57 lines
1.0 KiB
C++
57 lines
1.0 KiB
C++
#ifndef TIMECALC_H_
|
|
#define TIMECALC_H_
|
|
|
|
#include <algorithm>
|
|
#include <vector>
|
|
|
|
#include "Point.h"
|
|
#define EXTRUDER_COUNT 1
|
|
#define AXIS_COUNT (3 + EXTRUDER_COUNT)
|
|
|
|
class TimeCalc
|
|
{
|
|
public:
|
|
struct PrinterMove
|
|
{
|
|
PrinterMove();
|
|
|
|
double dist;
|
|
double delta[AXIS_COUNT];
|
|
double unit[AXIS_COUNT];
|
|
double vel[AXIS_COUNT];
|
|
double accel[AXIS_COUNT];
|
|
double vel_start[AXIS_COUNT];
|
|
double vel_end[AXIS_COUNT];
|
|
};
|
|
|
|
private:
|
|
double m_extruder_length[EXTRUDER_COUNT];
|
|
double m_time;
|
|
double m_pos[AXIS_COUNT];
|
|
|
|
double m_accel_max[AXIS_COUNT];
|
|
double m_vel_max[AXIS_COUNT];
|
|
double m_jerk_max[AXIS_COUNT];
|
|
|
|
std::vector<PrinterMove> m_moves;
|
|
|
|
public:
|
|
TimeCalc();
|
|
|
|
void reset();
|
|
|
|
void add_move(Point new_pos, double speed);
|
|
void set_pos(Point new_pos);
|
|
void flush();
|
|
void add_time(double time);
|
|
double get_time() const;
|
|
double get_extruder_length(int idx) const;
|
|
Point get_pos() const;
|
|
|
|
void set_max_acceleration(int axis, double value);
|
|
void set_max_velocity(int axis, double value);
|
|
void set_max_jerk(int axis, double value);
|
|
};
|
|
|
|
#endif // TIMECALC_H_
|