version 0.1

motion_control.h

@@ -0,0 +1,49 @@
+/*
+  motion_control.h - cartesian robot controller.
+  Part of Grbl
+
+  Copyright (c) 2009 Simen Svale Skogsrud
+
+  Grbl 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.
+
+  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef motion_control_h
+#define motion_control_h 
+
+#include <avr/io.h>
+
+/* All coordinates are in step-counts. */
+
+// Initializes the motion_control subsystem resources
+void mc_init();
+
+// Prepare for linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
+// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
+void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate);
+// Prepare linear motion relative to the current position.
+void mc_dwell(uint32_t milliseconds);
+// Prepare to send the tool position home
+void mc_go_home();
+// Start the prepared operation.
+void mc_execute();
+
+// Block until the motion control system is idle
+void mc_wait();
+
+
+// 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