ManuelW/grbl-LPC-CoreXY
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configurations and adjustments to protocol

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This commit is contained in:
Simen Svale Skogsrud
2009-02-15 12:56:07 +01:00
parent 356517c6f2
commit 2bd984a734
7 changed files with 21 additions and 17 deletions
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14
motion_control.c
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@ -65,7 +65,7 @@ void mc_dwell(uint32_t milliseconds)
// Calculate the microseconds between steps that we should wait in order to travel the
// designated amount of millimeters in the amount of steps we are going to generate
void set_step_pace(double feed_rate, double millimeters_of_travel, uint32_t steps, int invert) {
void compute_and_set_step_pace(double feed_rate, double millimeters_of_travel, uint32_t steps, int invert) {
int32_t pace;
if (invert) {
pace = round(ONE_MINUTE_OF_MICROSECONDS/feed_rate/steps);
@ -113,11 +113,11 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
// Ask old Phytagoras to estimate how many mm our next move is going to take us
double millimeters_of_travel =
sqrt(pow(X_STEPS_PER_MM*step_count[X_AXIS],2) +
pow(Y_STEPS_PER_MM*step_count[Y_AXIS],2) +
pow(Z_STEPS_PER_MM*step_count[Z_AXIS],2));
sqrt(square(X_STEPS_PER_MM*step_count[X_AXIS]) +
square(Y_STEPS_PER_MM*step_count[Y_AXIS]) +
square(Z_STEPS_PER_MM*step_count[Z_AXIS]));
// And set the step pace
set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
compute_and_set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
// Execution -----------------------------------------------------------------------------------------------
@ -247,10 +247,10 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
// Calculate feed rate -------------------------------------------------------------------------------------
// We then calculate the millimeters of helical travel
double millimeters_of_travel = sqrt(pow(angular_travel*radius,2)+pow(abs(linear_travel),2));
double millimeters_of_travel = hypot(angular_travel*radius, abs(linear_travel));
// Then we calculate the microseconds between each step as if we will trace the full circle.
// It doesn't matter what fraction of the circle we are actually going to trace. The pace is the same.
set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
compute_and_set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
// Execution -----------------------------------------------------------------------------------------------