// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved


// This software makes use of tools and libraries obtained from open source projects or released for

// use by relevant hardware manufactures. However, this software is NOT a part of any open source project.

// It is released only on a "need to know" basis for beta testers of the "RiceCNC Interpolation Engine".

// Recipents of this source code must respect the confidential nature of this software and prevent any

// distribution that could result in counterfeit copies of the "RiceCNC Interpolation Engine".


// © RiceMotion ( Robert Carl Rice ) 2012-2016 - All rights reserved

#ifndef MachineSpline_h

#define MachineSpline_h


#include "Energia.h"

#include "Command.h"

#include "Machine.h"

#include "MachineSplineAxis.h"


// This class performs interpolations linear and cubic Bezier

class MachineSpline : public Command {

     static const char myName[14];


     private:

    bool               aborting;

     

     StepControl          stepControl;


    void               calculateTarget();


     public:

     virtual const char*

          name();


    MachineSpline(

          char*,

          Axis*          firstMachineAxis,

          String*          msgPtr );

    ~MachineSpline();


//    uint32_t                    number;

    MachineSplineAxis*          firstMachineSplineAxis;


    bool          execute(

          Machine*     machine );


    void          trackPadJogAbort(

          Machine*     machine );


    void          report(

          Machine*     machine,

          String*          msgPtr );


    void          reportInterpolationStatus(

          Machine*     machine,

          String*          msgPtr );

};


#endif