ManuelW/grbl-LPC-CoreXY
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rough accelleration stuff

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Simen Svale Skogsrud
2010-06-28 23:29:58 +02:00
parent 1088c402ad
commit 703d812b85
8 changed files with 131 additions and 21 deletions
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7
motion_control.c
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@ -68,7 +68,7 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
square(steps[Y_AXIS]/settings.steps_per_mm[1]) +
square(steps[Z_AXIS]/settings.steps_per_mm[2]));
st_buffer_line(steps[X_AXIS], steps[Y_AXIS], steps[Z_AXIS],
lround((millimeters_of_travel/feed_rate)*1000000));
lround((millimeters_of_travel/feed_rate)*1000000), millimeters_of_travel);
}
memcpy(position, target, sizeof(target)); // position[] = target[]
}
@ -79,7 +79,7 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
// segment is configured in config.h by setting MM_PER_ARC_SEGMENT.
// segment is configured in settings.mm_per_arc_segment.
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate)
{
@ -107,7 +107,8 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
theta += theta_per_segment;
target[axis_1] = center_x+sin(theta)*radius;
target[axis_2] = center_y+cos(theta)*radius;
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate,
settings.mm_per_arc_segment);
}
}