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/********************************************************************
* Description: tp.h
* Trajectory planner based on TC elements
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
********************************************************************/
#ifndef TP_H
#define TP_H
#include "posemath.h"
#include "tc_types.h"
#include "tp_types.h"
#include "tcq.h"
// functions not used by motmod:
int tpAddCurrentPos(TP_STRUCT * const tp, EmcPose const * const disp);
int tpSetCurrentPos(TP_STRUCT * const tp, EmcPose const * const pos);
void tpToggleDIOs(TC_STRUCT * const tc); //gets called when a new tc is
//taken from the queue. it checks
//and toggles all needed DIO's
int tpIsMoving(TP_STRUCT const * const tp);
int tpInit(TP_STRUCT * const tp);
// functions used by motmod:
int tpCreate(TP_STRUCT * const tp, int _queueSize,int id);
int tpClear(TP_STRUCT * const tp);
int tpClearDIOs(TP_STRUCT * const tp);
int tpSetCycleTime(TP_STRUCT * tp, double secs);
int tpSetVmax(TP_STRUCT * tp, double vmax, double ini_maxvel);
int tpSetVlimit(TP_STRUCT * tp, double limit);
int tpSetAmax(TP_STRUCT * tp, double amax);
int tpSetId(TP_STRUCT * tp, int id);
int tpGetExecId(TP_STRUCT * tp);
struct state_tag_t tpGetExecTag(TP_STRUCT * const tp);
int tpSetTermCond(TP_STRUCT * tp, int cond, double tolerance);
int tpSetPos(TP_STRUCT * tp, EmcPose const * const pos);
int tpRunCycle(TP_STRUCT * tp, long period);
int tpPause(TP_STRUCT * tp);
int tpResume(TP_STRUCT * tp);
int tpAbort(TP_STRUCT * tp);
int tpAddRigidTap(TP_STRUCT * const tp,
EmcPose end,
double vel,
double ini_maxvel,
double acc,
unsigned char enables,
double scale,
struct state_tag_t tag);
int tpAddLine(TP_STRUCT * const tp, EmcPose end, int canon_motion_type,
double vel, double ini_maxvel, double acc, unsigned char enables,
char atspeed, int indexrotary, struct state_tag_t tag);
int tpAddCircle(TP_STRUCT * const tp, EmcPose end, PmCartesian center,
PmCartesian normal, int turn, int canon_motion_type, double vel,
double ini_maxvel, double acc, unsigned char enables,
char atspeed, struct state_tag_t tag);
int tpGetPos(TP_STRUCT const * const tp, EmcPose * const pos);
int tpIsDone(TP_STRUCT * const tp);
int tpQueueDepth(TP_STRUCT * const tp);
int tpActiveDepth(TP_STRUCT * const tp);
int tpGetMotionType(TP_STRUCT * const tp);
int tpSetSpindleSync(TP_STRUCT * const tp, int spindle, double sync, int wait);
int tpSetAout(TP_STRUCT * const tp, unsigned char index, double start, double end);
int tpSetDout(TP_STRUCT * const tp, int index, unsigned char start, unsigned char end); //gets called to place DIO toggles on the TC queue
int tpSetRunDir(TP_STRUCT * const tp, tc_direction_t dir);
//---------------------------------------------------------------------
// Module interface
void tpMotFunctions(void(*pDioWrite)(int,char)
,void(*pAioWrite)(int,double)
,void(*pSetRotaryUnlock)(int,int)
,int( *pGetRotaryUnlock)(int)
,double(*paxis_get_vel_limit)(int)
,double(*paxis_get_acc_limit)(int)
);
void tpMotData(emcmot_status_t *
,emcmot_config_t *
);
//---------------------------------------------------------------------
#endif /* TP_H */
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