4d7ca76f6c
- Updated some of the ifdefs when disabling line numbers feature. Getting messy with this compile-time option. This will likely get cleaned up later. - This is just a push to get the new probing code to compile. Testing and optimization of the code will soon follow and be pushed next.
67 lines
2.7 KiB
C
67 lines
2.7 KiB
C
/*
|
|
motion_control.h - high level interface for issuing motion commands
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2011-2014 Sungeun K. Jeon
|
|
Copyright (c) 2009-2011 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
|
|
|
|
#define HOMING_CYCLE_LINE_NUMBER -1
|
|
|
|
// 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 minute)/feed_rate time.
|
|
#ifdef USE_LINE_NUMBERS
|
|
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
|
|
#else
|
|
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
|
|
#endif
|
|
|
|
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
|
|
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
|
|
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
|
|
// for vector transformation direction.
|
|
#ifdef USE_LINE_NUMBERS
|
|
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
|
|
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, int32_t line_number);
|
|
#else
|
|
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
|
|
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise);
|
|
#endif
|
|
|
|
// Dwell for a specific number of seconds
|
|
void mc_dwell(float seconds);
|
|
|
|
// Perform homing cycle to locate machine zero. Requires limit switches.
|
|
void mc_homing_cycle();
|
|
|
|
// Perform tool length probe cycle. Requires probe switch.
|
|
// Returns STATUS_OK in all cases except when the motion is completed without the probe being triggered.
|
|
// In that case, it returns a STATUS_PROBE_ERROR
|
|
#ifdef USE_LINE_NUMBERS
|
|
uint8_t mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
|
|
#else
|
|
uint8_t mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate);
|
|
#endif
|
|
|
|
// Performs system reset. If in motion state, kills all motion and sets system alarm.
|
|
void mc_reset();
|
|
|
|
#endif
|