b51e902530
- Program stop support (M0,M1*,M2,M30*). *Optional stop to be done. *Pallet shuttle not supported. - Work position is set equal to machine position upon reset, as according to NIST RS274-NGC guidelines. G92 is disabled. - Renamed mc_set_current_position() to mc_set_coordinate_offset(). - Fixed bug in plan_synchronize(). Would exit right before last step is finished and caused issues with program stops. Now fixed. - Spindle now stops upon a run-time abort command. - Updated readme and misc upkeeping.
51 lines
2.0 KiB
C
51 lines
2.0 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) 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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// NOTE: Although the following function structurally belongs in this module, there is nothing to do but
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// to forward the request to the planner.
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#define mc_set_coordinate_offset(x, y, z) plan_set_coordinate_offset(x, y, z)
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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(double x, double y, double z, double 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(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise);
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// Dwell for a specific number of seconds
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void mc_dwell(double seconds);
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// Send the tool home (not implemented)
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void mc_go_home();
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#endif
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