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
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
|
/********************************************************************
* Description: tc.h
* Discriminate-based trajectory planning
*
* 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 TC_TYPES_H
#define TC_TYPES_H
#include "spherical_arc.h"
#include "posemath.h"
#include "emcpos.h"
#include "emcmotcfg.h"
/* values for endFlag */
typedef enum {
TC_TERM_COND_STOP = 1,
TC_TERM_COND_PARABOLIC = 2,
TC_TERM_COND_TANGENT = 3
} tc_term_cond_t;
typedef enum {
TC_LINEAR = 1,
TC_CIRCULAR = 2,
TC_RIGIDTAP = 3,
TC_SPHERICAL = 4
} tc_motion_type_t;
typedef enum {
TC_SYNC_NONE = 0,
TC_SYNC_VELOCITY,
TC_SYNC_POSITION
} tc_spindle_sync_t;
#define TC_GET_PROGRESS 0
#define TC_GET_STARTPOINT 1
#define TC_GET_ENDPOINT 2
#define TC_OPTIM_UNTOUCHED 0
#define TC_OPTIM_AT_MAX 1
#define TC_ACCEL_TRAPZ 0
#define TC_ACCEL_RAMP 1
/* structure for individual trajectory elements */
typedef struct {
PmCartLine xyz;
PmCartLine abc;
PmCartLine uvw;
} PmLine9;
typedef struct {
PmCircle xyz;
PmCartLine abc;
PmCartLine uvw;
} PmCircle9;
typedef struct {
SphericalArc xyz;
PmCartesian abc;
PmCartesian uvw;
} Arc9;
typedef enum {
TAPPING, REVERSING, RETRACTION, FINAL_REVERSAL, FINAL_PLACEMENT
} RIGIDTAP_STATE;
typedef unsigned long long iomask_t; // 64 bits on both x86 and x86_64
typedef struct {
char anychanged;
iomask_t dio_mask;
iomask_t aio_mask;
signed char dios[EMCMOT_MAX_DIO];
double aios[EMCMOT_MAX_AIO];
} syncdio_t;
typedef struct {
PmCartLine xyz; // original, but elongated, move down
PmCartLine aux_xyz; // this will be generated on the fly, for the other
// two moves: retraction, final placement
PmCartesian abc;
PmCartesian uvw;
double reversal_target;
double spindlerevs_at_reversal;
RIGIDTAP_STATE state;
} PmRigidTap;
typedef struct {
double cycle_time;
//Position stuff
double target; // actual segment length
double progress; // where are we in the segment? 0..target
double nominal_length;
//Velocity
double reqvel; // vel requested by F word, calc'd by task
double target_vel; // velocity to actually track, limited by other factors
double maxvel; // max possible vel (feed override stops here)
double currentvel; // keep track of current step (vel * cycle_time)
double finalvel; // velocity to aim for at end of segment
double term_vel; // actual velocity at termination of segment
//Acceleration
double maxaccel; // accel calc'd by task
int id; // segment's serial number
union { // describes the segment's start and end positions
PmLine9 line;
PmCircle9 circle;
PmRigidTap rigidtap;
Arc9 arc;
} coords;
int motion_type; // TC_LINEAR (coords.line) or
// TC_CIRCULAR (coords.circle) or
// TC_RIGIDTAP (coords.rigidtap)
int active; // this motion is being executed
int canon_motion_type; // this motion is due to which canon function?
int term_cond; // gcode requests continuous feed at the end of
// this segment (g64 mode)
int blending_next; // segment is being blended into following segment
double blend_vel; // velocity below which we should start blending
double tolerance; // during the blend at the end of this move,
// stay within this distance from the path.
int synchronized; // spindle sync state
double uu_per_rev; // for sync, user units per rev (e.g. 0.0625 for 16tpi)
double vel_at_blend_start;
int sync_accel; // we're accelerating up to sync with the spindle
unsigned char enables; // Feed scale, etc, enable bits for this move
int atspeed; // wait for the spindle to be at-speed before starting this move
syncdio_t syncdio; // synched DIO's for this move. what to turn on/off
int indexrotary; // which rotary axis to unlock to make this move, -1 for none
int optimization_state; // At peak velocity during blends)
int on_final_decel;
int blend_prev;
int accel_mode;
int splitting; // the segment is less than 1 cycle time
// away from the end.
int remove; // Flag to remove the segment from the queue
int active_depth; /* Active depth (i.e. how many segments
* after this will it take to slow to zero
* speed) */
int finalized;
} TC_STRUCT;
#endif /* TC_TYPES_H */
|
