60 lines
2.2 KiB
C
60 lines
2.2 KiB
C
/*
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motion_control.h - cartesian robot controller.
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Part of Grbl
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Copyright (c) 2009 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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#define MC_MODE_AT_REST 0
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#define MC_MODE_LINEAR 1
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#define MC_MODE_ARC 2
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#define MC_MODE_DWELL 3
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#define MC_MODE_HOME 4
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// Initializes the motion_control subsystem resources
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void mc_init();
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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/feed_rate minutes.
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void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate);
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// Prepare 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 plane in tool space.
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// Known issue: This method pretends that all axes uses the same steps/mm as the X axis. Which might
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// not be the case ... (To be continued)
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// Regarding feed rate see note on mc_line.
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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);
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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
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void mc_go_home();
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// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
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// result < 0: the system is in an error state.
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int mc_status();
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#endif
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