70 lines
2.7 KiB
C
70 lines
2.7 KiB
C
/*
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motion_control.h - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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 motion_control_h
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#define motion_control_h
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// System motion commands must have a line number of zero.
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#define HOMING_CYCLE_LINE_NUMBER 0
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#define PARKING_MOTION_LINE_NUMBER 0
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#define HOMING_CYCLE_ALL 0 // Must be zero.
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#define HOMING_CYCLE_X bit(X_AXIS)
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#define HOMING_CYCLE_Y bit(Y_AXIS)
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#define HOMING_CYCLE_Z bit(Z_AXIS)
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#define HOMING_CYCLE_A bit(A_AXIS)
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//#define HOMING_CYCLE_B bit(B_AXIS)
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//#define HOMING_CYCLE_C bit(C_AXIS)
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// (1 minute)/feed_rate time.
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void mc_line(float *target, plan_line_data_t *pl_data);
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// Execute an arc in offset mode format. position == current xyz, target == target xyz,
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// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
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// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
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// for vector transformation direction.
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void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
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uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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// Perform homing cycle to locate machine zero. Requires limit switches.
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void mc_homing_cycle(uint8_t cycle_mask);
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// Perform tool length probe cycle. Requires probe switch.
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uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags);
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// Handles updating the override control state.
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void mc_override_ctrl_update(uint8_t override_state);
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// Plans and executes the single special motion case for parking. Independent of main planner buffer.
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void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
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// Performs system reset. If in motion state, kills all motion and sets system alarm.
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void mc_reset();
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#endif
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