ManuelW/grbl-LPC-CoreXY
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Refactored line buffering to eliminate state from motion control and centralize tracking of position. UNTESTED: NEEDS TESTING

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This commit is contained in:
Simen Svale Skogsrud
2011-02-06 23:23:34 +01:00
parent cdcc7bf86e
commit c42741032f
7 changed files with 65 additions and 65 deletions
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36
motion_control.c
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@ -29,13 +29,6 @@
#include "stepper_plan.h"
#include "wiring_serial.h"
// The current position of the tool in absolute steps
int32_t position[3];
void mc_init()
{
clear_vector(position);
}
void mc_dwell(uint32_t milliseconds)
{
@ -48,31 +41,7 @@ void mc_dwell(uint32_t milliseconds)
// 1/feed_rate minutes.
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
int32_t steps[3]; // The target line in relative steps
target[X_AXIS] = lround(x*settings.steps_per_mm[0]);
target[Y_AXIS] = lround(y*settings.steps_per_mm[1]);
target[Z_AXIS] = lround(z*settings.steps_per_mm[2]);
for(axis = X_AXIS; axis <= Z_AXIS; axis++) {
steps[axis] = target[axis]-position[axis];
}
// Ask old Phytagoras to estimate how many mm our next move is going to take us
double millimeters_of_travel = sqrt(
square(steps[X_AXIS]/settings.steps_per_mm[0]) +
square(steps[Y_AXIS]/settings.steps_per_mm[1]) +
square(steps[Z_AXIS]/settings.steps_per_mm[2]));
if (invert_feed_rate) {
st_buffer_line(steps[X_AXIS], steps[Y_AXIS], steps[Z_AXIS], lround(ONE_MINUTE_OF_MICROSECONDS/feed_rate),
millimeters_of_travel);
} else {
st_buffer_line(steps[X_AXIS], steps[Y_AXIS], steps[Z_AXIS],
lround((millimeters_of_travel/feed_rate)*1000000), millimeters_of_travel);
}
memcpy(position, target, sizeof(target)); // position[] = target[]
st_buffer_line(x, y, z, feed_rate, invert_feed_rate);
}
// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
@ -85,6 +54,8 @@ void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rat
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate)
{
int32_t position[3];
st_get_position_steps(&position);
int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
@ -119,5 +90,4 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
void mc_go_home()
{
st_go_home();
clear_vector(position); // By definition this is location [0, 0, 0]
}