kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
61 wiersze
2.0 KiB
C
61 wiersze
2.0 KiB
C
/*
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Jog.h - Jogging methods
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Part of Grbl-Advanced
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Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2017 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl-Advanced is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Planner.h"
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#include "Jog.h"
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#include "Settings.h"
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#include "Report.h"
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#include "System.h"
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#include "MotionControl.h"
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#include "Stepper.h"
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// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
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uint8_t Jog_Execute(Planner_LineData_t *pl_data, const Parser_Block_t *gc_block)
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{
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// Initialize planner data struct for jogging motions.
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// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
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pl_data->feed_rate = gc_block->values.f;
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pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
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pl_data->line_number = gc_block->values.n;
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if(BIT_IS_TRUE(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE))
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{
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if(System_CheckTravelLimits(gc_block->values.xyz))
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{
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return STATUS_TRAVEL_EXCEEDED;
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}
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}
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// Valid jog command. Plan, set state, and execute.
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MC_Line(gc_block->values.xyz, pl_data);
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if(sys.state == STATE_IDLE)
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{
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if (Planner_GetCurrentBlock() != 0) // Check if there is a block to execute.
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{
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sys.state = STATE_JOG;
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Stepper_PrepareBuffer();
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Stepper_WakeUp(); // NOTE: Manual start. No state machine required.
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}
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}
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return STATUS_OK;
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}
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