7e67395463
- Minor bug fix for variable spindle PWM output. Values smaller than the minimum RPM for the spindle would overflow the PWM value. Thanks Rob! - Created an optional minimum spindle PWM low-mark value as a compile-time option. This is for special circumstances when the PWM has to be at a certain level to be read by the spindle controller. - Refactored the new probing commands (G38.3, G38.4, G38.5) code to work better with the rest of Grbl’s systems. - Refactored mc_probe() and mc_arc() to accept the mode of the command, i.e. clockwise vs counter, toward vs away, etc. This is to make these functions independent of gcode state variables. - Removed the pull off motion in the probing cycle. This is not an official operation and was added for user simplicity, but wrongly did so. So bye bye. - Created a configure probe invert mask function to handle the different probe pin setting and probing cycle modes with a single mask. - Minor bug fix with reporting motion modes via $G. G38.2 wasn’t showing up. It now does, along with the other new probing commands. - Refactored some of the new pin configurations for the future of Grbl. -
73 lines
2.9 KiB
C
73 lines
2.9 KiB
C
/*
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motion_control.h - high level interface for issuing motion commands
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Part of Grbl v0.9
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Copyright (c) 2012-2014 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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/*
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This file is based on work from Grbl v0.8, distributed under the
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terms of the MIT-license. See COPYING for more details.
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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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*/
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#ifndef motion_control_h
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#define motion_control_h
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#include "gcode.h"
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#define HOMING_CYCLE_LINE_NUMBER -1
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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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#ifdef USE_LINE_NUMBERS
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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#else
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
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#endif
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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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#ifdef USE_LINE_NUMBERS
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number);
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#else
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
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#endif
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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();
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// Perform tool length probe cycle. Requires probe switch.
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#ifdef USE_LINE_NUMBERS
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
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uint8_t is_no_error, int32_t line_number);
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#else
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
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uint8_t is_no_error);
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#endif
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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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