ManuelW/grbl-LPC-CoreXY
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replaced use of magical numbers for axis reference with constants

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This commit is contained in:
Simen Svale Skogsrud 2011-02-06 23:27:04 +01:00
parent c42741032f
commit 799548c013
2 changed files with 18 additions and 18 deletions
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12
settings.c
View File

@ -40,9 +40,9 @@ typedef struct {
} settings_v1_t;
void settings_reset() {
settings.steps_per_mm[0] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[1] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[2] = DEFAULT_Z_STEPS_PER_MM;
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
settings.default_feed_rate = DEFAULT_FEEDRATE;
settings.default_seek_rate = DEFAULT_RAPID_FEEDRATE;
@ -53,9 +53,9 @@ void settings_reset() {
}
void settings_dump() {
printPgmString(PSTR("$0 = ")); printFloat(settings.steps_per_mm[0]);
printPgmString(PSTR(" (steps/mm x)\r\n$1 = ")); printFloat(settings.steps_per_mm[1]);
printPgmString(PSTR(" (steps/mm y)\r\n$2 = ")); printFloat(settings.steps_per_mm[2]);
printPgmString(PSTR("$0 = ")); printFloat(settings.steps_per_mm[X_AXIS]);
printPgmString(PSTR(" (steps/mm x)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
printPgmString(PSTR(" (steps/mm y)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
printPgmString(PSTR(" (steps/mm z)\r\n$3 = ")); printInteger(settings.pulse_microseconds);
printPgmString(PSTR(" (microseconds step pulse)\r\n$4 = ")); printFloat(settings.default_feed_rate);
printPgmString(PSTR(" (mm/min default feed rate)\r\n$5 = ")); printFloat(settings.default_seek_rate);

24
stepper_plan.c
View File

@ -359,9 +359,9 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
// Calculate target position in absolute steps
int32_t target[3];
target[0] = lround(x*settings.steps_per_mm[0]);
target[1] = lround(y*settings.steps_per_mm[1]);
target[2] = lround(y*settings.steps_per_mm[2]);
target[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
target[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
target[Z_AXIS] = lround(y*settings.steps_per_mm[Z_AXIS]);
// Calculate the buffer head after we push this byte
int next_buffer_head = (block_buffer_head + 1) % BLOCK_BUFFER_SIZE;
@ -371,13 +371,13 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Number of steps for each axis
block->steps_x = labs(position[0]-target[0]);
block->steps_y = labs(position[1]-target[1]);
block->steps_z = labs(position[2]-target[2]);
block->steps_x = labs(position[X_AXIS]-target[X_AXIS]);
block->steps_y = labs(position[Y_AXIS]-target[Y_AXIS]);
block->steps_z = labs(position[Z_AXIS]-target[Z_AXIS]);
block->millimeters = sqrt(
square(block->steps_x/settings.steps_per_mm[0])+
square(block->steps_y/settings.steps_per_mm[1])+
square(block->steps_z/settings.steps_per_mm[2]));
square(block->steps_x/settings.steps_per_mm[X_AXIS])+
square(block->steps_y/settings.steps_per_mm[Y_AXIS])+
square(block->steps_z/settings.steps_per_mm[Z_AXIS]));
block->step_event_count = max(block->steps_x, max(block->steps_y, block->steps_z));
// Bail if this is a zero-length block
@ -427,9 +427,9 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
// Compute direction bits for this block
block->direction_bits = 0;
if (target[0] < position[0]) { block->direction_bits |= (1<<X_DIRECTION_BIT); }
if (target[1] < position[1]) { block->direction_bits |= (1<<Y_DIRECTION_BIT); }
if (target[2] < position[2]) { block->direction_bits |= (1<<Z_DIRECTION_BIT); }
if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_DIRECTION_BIT); }
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_DIRECTION_BIT); }
if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_DIRECTION_BIT); }
// Move buffer head
block_buffer_head = next_buffer_head;