mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 08:34:01 +08:00
83 lines
3.4 KiB
C
83 lines
3.4 KiB
C
/*
|
|
motion_control.h - high level interface for issuing motion commands
|
|
|
|
Part of grblHAL
|
|
|
|
Copyright (c) 2017-2022 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 (void);
|
|
|
|
#ifdef ENABLE_BACKLASH_COMPENSATION
|
|
void mc_backlash_init (axes_signals_t axes);
|
|
void mc_sync_backlash_position (void);
|
|
#endif
|
|
|
|
#endif
|