/****************************************************************************************************

RepRapFirmware - Move

This is all the code to deal with movement and kinematics.

-----------------------------------------------------------------------------------------------------

Version 0.1

18 November 2012

Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com

Licence: GPL

****************************************************************************************************/

#ifndef MOVE_H
#define MOVE_H

#define BUFFER_LENGTH 10

class Move
{   
  public:
  
    Move(Platform* p, GCodes* g);
    void Init();
    void Spin();
    void Exit();
    void Qmove();
    void GetCurrentState(float m[]);
    
  private:
  
    Platform* platform;
    GCodes* gCodes;
    unsigned long lastTime;
    boolean active;
    float currentFeedrate;
    float currentPosition[AXES]; // Note - drives above AXES are always relative moves
    float nextMove[DRIVES + 1];  // Extra is for feedrate
    char scratchString[STRING_LENGTH];
};




#endif