Module com.marginallyclever.ro3

Package com.marginallyclever.ro3.node.nodes.marlinrobot.marlinrobotarm.marlinsimulation

Class MarlinSimulation

java.lang.Object

com.marginallyclever.ro3.node.nodes.marlinrobot.marlinrobotarm.marlinsimulation.MarlinSimulation

public class MarlinSimulation
extends Object

MarlinSimulation is meant to be a 1:1 Java replica of Marlin's 'Planner' and 'Motor' classes. It is used to estimate the time to draw a set of gcode commands by a robot running Marlin 3D printer firmware.

Users should call bufferLine(MarlinCoordinate, double, double), which will add to the queue. The queue must not exceed MarlinSettings#getInteger(MarlinSettings.BLOCK_BUFFER_SIZE) items in length. Consuming items from the head of the queue

Constructor Summary

Constructors

Constructor	Description
MarlinSimulation(MarlinSettings settings)

Method Summary

Modifier and Type	Method	Description
void	bufferLine(MarlinCoordinate destination)	Add this destination to the queue and attempt to optimize travel between destinations.
void	bufferLine(MarlinCoordinate destination, double feedrate)	Add this destination to the queue and attempt to optimize travel between destinations.
void	bufferLine(MarlinCoordinate destination, double feedrate, double acceleration)	Add this destination to the queue and attempt to optimize travel between destinations.
MarlinCoordinate	getCurrentPosition()
LinkedList<MarlinSimulationBlock>	getQueue()	return the queue of blocks.
void	update(double dt)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

MarlinSimulation

public MarlinSimulation(MarlinSettings settings)

Method Details

bufferLine

public void bufferLine(MarlinCoordinate destination)

Add this destination to the queue and attempt to optimize travel between destinations.

Parameters:

destination - destination (mm)

bufferLine

public void bufferLine(MarlinCoordinate destination,
 double feedrate)

Add this destination to the queue and attempt to optimize travel between destinations.

Parameters:

destination - destination (mm)

feedrate - (mm/s)

bufferLine

public void bufferLine(MarlinCoordinate destination,
 double feedrate,
 double acceleration)

Add this destination to the queue and attempt to optimize travel between destinations.

Parameters:

destination - destination (mm)

feedrate - (mm/s)

acceleration - (mm/s/s)

getQueue

public LinkedList<MarlinSimulationBlock> getQueue()

return the queue of blocks.

Returns:

the queue of blocks.

update

public void update(double dt)

getCurrentPosition

public MarlinCoordinate getCurrentPosition()