grbl-LPC-CoreXY/grbl/jog.c

51 lines
1.7 KiB
C

/*
jog.h - Jogging methods
Part of Grbl
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
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/>.
*/
#include "grbl.h"
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
{
// Initialize planner data struct for jogging motions.
// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
pl_data->feed_rate = gc_block->values.f;
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#ifdef USE_LINE_NUMBERS
pl_data->line_number = gc_block->values.n;
#endif
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyza)) { return(STATUS_TRAVEL_EXCEEDED); }
}
// Valid jog command. Plan, set state, and execute.
mc_line(gc_block->values.xyza,pl_data);
if (sys.state == STATE_IDLE) {
if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
sys.state = STATE_JOG;
st_prep_buffer();
st_wake_up(); // NOTE: Manual start. No state machine required.
}
}
return(STATUS_OK);
}