ManuelW/grbl-LPC-CoreXY
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Updated README. Max step rate back at 30kHz. Acceleration minor bug fix.

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- Returned the max step rate to 30kHz. The new arc algorithm works uses
so much less CPU overhead, because the segments are longer, that the
planner has no problem computing through them.

- Fixed an issue with the acceleration independence scaling. Should now
work with accelerations above 400mm/sec^2 or so.

- Updated README
This commit is contained in:
Sonny Jeon
2012-12-21 08:51:36 -07:00
parent 3dfffa622d
commit 5e7c25d480
4 changed files with 15 additions and 12 deletions
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10
planner.c
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@ -31,8 +31,8 @@
#include "config.h"
#include "protocol.h"
#define SOME_LARGE_VALUE 1000000.0 // Used by rapids and acceleration maximization calculations. Just needs
// to be larger than any feasible mm/min or mm/sec^2 value.
#define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs
// to be larger than any feasible mm/min or mm/sec^2 value.
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
@ -434,12 +434,12 @@ void plan_buffer_line(float x, float y, float z, float feed_rate, uint8_t invert
uint8_t i;
float unit_vec[N_AXIS], inverse_unit_vec_value;
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple float divides
block->acceleration = SOME_LARGE_VALUE; // Scaled down to maximum acceleration
block->acceleration = SOME_LARGE_VALUE; // Scaled down to maximum acceleration in loop
for (i=0; i<N_AXIS; i++) {
if (delta_mm[i] == 0) {
unit_vec[i] = 0; // Store zero value. And avoid divide by zero.
} else {
// Compute absolute value unit vector
// Compute unit vector and its absolute inverse value
unit_vec[i] = delta_mm[i]*inverse_millimeters;
inverse_unit_vec_value = abs(1.0/unit_vec[i]);
// Check and limit feed rate against max axis velocities and scale accelerations to maximums
@ -526,7 +526,7 @@ void plan_buffer_line(float x, float y, float z, float feed_rate, uint8_t invert
planner_recalculate();
}
// Reset the planner position vectors. Called by the system abort routine.
// Reset the planner position vectors. Called by the system abort/initialization routine.
void plan_set_current_position(int32_t x, int32_t y, int32_t z)
{
pl.position[X_AXIS] = x;