ManuelW/grbl-LPC-CoreXY
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support for helical motion

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This commit is contained in:
Simen Svale Skogsrud
2009-02-11 00:37:33 +01:00
parent 8f3a69b37e
commit e257fc195c
6 changed files with 164 additions and 117 deletions
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20
motion_control.h
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@ -32,28 +32,26 @@
// 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.
// 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.
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,
// 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)
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate);
// not be the case ... (To be continued)
// Regarding feed rate see note on mc_line.
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);
// Prepare linear motion relative to the current position.
// Dwell for a couple of time units
void mc_dwell(uint32_t milliseconds);
// Prepare to send the tool position home
// Send the tool home
void mc_go_home();
// Start the prepared operation. In the current implementation this will block for most of the task at hand.
// In future implementations it might not block at all. If you want to make sure the system has reached
// quiescence call mc_wait()
void mc_execute();
// 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();