wangdequan/linuxcncWebWASM
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Make feed override control the WASM trajectory

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wangdequan
2026-08-31 06:19:36 +08:00
parent 2cda55e724
commit 51ba923cb5
13 changed files with 181 additions and 15 deletions
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4
wasm-core/include/sim_motion_queue.h
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@@ -30,8 +30,11 @@ typedef struct sim_motion_command {
sim_posemath_segment segment;
uint32_t id;
uint32_t tag;
uint32_t flags;
} sim_motion_command;
#define SIM_MOTION_COMMAND_FLAG_RAPID 1u
typedef struct sim_motion_state {
sim_posemath_pose position;
double velocity;
@@ -65,6 +68,7 @@ int sim_motion_step(sim_motion_queue *queue);
int sim_motion_set_profile(sim_motion_queue *queue, int profile);
int sim_motion_set_lookahead(sim_motion_queue *queue, uint32_t depth);
int sim_motion_set_dynamics(sim_motion_queue *queue, double acceleration_limit, double jerk_limit);
int sim_motion_set_feed_override(sim_motion_queue *queue, double feed_override);
int sim_motion_set_paused(sim_motion_queue *queue, uint32_t paused);
int sim_motion_peek(const sim_motion_queue *queue, uint32_t offset, sim_motion_command *command);
int sim_motion_read_state(const sim_motion_queue *queue, sim_motion_state *state);