b237ad566a
- Re-organized source code files into a ‘grbl’ directory to lessen one step in compiling Grbl through the Arduino IDE. - Added an ‘examples’ directory with an upload .INO sketch to further simplify compiling and uploading Grbl via the Arduino IDE. - Updated the Makefile with regard to the source code no longer being in the root directory. All files generated by compiling is placed in a separate ‘build’ directory to keep things tidy. The makefile should operate in the same way as it did before.
73 lines
2.9 KiB
C
73 lines
2.9 KiB
C
/*
|
|
motion_control.h - high level interface for issuing motion commands
|
|
Part of Grbl v0.9
|
|
|
|
Copyright (c) 2012-2015 Sungeun K. Jeon
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
This file is based on work from Grbl v0.8, distributed under the
|
|
terms of the MIT-license. See COPYING for more details.
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2011-2012 Sungeun K. Jeon
|
|
*/
|
|
|
|
#ifndef motion_control_h
|
|
#define motion_control_h
|
|
|
|
|
|
#define HOMING_CYCLE_LINE_NUMBER -1
|
|
|
|
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
|
|
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
|
|
// (1 minute)/feed_rate time.
|
|
#ifdef USE_LINE_NUMBERS
|
|
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
|
|
#else
|
|
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
|
|
#endif
|
|
|
|
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
|
|
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
|
|
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
|
|
// for vector transformation direction.
|
|
#ifdef USE_LINE_NUMBERS
|
|
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
|
|
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);
|
|
#else
|
|
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
|
|
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
|
|
#endif
|
|
|
|
// Dwell for a specific number of seconds
|
|
void mc_dwell(float seconds);
|
|
|
|
// Perform homing cycle to locate machine zero. Requires limit switches.
|
|
void mc_homing_cycle();
|
|
|
|
// Perform tool length probe cycle. Requires probe switch.
|
|
#ifdef USE_LINE_NUMBERS
|
|
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
|
|
uint8_t is_no_error, int32_t line_number);
|
|
#else
|
|
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
|
|
uint8_t is_no_error);
|
|
#endif
|
|
|
|
// Performs system reset. If in motion state, kills all motion and sets system alarm.
|
|
void mc_reset();
|
|
|
|
#endif
|