ManuelW/grbl-LPC-CoreXY
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small fixes after testing on real hardware. Still no chaining of motions and something odd with arcs

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This commit is contained in:
Simen Svale Skogsrud
2011-02-03 10:42:00 +01:00
parent 420641d13d
commit 4b63cf3ab5
4 changed files with 14 additions and 6 deletions
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11
motion_control.c
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@ -30,11 +30,13 @@
#include "wiring_serial.h"
// The current position of the tool in absolute steps
int32_t position[3];
int32_t position[3];
int8_t acceleration_management_enabled;
void mc_init()
{
clear_vector(position);
acceleration_management_enabled = TRUE;
}
void mc_dwell(uint32_t milliseconds)
@ -49,6 +51,7 @@ void mc_set_acceleration_manager_enabled(uint8_t enabled) {
} else {
plan_disable_acceleration_management();
}
acceleration_management_enabled = enabled;
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
@ -92,7 +95,8 @@ void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rat
// 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)
{
{
//plan_disable_acceleration_management(); // disable acceleration management for the duration of the arc
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment);
@ -118,7 +122,8 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
target[axis_1] = center_x+sin(theta)*radius;
target[axis_2] = center_y+cos(theta)*radius;
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
}
}
//mc_set_acceleration_manager_enabled(acceleration_management_enabled); // restore acceleration management setting
}
void mc_go_home()