ManuelW/grbl-LPC-CoreXY
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Commenting updates. Minor bug fix with exit of soft limit event.

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Sonny Jeon
2014-02-19 07:21:40 -07:00
parent 3df61e0ec5
commit b332d6edbb
5 changed files with 37 additions and 32 deletions
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21
motion_control.c
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@ -48,16 +48,19 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
// TODO: Backlash compensation may be installed here. Only need direction info to track when
// to insert a backlash line motion(s) before the intended line motion. Requires its own
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
// TODO: Backlash comp positioning values may need to be kept at a system level, i.e. tracking
// true position after a feed hold in the middle of a backlash move. The difficulty is in making
// sure that the stepper subsystem and planner are working in sync, and the status report
// position also takes this into account.
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.