ManuelW/grbl-LPC-CoreXY
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Minor updates to code and commenting.

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Sonny Jeon
2013-03-28 10:11:34 -06:00
parent 49f703bb2c
commit 08baabc63c
4 changed files with 30 additions and 28 deletions
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13
motion_control.c
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@ -58,6 +58,10 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
// TODO: Backlash comp positioning values may need to be kept at a system level, i.e. tracking
// true position after a feed hold in the middle of a backlash move. The difficulty is in making
// sure that the stepper subsystem and planner are working in sync, and the status report
// position also takes this into account.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
@ -229,8 +233,11 @@ void mc_go_home()
float pulloff_target[N_AXIS];
clear_vector_float(pulloff_target); // Zero pulloff target.
clear_vector_long(sys.position); // Zero current position for now.
uint8_t dir_mask[N_AXIS];
dir_mask[X_AXIS] = (1<<X_DIRECTION_BIT);
dir_mask[Y_AXIS] = (1<<Y_DIRECTION_BIT);
dir_mask[Z_AXIS] = (1<<Z_DIRECTION_BIT);
uint8_t i;
uint8_t dir_mask[N_AXIS] = { bit(X_DIRECTION_BIT),bit(Y_DIRECTION_BIT),bit(Z_DIRECTION_BIT) };
for (i=0; i<N_AXIS; i++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
@ -266,8 +273,8 @@ void mc_go_home()
// operation of cycle start is manually issuing a cycle start command whenever the user is
// ready and there is a valid motion command in the planner queue.
// NOTE: This function is called from the main loop and mc_line() only and executes when one of
// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished),
// or the planner buffer is full and ready to go.
// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished,
// single commands), or the planner buffer is full and ready to go.
void mc_auto_cycle_start() { if (sys.auto_start) { st_cycle_start(); } }