51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
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/*
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accelleration.h - accelleration management support
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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 accelleration_h
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#define accelleration_h
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// Unless someone else defined AC_TICKS_PER_SECOND, we define a sensible default
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#ifndef AC_TICKS_PER_SECOND
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#define AC_TICKS_PER_SECOND 10
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#endif
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struct AccellerationProfile {
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float initial_scaler;
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float final_scaler;
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float accelleration_delta;
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float decelleration_delta;
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uint32_t accellerate_ticks;
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uint32_t plateau_ticks;
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};
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struct AccellerationProfileSegment {
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float v_entry[3];
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float v_ideal[3];
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float v_exit[3];
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float distance;
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float f_entry, f_exit;
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};
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struct AccellerationProfileBuilder {
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AccellerationProfileSegment segment[3];
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uint8_t current;
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};
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#endif
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