comparison: planner.cpp
planner.cpp
- changeset 1
- b584642d4f58
- parent 0
- 2c8ba1964db7
equal
deleted
inserted
replaced
| 0:2c8ba1964db7 | 1:b584642d4f58 |
|---|---|
| 456 | 456 |
| 457 float junction_deviation = 0.1; | 457 float junction_deviation = 0.1; |
| 458 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in | 458 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in |
| 459 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration | 459 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration |
| 460 // calculation the caller must also provide the physical length of the line in millimeters. | 460 // calculation the caller must also provide the physical length of the line in millimeters. |
| 461 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder) | 461 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder, bool laser_on) |
| 462 { | 462 { |
| 463 // Calculate the buffer head after we push this byte | 463 // Calculate the buffer head after we push this byte |
| 464 int next_buffer_head = next_block_index(block_buffer_head); | 464 int next_buffer_head = next_block_index(block_buffer_head); |
| 465 | 465 |
| 466 // If the buffer is full: good! That means we are well ahead of the robot. | 466 // If the buffer is full: good! That means we are well ahead of the robot. |
| 500 // Prepare to set up new block | 500 // Prepare to set up new block |
| 501 block_t *block = &block_buffer[block_buffer_head]; | 501 block_t *block = &block_buffer[block_buffer_head]; |
| 502 | 502 |
| 503 // Mark block as not busy (Not executed by the stepper interrupt) | 503 // Mark block as not busy (Not executed by the stepper interrupt) |
| 504 block->busy = false; | 504 block->busy = false; |
| 505 | |
| 506 // set the laser output status | |
| 507 block->laser_on = laser_on; | |
| 505 | 508 |
| 506 // Number of steps for each axis | 509 // Number of steps for each axis |
| 507 block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); | 510 block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); |
| 508 block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); | 511 block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); |
| 509 block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); | 512 block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); |
