ManuelW/grbl-LPC-CoreXY
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optimized for size and did some housekeeping

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Simen Svale Skogsrud
2009-02-08 22:08:27 +01:00
parent 3e5e866115
commit 2992683c8d
5 changed files with 59 additions and 91 deletions
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17
gcode.c
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@ -54,8 +54,6 @@
#include "errno.h"
#include "serial_protocol.h"
#include "wiring_serial.h"
#define NEXT_ACTION_DEFAULT 0
#define NEXT_ACTION_DWELL 1
#define NEXT_ACTION_GO_HOME 2
@ -195,11 +193,11 @@ uint8_t gc_execute_line(char *line) {
// If there were any errors parsing this line, we will return right away with the bad news
if (gc.status_code) { return(gc.status_code); }
// Pass 2: Parameters
counter = 0;
clear_vector(offset);
memcpy(target, gc.position, sizeof(target)); // target = gc.position
// Pass 2: Parameters
while(next_statement(&letter, &value, line, &counter)) {
int_value = trunc(value);
unit_converted_value = to_millimeters(value);
@ -313,7 +311,6 @@ uint8_t gc_execute_line(char *line) {
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if(isnan(h_x2_div_d)) { FAIL(GCSTATUS_FLOATING_POINT_ERROR); return(gc.status_code); }
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }
@ -336,10 +333,9 @@ uint8_t gc_execute_line(char *line) {
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
// even though it is advised against ever generating such circles in a single line of g-code. By
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposide side of the line of
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
// travel and thus we get the unadvisably long circles as prescribed.
if (r < 0) { h_x2_div_d = -h_x2_div_d; }
if (r < 0) { h_x2_div_d = -h_x2_div_d; }
// Complete the operation by calculating the actual center of the arc
offset[gc.plane_axis_0] = (x-(y*h_x2_div_d))/2;
offset[gc.plane_axis_1] = (y+(x*h_x2_div_d))/2;
@ -375,12 +371,7 @@ uint8_t gc_execute_line(char *line) {
}
// Find the radius
double radius = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]);
// Prepare the arc
// printString("mc_arc(");
// printInteger(trunc(theta_start/M_PI*180)); printByte(',');
// printInteger(trunc(angular_travel/M_PI*180)); printByte(',');
// printInteger(trunc(radius));
// printByte(')');
// Trace the arc
mc_arc(theta_start, angular_travel, radius, gc.plane_axis_0, gc.plane_axis_1, gc.feed_rate);
break;
}