diff options
Diffstat (limited to 'src/Movement/Kinematics/Kinematics.h')
| -rw-r--r-- | src/Movement/Kinematics/Kinematics.h | 18 |
1 files changed, 12 insertions, 6 deletions
diff --git a/src/Movement/Kinematics/Kinematics.h b/src/Movement/Kinematics/Kinematics.h index 3d960929..fa9b2e25 100644 --- a/src/Movement/Kinematics/Kinematics.h +++ b/src/Movement/Kinematics/Kinematics.h @@ -26,6 +26,8 @@ enum class KinematicsType : uint8_t linearDelta, scara, coreXYU, + hangprinter, + polar, unknown // this one must be last! }; @@ -52,7 +54,7 @@ public: // Return the name of the current kinematics. // If 'forStatusReport' is true then the string must be the one for that kinematics expected by DuetWebControl and PanelDue. - // Otherwise it should be in a format suitable fore printing. + // Otherwise it should be in a format suitable for printing. // For any new kinematics, the same string can be returned regardless of the parameter. virtual const char *GetName(bool forStatusReport = false) const = 0; @@ -71,7 +73,7 @@ public: // 'numAxes' is the number of machine axes to convert, which will always be at least 3 // 'motorPos' is the output vector of motor positions // Return true if successful, false if we were unable to convert - virtual bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const = 0; + virtual bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const = 0; // Convert motor positions (measured in steps from reference position) to Cartesian coordinates // 'motorPos' is the input vector of motor positions @@ -102,12 +104,12 @@ public: virtual float GetTiltCorrection(size_t axis) const { return 0.0; } // Return true if the specified XY position is reachable by the print head reference point. - // 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; + // The default implementation assumes a rectangular reachable area, so it just uses the bed dimensions give in the M208 commands. + virtual bool IsReachable(float x, float y, bool isCoordinated) const; // 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 bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed) const; + virtual bool LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) 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) @@ -123,7 +125,7 @@ public: virtual size_t NumHomingButtons(size_t numVisibleAxes) const { return numVisibleAxes; } // Override this if the homing buttons are not named after the axes (e.g. SCARA printer) - virtual const char* HomingButtonNames() const { return "XYZUVW"; } + virtual const char* HomingButtonNames() const { return "XYZUVWABC"; } // This function is called when a request is made to home the axes in 'toBeHomed' and the axes in 'alreadyHomed' have already been homed. // If we can proceed with homing some axes, return the name of the homing file to be called. Optionally, update 'alreadyHomed' to indicate @@ -149,6 +151,10 @@ public: // Write any calibration data that we need to resume a print after power fail, returning true if successful. Override where necessary. virtual bool WriteResumeSettings(FileStore *f) const { return true; } + // Limit the speed and acceleration of a move to values that the mechanics can handle. + // The speeds along individual Cartesian axes have already been limited before this is called. + virtual void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const = 0; + // Override this virtual destructor if your constructor allocates any dynamic memory virtual ~Kinematics() { } |