mirror of https://github.com/Desuuuu/klipper.git
36 lines
991 B
C
36 lines
991 B
C
#ifndef TRAPQ_H
|
|
#define TRAPQ_H
|
|
|
|
#include "list.h" // list_node
|
|
|
|
struct coord {
|
|
double x, y, z;
|
|
};
|
|
|
|
struct move {
|
|
double print_time, move_t;
|
|
double start_v, half_accel;
|
|
struct coord start_pos, axes_r;
|
|
|
|
struct list_node node;
|
|
};
|
|
|
|
struct trapq {
|
|
struct list_head moves;
|
|
};
|
|
|
|
struct move *move_alloc(void);
|
|
void trapq_append(struct trapq *tq, double print_time
|
|
, double accel_t, double cruise_t, double decel_t
|
|
, double start_pos_x, double start_pos_y, double start_pos_z
|
|
, double axes_r_x, double axes_r_y, double axes_r_z
|
|
, double start_v, double cruise_v, double accel);
|
|
double move_get_distance(struct move *m, double move_time);
|
|
struct coord move_get_coord(struct move *m, double move_time);
|
|
struct trapq *trapq_alloc(void);
|
|
void trapq_free(struct trapq *tq);
|
|
void trapq_add_move(struct trapq *tq, struct move *m);
|
|
void trapq_free_moves(struct trapq *tq, double print_time);
|
|
|
|
#endif // trapq.h
|