5c2150daa9
- Junction jerk now re-defined as junction_deviation. The distance from the junction to the edge of a circle tangent to both previous and current path lines. The circle radii is used to compute the maximum junction velocity by centripetal acceleration. More robust and simplified way to compute jerk. - Fixed bugs related to entry and exit factors. They were computed based on the current nominal speeds but not when computing exit factors for neighboring blocks. Removed factors and replaced with entry speeds only. Factors now only computed for stepper trapezoid rate conversions. - Misc: Added min(), next_block_index, prev_block_index functions for clarity.
76 lines
3.5 KiB
C
76 lines
3.5 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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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 speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
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double nominal_speed; // The nominal speed for this block in mm/min
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double millimeters; // The total travel of this block in mm
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double delta_mm[3]; // XYZ travel components of this block in mm
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double entry_speed; // Entry speed at previous-current junction
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double max_entry_speed; // Maximum allowable entry speed
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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, int 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(int 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 |