50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
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/*
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motion_control.h - cartesian robot controller.
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef motion_control_h
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#define motion_control_h
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#include <avr/io.h>
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/* All coordinates are in step-counts. */
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// Initializes the motion_control subsystem resources
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void mc_init();
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// Prepare for linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
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void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate);
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// Prepare linear motion relative to the current position.
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void mc_dwell(uint32_t milliseconds);
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// Prepare to send the tool position home
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void mc_go_home();
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// Start the prepared operation.
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void mc_execute();
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// Block until the motion control system is idle
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void mc_wait();
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// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
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// result < 0: the system is in an error state.
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int mc_status();
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#endif
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