| /* |
| motion_control.h - high level interface for issuing motion commands |
| Part of Grbl |
| |
| 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. |
| void 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, |
| uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc); |
| |
| // 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(uint8_t cycle_mask); |
| |
| // Perform tool length probe cycle. Requires probe switch. |
| uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags); |
| |
| // Handles updating the override control state. |
| void mc_override_ctrl_update(uint8_t override_state); |
| |
| // Plans and executes the single special motion case for parking. Independent of main planner buffer. |
| void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data); |
| |
| // Performs system reset. If in motion state, kills all motion and sets system alarm. |
| void mc_reset(); |
| |
| #endif |