54 lines
2.1 KiB
C
54 lines
2.1 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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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 functions 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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// 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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#define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate)
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#define mc_set_current_position(x, y, z) plan_set_current_position(x, y, z)
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#ifdef __AVR_ATmega328P__
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// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
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// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
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// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
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// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
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void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
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int axis_linear, double feed_rate, int invert_feed_rate, double *position);
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#endif
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// Dwell for a couple of time units
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void mc_dwell(uint32_t milliseconds);
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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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