Data Fields |
| unsigned int | id |
| | Unique number to identify this block.
|
| uint32_t | nb_steps |
| | Total number of linear steps to take to execute this block.
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| uint32_t | nb_steps_completed |
| | Number of linear steps of this block that have been executed so far.
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| steps_t | steps [NUM_AXES] |
| | Total number of stepper motor steps to take for each axis.
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| void(* | collision_handler )(uint8_t) |
| | Pointer to a function which will be called if one of the end stop switches is hit while executing this block.
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| fxp16u16_t | timer_ticks |
| | The number of timer ticks to wait in between linear steps.
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| fxp16u16_t | plateau_timer_ticks |
| | The number of timer ticks to wait in between linear steps when the block execution is at its plateau (its maximum speed).
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| fxp16u16_t | exit_timer_ticks |
| | The number of timer ticks to wait in between linear steps at the end of the block execution (at the end of deceleration).
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| uint16_t | acceleration_step |
| | Indicates the current position on the linear acceleration ramp which starts at speed 0 and linearly accelerates according to a constant acceleration.
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| uint16_t | acceleration_end |
| | Linear step number at which to stop accelerating.
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| uint32_t | deceleration_start |
| | Linear step number at which to start decelerating.
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| float | distance_mm |
| | Distance in millimeters of the movement represented by this block.
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| float | mm_ticks_per_step_min |
| | Average distance in millimeters traveled by each linear step, multiplied by the RTTIMER_TICKS_PER_MIN constant.
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| float | direction [NUM_AXES] |
| | Four-dimensional unit direction vector (containing the direction cosines for each axis) of the movement represented by this block.
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| speed_t | plateau_speed |
| | The speed in mm/min when the block execution is at its plateau (its maximum speed).
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| speed_t | entry_speed |
| | Entry speed in mm/min at the start of the block execution (at the start of acceleration).
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| speed_t | max_entry_speed |
| | Entry speed in mm/min at the end of the block execution (at the end of deceleration).
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| bool | plateau_speed_always_reachable |
| | Flag set and used by the lookahead component, indicating whether this block is long enough to be able to reach its plateau speed for sure.
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| bool | recalculate |
| | Flag set and used by the lookahead component, to indicate that the entry_speed field of this block was changed and that the timer and acceleration fields need to be updated accordingly.
|
Data structure which represents a straight line to be printed.
The planner component creates blocks based on g-code commands sent by the host. These block are placed into a queue, which is read in a different thread by the block handler component. The block handler is component that actually executes blocks.
A block's speed vs time plot is always shaped like a trapezoid:
speed ^
|
plateau speed --|---> +--------+
| / \
entry speed --|-> + \
| | + <-- exit speed = next block's
| +-------------+ entry speed
|______________________
time -->
The acceleration and deceleration segments always have the same slope magnitude, as configured by the ACCELERATION configuration value.
Definition at line 64 of file block.h.
1.7.4