1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
|
#pragma once
#include "firmware.h"
#define SMOOTHIEWARE_MAX_ROBOT_ACTUATORS 4
struct SmoothiewareGcode {
SmoothiewareGcode() {
is_error = false;
txt_after_ok = "";
}
bool is_error;
std::string txt_after_ok;
};
struct SmoothiewareKernel
{
bool is_halted() {return false;}
};
class smoothieware :
public firmware
{
public:
enum class smoothieware_firmware_versions { V2021_06_19 = 0 };
smoothieware(firmware_arguments args);
virtual ~smoothieware();
virtual std::string interpolate_arc(firmware_position& target, double i, double j, double r, bool is_clockwise) override;
virtual firmware_arguments get_default_arguments_for_current_version() const override;
virtual void apply_arguments() override;
private:
smoothieware::smoothieware_firmware_versions smoothieware_version_;
enum MOTION_MODE_T {
NONE,
SEEK, // G0
LINEAR, // G1
CW_ARC, // G2
CCW_ARC // G3
};
std::string gcodes_;
const static int REPETIER_XYZE = 4;
enum AxisEnum { X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2, E_AXIS = 3, A_AXIS = 3 }; // A axis is the same as the E axis.
/// <summary>
/// A struct representing the prusa configuration store. Note: I didn't add the trailing underscore so this variable name will match the original source algorithm name.
/// </summary>
typedef bool(smoothieware::* append_arc_func)(SmoothiewareGcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise);
bool append_arc_2021_06_19(SmoothiewareGcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise);
append_arc_func append_arc_;
// Note that trailing underscore are sometimes dropped to keep the ported function as close as possible to the original
// Repetier Function Defs
bool append_milestone(const float target[], double rate_mm_s);
static const int seconds_per_minute = 60;
static const int k_max_actuators = SMOOTHIEWARE_MAX_ROBOT_ACTUATORS;
static const int n_motors = SMOOTHIEWARE_MAX_ROBOT_ACTUATORS;
float machine_position[k_max_actuators];
static const int plane_axis_0 = AxisEnum::X_AXIS;
static const int plane_axis_1 = AxisEnum::Y_AXIS;
static const int plane_axis_2 = AxisEnum::Z_AXIS;
static const int plane_axis_3 = AxisEnum::E_AXIS;
SmoothiewareGcode gcode_;
SmoothiewareKernel *THEKERNEL;
float feed_rate;
};
|
