82efa28c81
routine executes in 6.5 microseconds, so we shouldn't have any trouble driving the steppers fast...
88 lines
1.7 KiB
C++
88 lines
1.7 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Move
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This is all the code to deal with movement and kinematics.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#ifndef MOVE_H
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#define MOVE_H
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#define BUFFER_LENGTH 10
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class DDA
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{
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public:
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DDA(Move* m, Platform* p);
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boolean Init(float currentPosition[], float targetPosition[]);
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void Start(boolean noTest);
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void Step(boolean noTest);
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boolean Active();
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private:
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Move* move;
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Platform* platform;
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long counter[DRIVES+1];
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long delta[DRIVES+1];
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char directions[DRIVES+1];
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long totalSteps;
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long stepCount;
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float timeStep;
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float velocity;
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long stopAStep;
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long startDStep;
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volatile boolean active;
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};
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class Move
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{
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public:
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Move(Platform* p, GCodes* g);
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void Init();
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void Spin();
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void Exit();
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void Qmove();
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void GetCurrentState(float m[]);
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void Interrupt();
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friend class DDA;
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private:
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Platform* platform;
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GCodes* gCodes;
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DDA* dda;
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unsigned long lastTime;
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boolean active;
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float currentFeedrate;
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float currentPosition[AXES]; // Note - drives above AXES are always relative moves
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float nextMove[DRIVES + 1]; // Extra is for feedrate
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float stepDistances[8]; // Index bits: lsb -> dx, dy, dz <- msb
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};
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inline boolean DDA::Active()
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{
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return active;
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}
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inline void Move::Interrupt()
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{
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dda->Step(true);
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}
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#endif
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