ManuelW/grbl-LPC-CoreXY
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Further planner improvements and misc minor bug fixes. Memory savings and increased buffer size.

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- Update grbl version and settings version to automatically reset
eeprom. FYI, this will reset your grbl settings. - Saved
3*BLOCK_BUFFER_SIZE doubles in static memory by removing obsolete
variables: speed_x, speed_y, and speed_z. - Increased buffer size
conservatively to 18 from 16. (Probably can do 20). - Removed expensive!
modulo operator from block indexing function. Reduces significant
computational overhead. - Re-organized some sqrt() calls to be more
efficient during time critical planning cases, rather than non-time
critical. - Minor bug fix in planner max junction velocity logic. -
Simplified arc logic and removed need to multiply for CW or CCW
direction.
This commit is contained in:
Sonny J
2011-09-13 21:57:16 -06:00
parent ffcc3470a3
commit 4d03c4febc
10 changed files with 103 additions and 104 deletions
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10
motion_control.c
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@ -3,7 +3,7 @@
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Modifications Copyright (c) 2011 Sungeun (Sonny) Jeon
Copyright (c) 2011 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -48,7 +48,7 @@ void mc_dwell(uint32_t milliseconds)
// 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 *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, int8_t clockwise_sign)
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, int8_t isclockwise)
{
// 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
@ -64,7 +64,7 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if (angular_travel < 0) { angular_travel += 2*M_PI; }
if (clockwise_sign < 0) { angular_travel = 2*M_PI-angular_travel; }
if (isclockwise) { angular_travel -= 2*M_PI; }
double millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
@ -104,7 +104,7 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
*/
// Vector rotation matrix values
double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
double sin_T = clockwise_sign*theta_per_segment;
double sin_T = theta_per_segment;
double trajectory[3];
double sin_Ti;
@ -128,7 +128,7 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = clockwise_sign*sin(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
count = 0;