ManuelW/grbl-LPC-CoreXY
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Third time's a charm! No more deceleration issues! Updated grbl version and settings. General cleanup.

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- Fleshed out the original idea to completely remove the long slope at
the end of deceleration issue. This third time should absolutely
eliminate it.
- Changed the acceleration setting to kept as mm/min^2 internally,
since this was creating unneccessary additional computation in the
planner. Human readable value kept at mm/sec^2.
- Updated grbl version 0.7d and settings version to 4. NOTE: Please
check settings after update. These may have changed, but shouldn't.
- Before updating the new features (pause, e-stop, federate override,
etc), the edge branch will soon be merged with the master, barring any
immediate issues that people may have, and the edge branch will be the
testing ground for the new grbl version 0.8.
This commit is contained in:
Sonny Jeon
2011-10-11 20:51:04 -06:00
parent c98ff4cc2e
commit 9141ad2825
10 changed files with 270 additions and 51 deletions
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12
planner.c
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@ -97,7 +97,7 @@ static double intersection_distance(double initial_rate, double final_rate, doub
// in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed
// BLOCK_BUFFER_SIZE calls per planner cycle.
static double max_allowable_speed(double acceleration, double target_velocity, double distance) {
return( sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) );
return( sqrt(target_velocity*target_velocity-2*acceleration*distance) );
}
@ -203,7 +203,7 @@ static void calculate_trapezoid_for_block(block_t *block, double entry_factor, d
ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute));
int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
@ -382,7 +382,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
// specifically for each line to compensate for this phenomenon:
// Convert universal acceleration for direction-dependent stepper rate change parameter
block->rate_delta = ceil( block->step_event_count*inverse_millimeters *
settings.acceleration*60.0 / ACCELERATION_TICKS_PER_SECOND ); // (step/min/acceleration_tick)
settings.acceleration / (60 * ACCELERATION_TICKS_PER_SECOND )); // (step/min/acceleration_tick)
// Perform planner-enabled calculations
if (acceleration_manager_enabled) {
@ -421,7 +421,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(settings.acceleration*60*60 * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
sqrt(settings.acceleration * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
}
}
@ -462,7 +462,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
memcpy(position, target, sizeof(target)); // position[] = target[]
if (acceleration_manager_enabled) { planner_recalculate(); }
st_wake_up();
st_cycle_start();
}
// Reset the planner position vector and planner speed
@ -472,4 +472,4 @@ void plan_set_current_position(double x, double y, double z) {
position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
clear_vector_double(previous_unit_vec);
}
}