b3a53a4683
- Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
70 lines
2.8 KiB
C
70 lines
2.8 KiB
C
/*
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motion_control.h - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2011-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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#ifndef motion_control_h
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#define motion_control_h
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#define HOMING_CYCLE_LINE_NUMBER -1
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// (1 minute)/feed_rate time.
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#ifdef USE_LINE_NUMBERS
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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#else
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
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#endif
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// Execute an arc in offset mode format. position == current xyz, target == target xyz,
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// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
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// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
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// for vector transformation direction.
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#ifdef USE_LINE_NUMBERS
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number);
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#else
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
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#endif
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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// Perform homing cycle to locate machine zero. Requires limit switches.
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void mc_homing_cycle();
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// Perform tool length probe cycle. Requires probe switch.
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#ifdef USE_LINE_NUMBERS
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
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uint8_t is_no_error, int32_t line_number);
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#else
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
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uint8_t is_no_error);
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#endif
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// Plans and executes the single special motion case for parking. Independent of main planner buffer.
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void mc_parking_motion(float *parking_target, float feed_rate);
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// Performs system reset. If in motion state, kills all motion and sets system alarm.
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void mc_reset();
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#endif
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