ManuelW/grbl-LPC-CoreXY
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Significantly improved junction control and fixed computation bugs in planner

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- Junction jerk now re-defined as junction_deviation. The distance from
the junction to the edge of a circle tangent to both previous and
current path lines. The circle radii is used to compute the maximum
junction velocity by centripetal acceleration. More robust and
simplified way to compute jerk.   - Fixed bugs related to entry and exit
factors. They were computed based on the current nominal speeds but not
when computing exit factors for neighboring blocks. Removed factors and
replaced with entry speeds only. Factors now only computed for stepper
trapezoid rate conversions.  - Misc: Added min(), next_block_index,
prev_block_index functions for clarity.
This commit is contained in:
Sonny J
2011-09-03 15:31:48 -06:00
parent badb638df9
commit 5c2150daa9
5 changed files with 119 additions and 121 deletions
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12
settings.c
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@ -51,7 +51,7 @@ typedef struct {
#define DEFAULT_RAPID_FEEDRATE 500.0 // in millimeters per minute
#define DEFAULT_FEEDRATE 500.0
#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE/10.0)
#define DEFAULT_MAX_JERK 300.0
#define DEFAULT_JUNCTION_DEVIATION 0.1
#define DEFAULT_STEPPING_INVERT_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
void settings_reset() {
@ -64,7 +64,7 @@ void settings_reset() {
settings.acceleration = DEFAULT_ACCELERATION;
settings.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
settings.invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.max_jerk = DEFAULT_MAX_JERK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
}
void settings_dump() {
@ -78,8 +78,8 @@ void settings_dump() {
printPgmString(PSTR(" (mm/arc segment)\r\n$7 = ")); printInteger(settings.invert_mask);
printPgmString(PSTR(" (step port invert mask. binary = ")); printIntegerInBase(settings.invert_mask, 2);
printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration);
printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.max_jerk);
printPgmString(PSTR(" (max instant cornering speed change in delta mm/min)"));
printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
printPgmString(PSTR(" (junction deviation for cornering in mm)"));
printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
}
@ -129,7 +129,7 @@ int read_settings() {
return(false);
}
settings.acceleration = DEFAULT_ACCELERATION;
settings.max_jerk = DEFAULT_MAX_JERK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
} else {
return(false);
}
@ -156,7 +156,7 @@ void settings_store_setting(int parameter, double value) {
case 6: settings.mm_per_arc_segment = value; break;
case 7: settings.invert_mask = trunc(value); break;
case 8: settings.acceleration = value; break;
case 9: settings.max_jerk = fabs(value); break;
case 9: settings.junction_deviation = fabs(value); break;
default:
printPgmString(PSTR("Unknown parameter\r\n"));
return;