ManuelW/grbl-LPC-CoreXY
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added basic accelleration management with trapezoid accelleration profiles but no look ahead optimization (coming next patch)

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Simen Svale Skogsrud
2011-01-14 12:10:18 +01:00
parent e0f3dcbe43
commit b628a4aabf
14 changed files with 129 additions and 108 deletions
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5
motion_control.c
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@ -45,7 +45,7 @@ void mc_dwell(uint32_t milliseconds)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// 1/feed_rate minutes.
void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate)
void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate)
{
uint8_t axis; // loop variable
int32_t target[3]; // The target position in absolute steps
@ -108,8 +108,7 @@ 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,
settings.mm_per_arc_segment);
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
}
}