added some gcode to test with

motion_control.c

@@ -91,9 +91,9 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
   
   // Setup ---------------------------------------------------------------------------------------------------
 
-  target[X_AXIS] = x*X_STEPS_PER_MM;
+  target[X_AXIS] = round(x*X_STEPS_PER_MM);
-  target[Y_AXIS] = y*Y_STEPS_PER_MM;
+  target[Y_AXIS] = round(y*Y_STEPS_PER_MM);
-  target[Z_AXIS] = z*Z_STEPS_PER_MM;  
+  target[Z_AXIS] = round(z*Z_STEPS_PER_MM);  
   // Determine direction and travel magnitude for each axis
   for(axis = X_AXIS; axis <= Z_AXIS; axis++) {
   	step_count[axis] = abs(target[axis] - position[axis]);

script/stream.rb

@@ -8,6 +8,10 @@ options_parser = OptionParser.new do |opts|
   opts.on('-v', '--verbose', 'Output more information') do
     $verbose = true
   end   
+
+  opts.on('-p', '--prebuffer', 'Prebuffer commands') do
+    $prebuffer = true
+  end   
   
   opts.on('-h', '--help', 'Display this screen') do
     puts opts
@@ -23,13 +27,16 @@ end
 SerialPort.open('/dev/tty.usbserial-A4001o6L', 9600) do |sp|
   ARGV.each do |file|
     puts "Processing file #{file}"
-    prebuffer = 5
+    prebuffer = $prebuffer ? 10 : 0
     File.readlines(file).each do |line|
-      sp.write("#{line.strip}\r\n");
+      next if line.strip == ''
       puts line.strip
+      sp.write("#{line.strip}\r\n");
       if prebuffer == 0
-        result = sp.gets 
+        begin
-        puts result unless result.strip == 'ok'
+          result = sp.gets.strip
+          puts result unless result == '' or result == 'ok'
+        end while result != 'ok'
       else
         prebuffer -= 1
       end