065ceceb34
- Installed a new 'alarm' method to centralize motion kills across alarm or reset events. Right now, this is controlled by system abort and hard limits. But, in the future, a g-code parser error may call this too as a safety feature. - Re(re)organized status messages to just print all errors, regardless from where it was called. This centralizes them into one place. - Misc messages method installed for any user feedback that is not a confirmation or error. Mainly so that there is a place to perform warnings and such. - New stuff installed and still made the flash size smaller by saving flash space from clearing out repeated '\r\n' pgmstrings. - Fixed a bug where hard limits message would print everytime a system abort was sent.
50 lines
1.9 KiB
C
Executable File
50 lines
1.9 KiB
C
Executable File
/*
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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) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 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 motion_control_h
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#define motion_control_h
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#include <avr/io.h>
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#include "planner.h"
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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 x, float y, float z, float feed_rate, uint8_t invert_feed_rate);
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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, isclockwise boolean. Used
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// for vector transformation direction.
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void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise);
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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// Send the tool home (not implemented)
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void mc_go_home();
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// Kills all motion and sets system alarm
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void mc_alarm();
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#endif
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