ManuelW/grbl-LPC-CoreXY
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stepper.c now has 90% of acelleration support built in except for the planner, still som known conflicts to mark rough spots that need attention later

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Simen Svale Skogsrud
2011-01-03 00:36:33 +01:00
parent 48b596c2fe
commit e0f3dcbe43
3 changed files with 176 additions and 155 deletions
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13
motion_control.c
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@ -59,14 +59,15 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
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));
st_buffer_line(steps[X_AXIS], steps[Y_AXIS], steps[Z_AXIS], lround(ONE_MINUTE_OF_MICROSECONDS/feed_rate),
millimeters_of_travel);
} else {
// 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]));
st_buffer_line(steps[X_AXIS], steps[Y_AXIS], steps[Z_AXIS],
lround((millimeters_of_travel/feed_rate)*1000000), millimeters_of_travel);
}