52 lines
2.1 KiB
C
52 lines
2.1 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 1000000000
|
|
|
|
// 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.
|
|
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
|
|
|
|
// 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.
|
|
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, uint32_t line_number);
|
|
|
|
// 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();
|
|
|
|
// Performs system reset. If in motion state, kills all motion and sets system alarm.
|
|
void mc_reset();
|
|
|
|
// Executes the auto cycle feature, if enabled.
|
|
void mc_auto_cycle_start();
|
|
|
|
#endif
|