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updated firmware

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This commit is contained in:
0x23 2025-08-28 14:07:54 +02:00
parent 9891b8ed44
commit f17ca0c820
11 changed files with 273 additions and 56 deletions
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5
firmware/MotionControllerRP/src/robot.h
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@ -21,7 +21,7 @@ class Robot;
enum class ERobotState {
IDLE = 0,
BUFFERING_PAH = 1,
BUFFERING_PATH = 1,
EXECUTING_PATH = 2,
ERROR = 3
};
@ -84,6 +84,8 @@ class Robot : public ICommandProcessor {
void process_motion_command(const GCodeCommand& cmd, std::string& reply);
void process_dwell_command(const GCodeCommand& cmd, std::string& reply);
void process_machine_command(const GCodeCommand& cmd, std::string& reply);
void process_set_pose_command(const GCodeCommand& cmd, std::string& reply);
void process_set_servo_parameter_command(const GCodeCommand& cmd, std::string& reply);
protected:
static bool update_motion_controller_isr(repeating_timer_t* timer); // called from update timer
@ -102,6 +104,7 @@ class Robot : public ICommandProcessor {
LinearAngular max_acceleration;
Pose6DF current_pose;
LinearAngular current_feedrate;
SharedData shared_data;