src/movement/planner.h

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/*
 * planner.h
 *
 * Copyright 2011 Pieter Agten
 *
 * This file is part of Yarf.
 *
 * Yarf is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Yarf is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Yarf.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PLANNER_H
#define PLANNER_H

#include "yarf.h"
#include "block.h"

#include <stdbool.h>

void plan_init(void);

steps_t plan_get_virtual_position(unsigned char axis);

void plan_set_virtual_position_rel(steps_t x, steps_t y, steps_t z, steps_t e);

void plan_set_virtual_position_abs(steps_t x, steps_t y, steps_t z, steps_t e);


void plan_calculate_trapezoid(block_t *b, speed_t entry_speed, speed_t exit_speed);


void plan_linear_movement_rel(steps_t steps_x, steps_t steps_y, steps_t steps_z, steps_t steps_e, speed_t plateau_speed);


void plan_linear_movement_abs(steps_t dest_x, steps_t dest_y, steps_t dest_z, steps_t dest_e, speed_t plateau_speed);

void plan_home_axes(bool x, bool y, bool z);

#endif //PLANNER_H