/*
* mp_flush_planner() - flush all moves in the planner and all arcs
*
* Does not affect the move currently running in mr.
* Does not affect mm or gm model positions
* This function is designed to be called during a hold to reset the planner
* This function should not generally be called; call cm_flush_planner() instead
*/
void mp_flush_planner()
{
ar_abort_arc();
mp_init_buffers();
cm.motion_state = MOTION_STOP;
// copy_axis_vector(mm.position, mr.position);
}
/*
* planner_init()
*/
void planner_init()
{
// If you know all memory has been zeroed by a hard reset you don't need these next 2 lines
memset(&mr, 0, sizeof(mr)); // clear all values, pointers and status
memset(&mm, 0, sizeof(mm)); // clear all values, pointers and status
planner_init_assertions();
mp_init_buffers();
}
void mp_init()
{
// You can assume all memory has been zeroed by a hard reset. If not, use this code:
// memset(&mr, 0, sizeof(mr)); // clear all values, pointers and status
// memset(&mm, 0, sizeof(mm)); // clear all values, pointers and status
mr.magic_start = MAGICNUM;
mr.magic_end = MAGICNUM;
ar.magic_start = MAGICNUM;
ar.magic_end = MAGICNUM;
mp_init_buffers();
}
/*
* mp_flush_planner() - flush all moves in the planner and all arcs
*
* Does not affect the move currently running in mr.
* Does not affect mm or gm model positions
* This function is designed to be called during a hold to reset the planner
* This function should not generally be called; call cm_queue_flush() instead
*/
void mp_flush_planner()
{
cm_abort_arc();
mp_init_buffers();
cm_set_motion_state(MOTION_STOP);
}
