Diff: modules/tools/extruder/Extruder.h

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/tools/extruder/Extruder.h	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,74 @@
+/*
+      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 EXTURDER_MODULE_H
+#define EXTRUDER_MODULE_H
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "modules/robot/Block.h"
+
+#define microseconds_per_step_pulse_checksum 42333
+#define extruder_module_enable_checksum      6183
+#define extruder_steps_per_mm_checksum       58088
+#define default_feed_rate_checksum           53183
+#define acceleration_checksum                60356
+
+#define OFF 0
+#define SOLO 1
+#define FOLLOW 2
+
+class Extruder : public Module{
+    public:
+        Extruder();
+        virtual void on_module_loaded();
+        virtual void on_config_reload(void* argument);
+        virtual void on_gcode_execute(void* argument);
+        virtual void on_block_begin(void* argument);
+        virtual void on_block_end(void* argument);
+        virtual void on_play(void* argument);
+        virtual void on_pause(void* argument);
+        void set_speed(int steps_per_second);
+        uint32_t acceleration_tick(uint32_t dummy);
+        uint32_t stepping_tick(uint32_t dummy);
+        uint32_t reset_step_pin(uint32_t dummy);
+
+        Pin*            step_pin;                     // Step pin for the stepper driver
+        Pin*            dir_pin;                      // Dir pin for the stepper driver
+        Pin*            en_pin;
+
+        double          start_position;               // Start point ( in steps ) for the current move
+        double          target_position;              // End point ( in steps ) for the current move
+        double          current_position;             // Current point ( in steps ) for the current move, incremented every time a step is outputed
+        Block*          current_block;                // Current block we are stepping, same as Stepper's one
+        int             microseconds_per_step_pulse;  // Pulse duration for step pulses
+        double          steps_per_millimeter;         // Steps to travel one millimeter
+        double          feed_rate;                    //
+        double          acceleration;                 //
+
+        int             counter_increment;
+        int             step_counter;
+
+        bool            solo_mode;
+        double          travel_ratio;
+        double          travel_distance;
+        bool            absolute_mode;
+
+        int             direction;
+
+        bool            debug;
+        int debug_count;
+
+        char mode;
+        bool acceleration_lock;
+
+        bool paused;
+};
+
+#endif