/* MotionControl.h - high level interface for issuing motion commands Part of Grbl-Advanced Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2017 Patrick F. Grbl-Advanced 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-Advanced 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-Advanced. If not, see . */ #ifndef MOTIONCONTROL_H #define MOTIONCONTROL_H #include #include "Planner.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, Planner_LineData_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, Planner_LineData_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_HomigCycle(uint8_t cycle_mask); // Perform tool length probe cycle. Requires probe switch. uint8_t MC_ProbeCycle(float *target, Planner_LineData_t *pl_data, uint8_t parser_flags); // Handles updating the override control state. void MC_OverrideCtrlUpdate(uint8_t override_state); // Plans and executes the single special motion case for parking. Independent of main planner buffer. void MC_ParkingMotion(float *parking_target, Planner_LineData_t *pl_data); // Performs system reset. If in motion state, kills all motion and sets system alarm. void MC_Reset(void); #endif // MOTIONCONTROL_H