hardware/gantry_controller.h¶

Physical coordinate translation and G-code generation.

        22" physical rail travel

<—————————-—>
+-+ +———————+ +-+

| |B| | | |W|| | |L| | 12” board | |H||

| |A| | | |I||

| |C| | 8x8 grid | |T||

| |K| | | |E||

| +-+ +———————+ +-+|

| 3.0” .5” 12” .5” 3.0” | |<———- 19” occupied width ——-—>|

^ ^

| |

Black captures White captures

X = 1.5”, 3.0” X = 17.5”, 19.0”

Y = 4.420” to 14.920” Y = 4.420” to 14.920”

namespace Gantry

Enums

enum StartingSlot¶

Values:

enumerator SLOT_R1¶

enumerator SLOT_R2¶

enumerator SLOT_B1¶

enumerator SLOT_B2¶

enumerator SLOT_N1¶

enumerator SLOT_N2¶

enumerator SLOT_Q¶

enumerator SLOT_K¶

enumerator SLOT_P1¶

enumerator SLOT_P2¶

enumerator SLOT_P3¶

enumerator SLOT_P4¶

enumerator SLOT_P5¶

enumerator SLOT_P6¶

enumerator SLOT_P7¶

enumerator SLOT_P8¶

Variables

constexpr double RAIL_TRAVEL = 18.0¶

constexpr double BOARD_SIZE = 12.0¶

constexpr double SQUARE_SIZE = 1.5¶

constexpr double BOARD_MARGIN = 3.0¶

constexpr double A1_CENTER_X = 5.000¶

constexpr double A1_CENTER_Y = 4.420¶

constexpr double CAPTURE_VERTICAL_SPACING = 1.5¶

constexpr double CAPTURE_HORIZONTAL_SPACING = 1.5¶

constexpr double WHITE_CAPTURE_COL1_X = 17.500¶

constexpr double WHITE_CAPTURE_COL2_X = 19.000¶

constexpr double BLACK_CAPTURE_COL1_X = 3.000¶

constexpr double BLACK_CAPTURE_COL2_X = 1.500¶

constexpr double CAPTURE_START_Y = A1_CENTER_Y ¶

constexpr double FEED_RATE = 1000.0¶

struct GcodeObserver¶

#include <gantry_controller.h>

Public Members

void *context = nullptr¶

void (*onCommand)(void *ctx, const char *cmd, bool dryRun) = nullptr¶

class GrblController¶

#include <gantry_controller.h>

Public Functions

GrblController()¶

~GrblController()¶

bool connect(const char *port, int baudRate = 115200)¶

void disconnect()¶

inline bool isConnected() const¶

void enableDryRun()¶

Enable dry-run mode: no serial port is required. Every G-code command that would be sent to GRBL is printed to stdout instead. The full planning and G-code generation pipeline runs normally so you can audit every command before powering the gantry.

Call this instead of connect() when you have no hardware attached.

inline bool isDryRun() const¶

bool sendCommand(const std::string &cmd)¶

bool sendCommands(const std::vector<std::string> &cmds)¶

bool home()¶

bool executeMove(const MovePlan &plan, bool capturedPieceIsWhite, int capturedSlot)¶

bool executeCapture(const BoardCoord &square, bool isWhitePiece, StartingSlot slot)¶

bool setupNewGame()¶

bool moveTo(const Position &pos)¶

bool moveTo(const BoardCoord &coord)¶

bool setMagnet(bool on)¶

inline Position getCurrentPosition() const¶

inline bool isMagnetEngaged() const¶

GrblCapabilities probeCapabilities()¶

bool writeSetting(int number, double value)¶

bool applyMotionProfile(const MotionProfile &profile)¶

inline void setMotionProfile(const MotionProfile &profile)¶

inline const MotionProfile &getMotionProfile() const¶

inline void setGcodeObserver(const GcodeObserver &observer)¶

Private Functions

int getCommandTimeoutMs(const std::string &cmd) const¶

bool send(const std::string &cmd)¶

bool waitForOk(int timeoutMs = 5000)¶

std::string readLine(int timeoutMs = 1000)¶

std::vector<std::string> readLines(int timeoutMs)¶

inline void notifyGcode(const std::string &cmd)¶

Private Members

int serialFd¶

bool connected¶

bool dryRunMode¶

Position currentPos¶

bool magnetEngaged¶

MotionProfile activeProfile¶

GcodeObserver gcodeObserver¶

bool hasGcodeObserver = false¶

struct Position¶

#include <gantry_controller.h>

Public Functions

inline Position()¶

inline Position(double px, double py)¶

inline bool operator==(const Position &other) const¶

Public Members

double x¶

double y¶