diff options
Diffstat (limited to 'src/Movement/Move.h')
| -rw-r--r-- | src/Movement/Move.h | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/Movement/Move.h b/src/Movement/Move.h index e2eeac41..8234be45 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -8,13 +8,13 @@ #ifndef MOVE_H_ #define MOVE_H_ -#include <Movement/Kinematics/LinearDeltaKinematics.h> // temporary #include "RepRapFirmware.h" #include "MessageType.h" #include "DDA.h" // needed because of our inline functions #include "BedProbing/RandomProbePointSet.h" #include "BedProbing/Grid.h" #include "Kinematics/Kinematics.h" +#include "GCodes/RestorePoint.h" #ifdef DUET_NG const unsigned int DdaRingLength = 30; @@ -45,7 +45,7 @@ public: void HitLowStop(size_t axis, DDA* hitDDA); // What to do when a low endstop is hit void HitHighStop(size_t axis, DDA* hitDDA); // What to do when a high endstop is hit void ZProbeTriggered(DDA* hitDDA); // What to do when a the Z probe is triggered - void SetPositions(const float move[DRIVES]); // Force the coordinates to be these + void SetNewPosition(const float positionNow[DRIVES], bool doBedCompensation); // Set the current position to be this void SetLiveCoordinates(const float coords[DRIVES]); // Force the live coordinates (see above) to be these void ResetExtruderPositions(); // Resets the extrusion amounts of the live coordinates void SetXYBedProbePoint(size_t index, float x, float y); // Record the X and Y coordinates of a probe point @@ -60,6 +60,8 @@ public: float GetTaperHeight() const { return (useTaper) ? taperHeight : 0.0; } void SetTaperHeight(float h); bool UseMesh(bool b); // Try to enable mesh bed compensation and report the final state + bool IsUsingMesh() const { return usingMesh; } // Return true if we are using mesh compensation + float PushBabyStepping(float amount); // Try to push some babystepping through the lookahead queue void Diagnostics(MessageType mtype); // Report useful stuff @@ -77,7 +79,6 @@ public: // Temporary kinematics functions bool IsDeltaMode() const { return kinematics->GetKinematicsType() == KinematicsType::linearDelta; } - bool IsCoreXYAxis(size_t axis) const; // Return true if the specified axis shares its motors with another // End temporary functions void CurrentMoveCompleted(); // Signal that the current move has just been completed @@ -89,7 +90,7 @@ public: float GetSimulationTime() const { return simulationTime; } // Get the accumulated simulation time void PrintCurrentDda() const; // For debugging - FilePosition PausePrint(float positions[DRIVES], float& pausedFeedRate, uint32_t xAxes); // Pause the print as soon as we can + FilePosition PausePrint(RestorePoint& rp, uint32_t xAxes); // Pause the print as soon as we can bool NoLiveMovement() const; // Is a move running, or are there any queued? bool IsExtruding() const; // Is filament being extruded? @@ -100,6 +101,8 @@ public: HeightMap& AccessBedProbeGrid() { return grid; } // Access the bed probing grid + const DDA *GetCurrentDDA() const { return currentDda; } // Return the DDA of the currently-executing move + static int32_t MotorEndPointToMachine(size_t drive, float coord); // Convert a single motor position to number of steps static float MotorEndpointToPosition(int32_t endpoint, size_t drive); // Convert number of motor steps to motor position @@ -112,6 +115,7 @@ private: void AxisTransform(float move[MaxAxes]) const; // Take a position and apply the axis-angle compensations void InverseAxisTransform(float move[MaxAxes]) const; // Go from an axis transformed point back to user coordinates void JustHomed(size_t axis, float hitPoint, DDA* hitDDA); // Deal with setting positions after a drive has been homed + void SetPositions(const float move[DRIVES]); // Force the machine coordinates to be these bool DDARingAdd(); // Add a processed look-ahead entry to the DDA ring DDA* DDARingGet(); // Get the next DDA ring entry to be run |