From dad9db1b02c2f9f844b4962fc63858776b359ce4 Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@bengler.no>
Date: Mon, 31 Jan 2011 23:19:51 +0100
Subject: [PATCH] formatting

---
 gcode.c          | 2 +-
 main.c           | 4 ++--
 motion_control.c | 3 ++-
 motion_control.h | 2 +-
 nuts_bolts.h     | 7 -------
 stepper_plan.c   | 4 ----
 6 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/gcode.c b/gcode.c
index 95f9ec5..9c7c87d 100644
--- a/gcode.c
+++ b/gcode.c
@@ -394,7 +394,7 @@ uint8_t gc_execute_line(char *line) {
   // 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
   // in any intermediate location.
-  memcpy(gc.position, target, sizeof(double)*3); // equivalent of: gc.position = target;
+  memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
   return(gc.status_code);
 }
 
diff --git a/main.c b/main.c
index 96cc065..8d67998 100644
--- a/main.c
+++ b/main.c
@@ -44,8 +44,8 @@ int main(void)
   DDRD |= (1<<3)|(1<<4)|(1<<5);
   
   for(;;){
-    sleep_mode();
-    sp_process(); // process the serial protocol
+    sleep_mode(); // Wait for it ...
+    sp_process(); // ... process the serial protocol
   }
   return 0;   /* never reached */
 }
diff --git a/motion_control.c b/motion_control.c
index 17f2b9f..c509137 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -29,7 +29,8 @@
 #include "stepper_plan.h"
 #include "wiring_serial.h"
 
-int32_t position[3];    // The current position of the tool in absolute steps
+// The current position of the tool in absolute steps
+int32_t position[3]; 
 
 void mc_init()
 {
diff --git a/motion_control.h b/motion_control.h
index ae45247..6df6bde 100644
--- a/motion_control.h
+++ b/motion_control.h
@@ -45,7 +45,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
 // Dwell for a couple of time units
 void mc_dwell(uint32_t milliseconds);
 
-// Send the tool home
+// Send the tool home (not implemented)
 void mc_go_home();
 
 #endif
diff --git a/nuts_bolts.h b/nuts_bolts.h
index cca0009..b93ffcc 100644
--- a/nuts_bolts.h
+++ b/nuts_bolts.h
@@ -25,7 +25,6 @@
 #define ONE_MINUTE_OF_MICROSECONDS 60000000.0
 #define TICKS_PER_MICROSECOND (F_CPU/1000000)
 
-
 #define max(a,b) (((a) > (b)) ? (a) : (b))
 #define min(a,b) (((a) < (b)) ? (a) : (b))
 
@@ -41,10 +40,4 @@
 #define Y_AXIS 1
 #define Z_AXIS 2
 
-// void scale_vector(double *target, double *source, double multiplier) {
-//   target[0] = source[0]*multiplier;
-//   target[1] = source[1]*multiplier;
-//   target[2] = source[2]*multiplier;
-// }
-
 #endif
diff --git a/stepper_plan.c b/stepper_plan.c
index f5e5609..0f6906c 100644
--- a/stepper_plan.c
+++ b/stepper_plan.c
@@ -66,10 +66,6 @@ volatile int block_buffer_tail;           // Index of the block to process now
 
 static uint8_t acceleration_management;   // Acceleration management active?
 
-
-// NOTE: See bottom of this module for a comment outlining the reasoning behind the mathematics of the
-// following functions.
-
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
 inline double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) {