motion_control.h

/*
  motion_control.h - high level interface for issuing motion commands

  Part of grblHAL

  Copyright (c) 2017-2022 Terje Io
  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud

  Grbl 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 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.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _MOTION_CONTROL_H_
#define _MOTION_CONTROL_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.
bool mc_line(float *target, plan_line_data_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, plan_line_data_t *pl_data, float *position, float *offset, float radius,
  plane_t plane, bool is_clockwise_arc);

// Execute canned cycle (drill)
void mc_canned_drill (motion_mode_t motion, float *target, plan_line_data_t *pl_data, float *position, plane_t plane, uint32_t repeats, gc_canned_t *canned);

// Execute canned cycle (threading)
void mc_thread (plan_line_data_t *pl_data, float *position, gc_thread_data *thread, bool feed_hold_disabled);

// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
status_code_t mc_jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block);

// Dwell for a specific number of seconds
void mc_dwell(float seconds);

// Perform homing cycle to locate machine zero. Requires limit switches.
status_code_t mc_homing_cycle(axes_signals_t cycle);

// Perform tool length probe cycle. Requires probe switch.
gc_probe_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, gc_parser_flags_t parser_flags);

// Handles updating the override control state.
void mc_override_ctrl_update(gc_override_flags_t override_state);

// Plans and executes the single special motion case for parking. Independent of main planner buffer.
bool mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);

void mc_cubic_b_spline(float *target, plan_line_data_t *pl_data, float *position, float *offset1, float *offset2);

// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset (void);

#ifdef ENABLE_BACKLASH_COMPENSATION
void mc_backlash_init (axes_signals_t axes);
void mc_sync_backlash_position (void);
#endif

#endif