ManuelW/grbl-LPC-CoreXY
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eliminated an abstraction violation where motion_control needed position information from the planner (untested)

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Simen Svale Skogsrud
2011-02-11 23:01:16 +01:00
parent 3b51a4b81e
commit 33f014aa74
5 changed files with 9 additions and 16 deletions
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11
motion_control.c
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@ -48,14 +48,13 @@ void mc_dwell(uint32_t milliseconds)
// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
// position is a pointer to a vector representing the current position in millimeters.
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
// segment is configured in settings.mm_per_arc_segment.
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate)
int axis_linear, double feed_rate, int invert_feed_rate, double *position)
{
int32_t position[3];
plan_get_position_steps(&position);
int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
@ -70,13 +69,13 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
// The linear motion for each segment
double linear_per_segment = linear_travel/segments;
// Compute the center of this circle
double center_x = (position[axis_1]/settings.steps_per_mm[axis_1])-sin(theta)*radius;
double center_y = (position[axis_2]/settings.steps_per_mm[axis_2])-cos(theta)*radius;
double center_x = position[axis_1]-sin(theta)*radius;
double center_y = position[axis_2]-cos(theta)*radius;
// a vector to track the end point of each segment
double target[3];
int i;
// Initialize the linear axis
target[axis_linear] = position[axis_linear]/settings.steps_per_mm[axis_linear];
target[axis_linear] = position[axis_linear];
for (i=0; i<=segments; i++) {
target[axis_linear] += linear_per_segment;
theta += theta_per_segment;