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/********************************************************************
* Description: emcmotcfg.h
* Default values for compile-time parameters.
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef EMCMOTCFG_H
#define EMCMOTCFG_H
/* default name of EMCMOT ini file */
#define DEFAULT_EMCMOT_INIFILE "emc.ini" /* same as for EMC-- we're in
touch */
/* number of joints supported
Note: this is not a global variable but a compile-time parameter
since it sets array sizes, etc. */
#define EMCMOT_MAX_JOINTS 9
/* number of axes defined by the interp */ //FIXME: shouldn't be here..
#define EMCMOT_MAX_AXIS 9
#define EMCMOT_MAX_DIO 64
#define EMCMOT_MAX_AIO 64
#if (EMCMOT_MAX_DIO > 64) || (EMCMOT_MAX_AIO > 64)
#error A 64 bit bitmask is used in the planner. Don't increase these until that's fixed.
#endif
#define EMCMOT_ERROR_NUM 32 /* how many errors we can queue */
#define EMCMOT_ERROR_LEN 1024 /* how long error string can be */
/*
Shared memory keys for simulated motion process. No base address
values need to be computed, since operating system does this for us
*/
#define DEFAULT_SHMEM_KEY 100
/* default comm timeout, in seconds */
#define DEFAULT_EMCMOT_COMM_TIMEOUT 1.0
/* seconds to delay between comm retries */
#define DEFAULT_EMCMOT_COMM_WAIT 0.010
/* initial velocity, accel used for coordinated moves */
#define DEFAULT_VELOCITY 1.0
#define DEFAULT_ACCELERATION 10.0
/* maximum and minimum limit defaults for all axes */
#define DEFAULT_MAX_LIMIT 1000
#define DEFAULT_MIN_LIMIT -1000
/* size of motion queue
* a TC_STRUCT is about 512 bytes so this queue is
* about a megabyte. */
#define DEFAULT_TC_QUEUE_SIZE 2000
/* max following error */
#define DEFAULT_MAX_FERROR 100
#endif
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