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

added high-level api-call for enabling or disabling the acceleration manager

Browse Source
This commit is contained in:
Simen Svale Skogsrud 2011-01-25 22:44:46 +01:00
parent db377f18f3
commit 4dbe7c4833
3 changed files with 13 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
motion_control.c
View File

@ -26,7 +26,7 @@
#include <stdlib.h> #include <stdlib.h>
#include "nuts_bolts.h" #include "nuts_bolts.h"
#include "stepper.h" #include "stepper.h"
#include "stepper_plan.h"
#include "wiring_serial.h" #include "wiring_serial.h"
int32_t position[3]; // The current position of the tool in absolute steps int32_t position[3]; // The current position of the tool in absolute steps
@ -42,6 +42,14 @@ void mc_dwell(uint32_t milliseconds)
_delay_ms(milliseconds); _delay_ms(milliseconds);
} }
void mc_set_acceleration_manager_enabled(uint8_t enabled) {
if (enabled) {
plan_enable_acceleration_management();
} else {
plan_disable_acceleration_management();
}
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// 1/feed_rate minutes. // 1/feed_rate minutes.

4
motion_control.h
View File

@ -23,9 +23,13 @@
#include <avr/io.h> #include <avr/io.h>
// Initializes the motion_control subsystem resources // Initializes the motion_control subsystem resources
void mc_init(); void mc_init();
// Enables or disables the look ahead acceleration manager. (Default: on)
void mc_set_acceleration_manager_enabled(uint8_t enabled);
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time. // (1 minute)/feed_rate time.

1
stepper_plan.c
View File

@ -303,7 +303,6 @@ void plan_disable_acceleration_management() {
} }
} }
// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in // Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters. // calculation the caller must also provide the physical length of the line in millimeters.