ManuelW/grbl-LPC-CoreXY
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further refactoring debris extraction

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This commit is contained in:
Simen Svale Skogsrud
2010-03-03 17:52:56 +01:00
parent 9a41b3a4fb
commit 898b4ca99d
10 changed files with 53 additions and 123 deletions
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20
motion_control.h
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@ -23,26 +23,18 @@
#include <avr/io.h>
#define MC_MODE_AT_REST 0
#define MC_MODE_LINEAR 1
#define MC_MODE_ARC 2
#define MC_MODE_DWELL 3
#define MC_MODE_HOME 4
// Initializes the motion_control subsystem resources
void mc_init();
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// 1/feed_rate minutes.
// (1 minute)/feed_rate time.
void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate);
// Prepare an arc. theta == start angle, angular_travel == number of radians to go along the arc,
// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
// circle in millimeters. axis_1 and axis_2 selects the plane in tool space.
// Known issue: This method pretends that all axes uses the same steps/mm as the X axis. Which might
// not be the case ... (To be continued)
// Regarding feed rate see note on mc_line.
// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate);
@ -52,8 +44,4 @@ void mc_dwell(uint32_t milliseconds);
// Send the tool home
void mc_go_home();
// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
// result < 0: the system is in an error state.
int mc_status();
#endif