ManuelW/grbl-LPC-CoreXY
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Optimized planner re-write. Significantly faster. Full arc support enabled by rotation matrix approach.

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- Significant improvements in the planner. Removed or reordered
repetitive and expensive calculations by order of importance:
recalculating unchanged blocks, trig functions [sin(), cos(), tan()],
sqrt(), divides, and multiplications. Blocks long enough for nominal
speed to be guaranteed to be reached ignored by planner. Done by
introducing two uint8_t flags per block. Reduced computational overhead
by an order of magnitude.   - Arc motion generation completely
re-written and optimized. Now runs with acceleration planner. Removed
all but one trig function (atan2) from initialization. Streamlined
computations. Segment target locations generated by vector
transformation and small angle approximation. Arc path correction
implemented for accumulated error of approximation and single precision
calculation of Arduino. Bug fix in message passing.
This commit is contained in:
Sonny J
2011-09-06 19:39:14 -06:00
parent d75ad82e49
commit ffcc3470a3
10 changed files with 274 additions and 179 deletions
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16
motion_control.h
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@ -3,7 +3,8 @@
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Modifications Copyright (c) 2011 Sungeun (Sonny) Jeon
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
@ -35,13 +36,12 @@
#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
// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining
// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion.
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, double *position);
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, clockwise_sign == -1 or 1. Used
// for vector transformation direction.
void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, int8_t clockwise_sign);
#endif
// Dwell for a couple of time units