added missing files

firmware/MotionControllerRP/src/demo_gcode_generator.h

@@ -0,0 +1,41 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
+#pragma once
+
+#include <string>
+#include "utilities/math3d.h"
+
+//*** CLASS *****************************************************************************
+
+class Robot;
+
+
+class DemoGcodeGenerator {
+  public:
+    DemoGcodeGenerator(Robot* robot);  
+    void run();
+    
+  private:
+    void robot_update();
+    void run_command(const std::string& cmd);
+
+    void move_to(Vec3F p, float feedrate);
+    void move_to(float x, float y, float z, float feedrate);
+    void set_acceleration(int accel);
+    void dwell(int time_ms);
+  
+  private:
+    void random_motion(int count, float range, float feedrade, int dwell_ms=-1, int acceleration=-1);
+    void circle_motion(int count, float radius, float feedrade);
+    void grid_motion(int w, int h, float size, float feedrate, int dwell_ms=-1, int acceleration=-1);
+
+  private:
+    int cmd_counter = 0;
+    QuaternionF wst;
+    Robot* robot;
+};