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9df29ad version 0.1
Simen Svale Skogsrud authored Jan 25, 2009
1 /*
49a16cb @simen refactored block buffer into separate module motion_plan pending the …
simen authored Jan 14, 2011
2 motion_control.h - high level interface for issuing motion commands
9df29ad version 0.1
Simen Svale Skogsrud authored Jan 24, 2009
3 Part of Grbl
4
49a16cb @simen refactored block buffer into separate module motion_plan pending the …
simen authored Jan 14, 2011
5 Copyright (c) 2009-2011 Simen Svale Skogsrud
9df29ad version 0.1
Simen Svale Skogsrud authored Jan 24, 2009
6
7 Grbl is free software: you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation, either version 3 of the License, or
10 (at your option) any later version.
11
12 Grbl is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
16
17 You should have received a copy of the GNU General Public License
18 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
19 */
20
21 #ifndef motion_control_h
480f898 @simen eliminated the mc_line-method and replaced it with a macro forwarding…
simen authored Feb 11, 2011
22 #define motion_control_h
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23
24 #include <avr/io.h>
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simen authored Feb 10, 2011
25 #include "planner.h"
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26
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27 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
28 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
898b4ca further refactoring debris extraction
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29 // (1 minute)/feed_rate time.
80afa2f @simen formatting
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30 #define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate)
31 // NOTE: Although this function structurally belongs in this module, there is nothing to to but
480f898 @simen eliminated the mc_line-method and replaced it with a macro forwarding…
simen authored Feb 10, 2011
32 // to forward the request to the planner. For efficiency the function is replaced with a macro that
33 // just forwards the call to the planner.
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Simen Svale Skogsrud authored Jan 28, 2009
34
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35 // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
8c18e26 motion control level support for arcs. No gcode yet
Simen Svale Skogsrud authored Jan 29, 2009
36 // positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
898b4ca further refactoring debris extraction
Simen Svale Skogsrud authored Mar 3, 2010
37 // circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
38 // axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
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39 void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
40 int axis_linear, double feed_rate, int invert_feed_rate);
8c18e26 motion control level support for arcs. No gcode yet
Simen Svale Skogsrud authored Jan 29, 2009
41
e257fc1 support for helical motion
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42 // Dwell for a couple of time units
9df29ad version 0.1
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43 void mc_dwell(uint32_t milliseconds);
ac2e26f added buffered stepping support and the rudiments of the arc-interpol…
Simen Svale Skogsrud authored Jan 28, 2009
44
dad9db1 @simen formatting
simen authored Jan 31, 2011
45 // Send the tool home (not implemented)
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46 void mc_go_home();
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47
9df29ad version 0.1
Simen Svale Skogsrud authored Jan 24, 2009
48 #endif
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