65 lines
849 B
C
65 lines
849 B
C
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#ifndef ROBOT_H
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#define ROBOT_H
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#include <opencv2/core.hpp>
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#include <QQueue>
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#include <filters/pathplanner.h>
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using namespace cv;
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class GCode
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{
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public:
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GCode(QByteArray cmd);
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GCode & arg(char param, int v);
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GCode & arg(char param, double v);
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operator QByteArray();
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protected:
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QByteArray cmd;
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QList<QByteArray> args;
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};
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class Robot
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{
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public:
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Robot();
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void prolog();
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void epilog();
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void home();
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void calibrate();
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void stop();
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void moveZ(double z);
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void moveXY(Point2f pos);
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void move(Point3f pos);
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void moveDelta(Point3f delta);
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void processPath(PathResult *path);
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void save();
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Point2f map(Point2f);
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Point2f unmap(Point2f);
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/* Getter */
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QByteArray getGCode();
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/* Setting */
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void setCalibPoint();
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protected:
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Point2f calibPoints[4];
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QQueue<GCode> queue;
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};
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#endif // ROBOT_H
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