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motion control level support for arcs. No gcode yet

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Simen Svale Skogsrud 2009-01-29 23:12:06 +01:00
parent 73a357e512
commit 8c18e2659d
3 changed files with 169 additions and 75 deletions
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7
motion_control.h
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@ -32,6 +32,13 @@ void mc_init();
// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate);
// Prepare 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 plane in tool space.
// Known issue: This method pretends that all axes uses the same steps/mm as the X axis. Which might
// not be the case ... (To be continued)
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2);
// Prepare linear motion relative to the current position.
void mc_dwell(uint32_t milliseconds);