This version of the famous Grbl adds values in the work-coordinate-system (WCS) to the probing command. See x2grbl why you might want this.

motion_control.h 2.7KB

    /* motion_control.h - high level interface for issuing motion commands Part of Grbl v0.9 Copyright (c) 2012-2014 Sungeun K. Jeon Grbl 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. Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. */ /* This file is based on work from Grbl v0.8, distributed under the terms of the MIT-license. See COPYING for more details. Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon */ #ifndef motion_control_h #define motion_control_h #define HOMING_CYCLE_LINE_NUMBER -1 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // (1 minute)/feed_rate time. #ifdef USE_LINE_NUMBERS void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number); #else void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate); #endif // Execute an arc in offset mode format. position == current xyz, target == target xyz, // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is // the direction of helical travel, radius == circle radius, isclockwise boolean. Used // for vector transformation direction. #ifdef USE_LINE_NUMBERS void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number); #else void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear); #endif // Dwell for a specific number of seconds void mc_dwell(float seconds); // Perform homing cycle to locate machine zero. Requires limit switches. void mc_homing_cycle(); // Perform tool length probe cycle. Requires probe switch. #ifdef USE_LINE_NUMBERS void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number); #else void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate); #endif // Performs system reset. If in motion state, kills all motion and sets system alarm. void mc_reset(); #endif