diff options
Diffstat (limited to 'src/Movement/Kinematics/Kinematics.h')
| -rw-r--r-- | src/Movement/Kinematics/Kinematics.h | 20 |
1 files changed, 18 insertions, 2 deletions
diff --git a/src/Movement/Kinematics/Kinematics.h b/src/Movement/Kinematics/Kinematics.h index 75f5b327..ab340b4a 100644 --- a/src/Movement/Kinematics/Kinematics.h +++ b/src/Movement/Kinematics/Kinematics.h @@ -20,6 +20,7 @@ enum class KinematicsType : uint8_t coreXZ, linearDelta, scara, + coreXYU, unknown // this one must be last! }; @@ -34,6 +35,14 @@ enum class MotionType : uint8_t class Kinematics { public: + // Class used to define homing mode + enum HomingMode : uint8_t + { + homeCartesianAxes, + homeIndividualMotors, + homeSharedMotors + }; + // Functions that must be defined in each derived class that implements a kinematics // Return the name of the current kinematics. @@ -89,9 +98,9 @@ public: // The default implementation assumes a rectangular reachable area, so it just used the bed dimensions give in the M208 commands. virtual bool IsReachable(float x, float y) const; - // Limit the Cartesian position that the user wants to move to + // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed // The default implementation just applies the rectangular limits set up by M208 to those axes that have been homed. - virtual void LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const; + virtual bool LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const; // Return the set of axes that must have been homed before bed probing is allowed // The default implementation requires just X and Y, but some kinematics require additional axes to be homed (e.g. delta, CoreXZ) @@ -109,6 +118,13 @@ public: // Override this if the homing buttons are not named after the axes (e.g. SCARA printer) virtual const char* HomingButtonNames() const { return "XYZUVW"; } + // Return true if the specified endstop axis uses shared motors. + // Used to determine whether to abort the whole move or just one motor when an endstop switch is triggered. + virtual bool DriveIsShared(size_t drive) const = 0; + + // Return the type of homing we do + virtual HomingMode GetHomingMode() const = 0; + // Override this virtual destructor if your constructor allocates any dynamic memory virtual ~Kinematics() { } |