motion_control.h 1.3 KB

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  1. /*
  2. motion_control.h - high level interface for issuing motion commands
  3. Part of Grbl
  4. Copyright (c) 2009-2011 Simen Svale Skogsrud
  5. Copyright (c) 2011 Sungeun K. Jeon
  6. Grbl is free software: you can redistribute it and/or modify
  7. it under the terms of the GNU General Public License as published by
  8. the Free Software Foundation, either version 3 of the License, or
  9. (at your option) any later version.
  10. Grbl is distributed in the hope that it will be useful,
  11. but WITHOUT ANY WARRANTY; without even the implied warranty of
  12. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  13. GNU General Public License for more details.
  14. You should have received a copy of the GNU General Public License
  15. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  16. */
  17. #ifndef motion_control_h
  18. #define motion_control_h
  19. // Execute an arc in offset mode format. position == current xyz, target == target xyz,
  20. // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
  21. // the direction of helical travel, radius == circle radius, isclockwise boolean. Used
  22. // for vector transformation direction.
  23. void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
  24. unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder);
  25. #endif