kopia lustrzana https://github.com/gnea/grbl
51 wiersze
1.7 KiB
C
51 wiersze
1.7 KiB
C
/*
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jog.h - Jogging methods
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Part of Grbl
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Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
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Grbl 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 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. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.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(plan_line_data_t *pl_data, 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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#ifdef USE_LINE_NUMBERS
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pl_data->line_number = gc_block->values.n;
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#endif
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if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
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if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
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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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if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
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sys.state = STATE_JOG;
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st_prep_buffer();
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st_wake_up(); // 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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