test check in

motion_control.h

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+/*
+  motion_control.h - high level interface for issuing motion commands
+
+  Part of grblHAL
+
+  Copyright (c) 2017-2019 Terje Io
+  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
+  Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+  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/>.
+*/
+
+#ifndef _MOTION_CONTROL_H_
+#define _MOTION_CONTROL_H_
+
+// System motion commands must have a line number of zero.
+#define HOMING_CYCLE_LINE_NUMBER 0
+#define PARKING_MOTION_LINE_NUMBER 0
+
+#define HOMING_CYCLE_ALL  0  // Must be zero.
+#define HOMING_CYCLE_X    bit(X_AXIS)
+#define HOMING_CYCLE_Y    bit(Y_AXIS)
+#define HOMING_CYCLE_Z    bit(Z_AXIS)
+
+// 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.
+bool mc_line(float *target, plan_line_data_t *pl_data);
+
+// 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.
+void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
+  plane_t plane, bool is_clockwise_arc);
+
+// Execute canned cycle (drill)
+void mc_canned_drill (motion_mode_t motion, float *target, plan_line_data_t *pl_data, float *position, plane_t plane, uint32_t repeats, gc_canned_t *canned);
+
+// Execute canned cycle (threading)
+void mc_thread (plan_line_data_t *pl_data, float *position, gc_thread_data *thread, bool feed_hold_disabled);
+
+// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
+status_code_t mc_jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block);
+
+// Dwell for a specific number of seconds
+void mc_dwell(float seconds);
+
+// Perform homing cycle to locate machine zero. Requires limit switches.
+status_code_t mc_homing_cycle(axes_signals_t cycle);
+
+// Perform tool length probe cycle. Requires probe switch.
+gc_probe_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, gc_parser_flags_t parser_flags);
+
+// Handles updating the override control state.
+void mc_override_ctrl_update(gc_override_flags_t override_state);
+
+// Plans and executes the single special motion case for parking. Independent of main planner buffer.
+bool mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
+
+void mc_cubic_b_spline(float *target, plan_line_data_t *pl_data, float *position, float *offset1, float *offset2);
+
+// Performs system reset. If in motion state, kills all motion and sets system alarm.
+void mc_reset();
+
+#ifdef ENABLE_BACKLASH_COMPENSATION
+void mc_backlash_init (void);
+void mc_sync_backlash_position (void);
+#endif
+
+#endif