9141ad2825
- Fleshed out the original idea to completely remove the long slope at the end of deceleration issue. This third time should absolutely eliminate it. - Changed the acceleration setting to kept as mm/min^2 internally, since this was creating unneccessary additional computation in the planner. Human readable value kept at mm/sec^2. - Updated grbl version 0.7d and settings version to 4. NOTE: Please check settings after update. These may have changed, but shouldn't. - Before updating the new features (pause, e-stop, federate override, etc), the edge branch will soon be merged with the master, barring any immediate issues that people may have, and the edge branch will be the testing ground for the new grbl version 0.8.
78 lines
3.6 KiB
C
78 lines
3.6 KiB
C
/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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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 planner_h
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#define planner_h
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#include <inttypes.h>
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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int32_t step_event_count; // The number of step events required to complete this block
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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// Fields used by the motion planner to manage acceleration
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double nominal_speed; // The nominal speed for this block in mm/min
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double entry_speed; // Entry speed at previous-current junction in mm/min
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double max_entry_speed; // Maximum allowable junction entry speed in mm/min
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double millimeters; // The total travel of this block in mm
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uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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uint32_t initial_rate; // The jerk-adjusted step rate at start of block
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uint32_t final_rate; // The minimal rate at exit
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int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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uint32_t accelerate_until; // The index of the step event on which to stop acceleration
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uint32_t decelerate_after; // The index of the step event on which to start decelerating
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} block_t;
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// Initialize the motion plan subsystem
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void plan_init();
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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// Enables or disables acceleration-management for upcoming blocks
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void plan_set_acceleration_manager_enabled(uint8_t enabled);
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// Is acceleration-management currently enabled?
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int plan_is_acceleration_manager_enabled();
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// Reset the position vector
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void plan_set_current_position(double x, double y, double z);
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#endif
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