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Merge chamnit/v0_7 with grbl/master

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Sonny Jeon
2012-01-17 20:50:53 -07:00
parent 74576a8a0c
commit 9713f9067d
32 changed files with 1558 additions and 1020 deletions
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26
motion_control.h
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@@ -3,7 +3,8 @@
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Sungeun K. Jeon
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
@@ -24,24 +25,27 @@
#include <avr/io.h>
#include "planner.h"
// NOTE: Although the following functions structurally belongs in this module, there is nothing to do but
// to forward the request to the planner.
// 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.
#define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate)
// NOTE: Although this function structurally belongs in this module, there is nothing to do but
// to forward the request to the planner. For efficiency the function is implemented with a macro.
#define mc_set_current_position(x, y, z) plan_set_current_position(x, y, z)
#ifdef __AVR_ATmega328P__
// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate, double *position);
// 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, isclockwise boolean. Used
// for vector transformation direction.
void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise);
#endif
// Dwell for a couple of time units
void mc_dwell(uint32_t milliseconds);
// Dwell for a specific number of seconds
void mc_dwell(double seconds);
// Send the tool home (not implemented)
void mc_go_home();