ManuelW/grbl-LPC-CoreXY
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Minor changes and added notes to soft limits routines.

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- Changed up mc_line to accept an array rather than individual x,y,z
coordinates. Makes some of the position data handling more effective,
especially for a 4th-axis later on.

- Changed up some soft limits variable names.
This commit is contained in:
Sonny Jeon
2013-03-01 09:55:10 -07:00
parent 7951b83294
commit 74b2af3c2f
6 changed files with 47 additions and 42 deletions
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9
gcode.c
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@ -321,14 +321,14 @@ uint8_t gc_execute_line(char *line)
target[i] = gc.position[i];
}
}
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], -1.0, false);
mc_line(target, -1.0, false);
}
// Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
float coord_data[N_AXIS];
uint8_t home_select = SETTING_INDEX_G28;
if (non_modal_action == NON_MODAL_GO_HOME_1) { home_select = SETTING_INDEX_G30; }
if (!settings_read_coord_data(home_select,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], -1.0, false);
mc_line(coord_data, -1.0, false);
memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[];
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
break;
@ -399,7 +399,7 @@ uint8_t gc_execute_line(char *line)
break;
case MOTION_MODE_SEEK:
if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], -1.0, false); }
else { mc_line(target, -1.0, false); }
break;
case MOTION_MODE_LINEAR:
// TODO: Inverse time requires F-word with each statement. Need to do a check. Also need
@ -407,8 +407,7 @@ uint8_t gc_execute_line(char *line)
// and after an inverse time move and then check for non-zero feed rate each time. This
// should be efficient and effective.
if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// Check if at least one of the axes of the selected plane has been specified. If in center