ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

improved the serial protocol, added some debug pins for a while

Browse Source
This commit is contained in:
Simen Svale Skogsrud
2010-03-02 08:19:21 +01:00
parent 551b4ed274
commit 36fd3a9bfb
4 changed files with 19 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
motion_control.c
View File

@ -90,34 +90,44 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
maximum_steps; // The larges absolute step-count of any axis
// Setup ---------------------------------------------------------------------------------------------------
PORTD |= (1<<4);
PORTD |= (1<<5);
target[X_AXIS] = round(x*X_STEPS_PER_MM);
target[Y_AXIS] = round(y*Y_STEPS_PER_MM);
target[Z_AXIS] = round(z*Z_STEPS_PER_MM);
PORTD ^= (1<<5);
// Determine direction and travel magnitude for each axis
for(axis = X_AXIS; axis <= Z_AXIS; axis++) {
step_count[axis] = labs(target[axis] - position[axis]);
direction[axis] = signof(target[axis] - position[axis]);
}
PORTD ^= (1<<5);
// Find the magnitude of the axis with the longest travel
maximum_steps = max(step_count[Z_AXIS],
max(step_count[X_AXIS], step_count[Y_AXIS]));
PORTD ^= (1<<5);
// Nothing to do?
if (maximum_steps == 0) { return; }
if (maximum_steps == 0) { PORTD &= ~(1<<4); PORTD |= (1<<5); return; }
PORTD ^= (1<<5);
// Set up a neat counter for each axis
for(axis = X_AXIS; axis <= Z_AXIS; axis++) {
counter[axis] = -maximum_steps/2;
}
PORTD ^= (1<<5);
// Set our direction pins
set_stepper_directions(direction);
PORTD ^= (1<<5);
// Ask old Phytagoras to estimate how many mm our next move is going to take us
double millimeters_of_travel =
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]));
PORTD ^= (1<<5);
// And set the step pace
compute_and_set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
PORTD &= ~(1<<5);
PORTD &= ~(1<<4);
// Execution -----------------------------------------------------------------------------------------------