ManuelW/grbl-LPC-CoreXY
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optimized arc code for size and speed

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This commit is contained in:
Simen Svale Skogsrud
2009-01-30 11:05:10 +01:00
parent 8c18e2659d
commit 0c8004357a
2 changed files with 75 additions and 65 deletions
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15
motion_control.h
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@ -23,7 +23,11 @@
#include <avr/io.h>
/* All coordinates are in step-counts. */
#define MC_MODE_AT_REST 0
#define MC_MODE_LINEAR 1
#define MC_MODE_ARC 2
#define MC_MODE_DWELL 3
#define MC_MODE_HOME 4
// Initializes the motion_control subsystem resources
void mc_init();
@ -37,7 +41,7 @@ void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_
// circle in millimeters. axis_1 and axis_2 selects the plane in tool space.
// Known issue: This method pretends that all axes uses the same steps/mm as the X axis. Which might
// not be the case ... (To be continued)
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2);
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate);
// Prepare linear motion relative to the current position.
void mc_dwell(uint32_t milliseconds);
@ -45,9 +49,14 @@ void mc_dwell(uint32_t milliseconds);
// Prepare to send the tool position home
void mc_go_home();
// Start the prepared operation.
// Start the prepared operation. In the current implementation this will block for most of the task at hand.
// In future implementations it might not block at all. If you want to make sure the system has reached
// quiescence call mc_wait()
void mc_execute();
// Wait until all operations complete
void mc_wait();
// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
// result < 0: the system is in an error state.
int mc_status();