ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

result of G92 also affects planner

Browse Source
This commit is contained in:
Simen Svale Skogsrud 2011-02-21 22:32:42 +01:00
parent c491324e89
commit ef20be9f4c
3 changed files with 14 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gcode.c
View File

@ -97,6 +97,7 @@ static float to_millimeters(double value) {
return(gc.inches_mode ? (value * MM_PER_INCH) : value);
}
#ifdef __AVR_ATmega328P__
// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis,
// positive to the right.
static double theta(double x, double y)
@ -113,6 +114,7 @@ static double theta(double x, double y)
}
}
}
#endif
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace).
@ -236,7 +238,9 @@ uint8_t gc_execute_line(char *line) {
switch (next_action) {
case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector(gc.position); break;
case NEXT_ACTION_DWELL: mc_dwell(trunc(p*1000)); break;
case NEXT_ACTION_SET_COORDINATE_OFFSET: break; // no action needed
case NEXT_ACTION_SET_COORDINATE_OFFSET:
mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);
break;
case NEXT_ACTION_DEFAULT:
switch (gc.motion_mode) {
case MOTION_MODE_CANCEL: break;

8
motion_control.h
View File

@ -24,14 +24,16 @@
#include <avr/io.h>
#include "planner.h"
// NOTE: Although the following functions structurally belongs in this module, there is nothing to do but
// to forward the request to the planner.
// 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 minute)/feed_rate time.
// NOTE: Although this function structurally belongs in this module, there is nothing to do but
// to forward the request to the planner. For efficiency the function is implemented with a macro.
#define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate)
#define mc_set_current_position(x, y, z) plan_set_current_position(x, y, z)
#ifdef __AVR_ATmega328P__
// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,
// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the

8
planner.c
View File

@ -391,9 +391,9 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
st_wake_up();
}
// Reset the position vector
// Reset the planner position vector
void plan_set_current_position(double x, double y, double z) {
position[X_AXIS] = x;
position[Y_AXIS] = y;
position[Z_AXIS] = z;
position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
}