
+
+class Robot : public Module {
+    public:
+        Robot();
+        virtual void on_module_loaded();
+        virtual void on_config_reload(void* argument);
+        virtual void on_gcode_received(void* argument);
+        void execute_gcode(Gcode* gcode);
+        void append_milestone( double target[], double feed_rate);
+        void append_line( Gcode* gcode, double target[], double feed_rate);
+        //void append_arc(double theta_start, double angular_travel, double radius, double depth, double rate);
+        void append_arc( Gcode* gcode, double target[], double offset[], double radius, bool is_clockwise );
+
+
+        void compute_arc(Gcode* gcode, double offset[], double target[]);
+        double to_millimeters(double value);
+        double theta(double x, double y);
+        void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2);
+
+        double current_position[3];                           // Current position, in millimeters
+        double last_milestone[3];                             // Last position, in millimeters
+        bool inch_mode;                                       // true for inch mode, false for millimeter mode ( default )
+        bool absolute_mode;                                   // true for absolute mode ( default ), false for relative mode
+        int8_t motion_mode;                                  // Motion mode for the current received Gcode
+        double seek_rate;                                     // Current rate for seeking moves ( mm/s )
+        double feed_rate;                                     // Current rate for feeding moves ( mm/s )
+        uint8_t plane_axis_0, plane_axis_1, plane_axis_2;     // Current plane ( XY, XZ, YZ )
+        BaseSolution* arm_solution;                           // Selected Arm solution ( millimeters to step calculation )
+        double mm_per_line_segment;                           // Setting : Used to split lines into segments
+        double mm_per_arc_segment;                            // Setting : Used to split arcs into segmentrs
+        
+        // Number of arc generation iterations by small angle approximation before exact arc trajectory
+        // correction. This parameter maybe decreased if there are issues with the accuracy of the arc
+        // generations. In general, the default value is more than enough for the intended CNC applications
+        // of grbl, and should be on the order or greater than the size of the buffer to help with the
+        // computational efficiency of generating arcs.
+        int arc_correction;                                   // Setting : how often to rectify arc computation
+        double max_speeds[3];                                 // Setting : max allowable speed in mm/m for each axis
+
+};
+
+#endif