ManuelW/grbl-LPC-CoreXY
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Cleaned up stepper and planner code.

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- Added some compile-time error checking. Will add more in future
pushes to ensure settings are correct and within parameters that won't
break anything.

- Pushed some master branch changes with MEGA pin settings.

- Cleaned up planner code and comments to clarify some of the new
changes. Still much to do here.

- Cleaned up the new stepper code. May need to abstract some of the
segment buffer more to fix the feed holds (and integrate homing into
the main stepper routine). With what's planned, this should make the
stepper algorithm easier to attach other types of processes to it,
where it is now tightly integrated with the planner buffer and nothing
else.
This commit is contained in:
Sonny Jeon
2013-10-24 22:12:13 -06:00
parent 0cb5756b53
commit f7429ec79b
6 changed files with 252 additions and 253 deletions
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README.md
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@ -11,7 +11,7 @@ Grbl includes full acceleration management with look ahead. That means the contr
##Changelog for v0.9 from v0.8
- **ALPHA status: Under heavy development.**
- New stepper algorithm: Based on the Pramod Ranade inverse time algorithm, but modified to ensure steps are executed exactly. This algorithm performs a constant timer tick and has a hard limit of 30kHz maximum step frequency. It is also highly tuneable and should be very easy to port to other microcontroller architectures. Overall, a much better, smoother stepper algorithm with the capability of very high speeds.
- New stepper algorithm: Based on an inverse time algorithm, but modified to ensure steps are executed exactly. This algorithm performs a constant timer tick and has a hard limit of 30kHz maximum step frequency. It is also highly tuneable and should be very easy to port to other microcontroller architectures. Overall, a much better, smoother stepper algorithm with the capability of very high speeds.
- Planner optimizations: Multiple changes to increase planner execution speed and removed redundant variables.
- Acceleration independence: Each axes may be defined with different acceleration parameters and Grbl will automagically calculate the maximum acceleration through a path depending on the direction traveled. This is very useful for machine that have very different axes properties, like the ShapeOko z-axis.
- Maximum velocity independence: As with acceleration, the maximum velocity of individual axes may be defined. All seek/rapids motions will move at these maximum rates, but never exceed any one axes. So, when two or more axes move, the limiting axis will move at its maximum rate, while the other axes are scaled down.