ManuelW/grbl-LPC-CoreXY
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fixed buffering of pace changes and general cleaning

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This commit is contained in:
Simen Svale Skogsrud
2009-02-08 20:40:24 +01:00
parent 8a0c9fd180
commit c07a322589
5 changed files with 64 additions and 44 deletions
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20
gcode.c
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@ -126,6 +126,7 @@ void select_plane(uint8_t axis_0, uint8_t axis_1)
// characters and signed floats (no whitespace).
uint8_t gc_execute_line(char *line) {
int counter = 0;
int requires_nudge = false;
char letter;
double value;
double unit_converted_value;
@ -376,17 +377,24 @@ uint8_t gc_execute_line(char *line) {
// Find the radius
double radius = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]);
// Prepare the arc
printString("mc_arc(");
printInteger(trunc(theta_start/M_PI*180)); printByte(',');
printInteger(trunc(angular_travel/M_PI*180)); printByte(',');
printInteger(trunc(radius));
printByte(')');
// printString("mc_arc(");
// printInteger(trunc(theta_start/M_PI*180)); printByte(',');
// printInteger(trunc(angular_travel/M_PI*180)); printByte(',');
// printInteger(trunc(radius));
// printByte(')');
mc_arc(theta_start, angular_travel, radius, gc.plane_axis_0, gc.plane_axis_1, gc.feed_rate);
break;
// Rounding errors means the arcing might not land us exactly where we wanted. Thats why this
// operation must be finalized with a linear nudge to the exact target spot.
requires_nudge = true;
break;
}
}
mc_execute();
if (requires_nudge) {
mc_linear_motion(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.feed_rate, false);
mc_execute();
}
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position