Sonny J
d75ad82e49
Minor update for memory savings in ring buffer and fleshed out commenting.
...
No changes in functionality. Path vectors moved from ring buffer to
local planner static variables to save 3*(BUFFER_SIZE - 1) doubles in
memory. Detailed comments. Really need to stop micro-updating. Should be
the last until a planner optimization (ala Jens Geisler) has been
completed.
2011-09-04 18:53:25 -06:00
Sonny J
f1e5ff35ec
More minor bug fixes in planner.
...
Reverse planner was over-writing the initial/buffer tail entry speed,
which reset the forward planner and caused it to lose track of its
speed. Should now accelerate into short linear segments much nicer now.
2011-09-04 11:19:08 -06:00
Sonny J
5e2e935bda
Minor bug fixes in planner.
2011-09-03 23:22:27 -06:00
Sonny J
5c2150daa9
Significantly improved junction control and fixed computation bugs in planner
...
- Junction jerk now re-defined as junction_deviation. The distance from
the junction to the edge of a circle tangent to both previous and
current path lines. The circle radii is used to compute the maximum
junction velocity by centripetal acceleration. More robust and
simplified way to compute jerk. - Fixed bugs related to entry and exit
factors. They were computed based on the current nominal speeds but not
when computing exit factors for neighboring blocks. Removed factors and
replaced with entry speeds only. Factors now only computed for stepper
trapezoid rate conversions. - Misc: Added min(), next_block_index,
prev_block_index functions for clarity.
2011-09-03 15:31:48 -06:00
Sonny J
ed5e5d1181
Revert ea5b8942db2616e93fc0478922010c3bab7c0481^..HEAD
2011-08-15 19:37:22 -06:00
Sonny J
971e50aa9a
Revert 517a0f659a06182c89cafe27ee371edccad777a4^..HEAD
2011-08-15 19:15:43 -06:00
Simen Svale Skogsrud
517a0f659a
reordered a couple of functions for consistency
2011-08-02 22:44:32 +02:00
Simen Svale Skogsrud
5466bc0c33
fixed a nil dereferencing bug in planner_forward_pass_kernel thanks to jv4779
2011-07-10 21:54:03 +02:00
Simen Svale Skogsrud
804837a111
corrected an outdated comment
2011-07-09 22:35:25 +02:00
Simen Svale Skogsrud
c0b4b8309a
cleaned up serial completing support for non blocking tx and refactoring formatting functions into a new module 'print'
2011-06-03 15:28:14 +02:00
Simen Svale Skogsrud
defabc80ed
renamed wiring_serial to serial to reflect its complete remake
2011-05-31 22:45:38 +02:00
Simen Svale Skogsrud
f4c1cbac3c
added a fix for division by zero errors that would occur on very low feed rates (thanks to Arthur Wolf for hardcore investigation)
2011-05-31 18:37:37 +02:00
Simen Svale Skogsrud
ef20be9f4c
result of G92 also affects planner
2011-02-21 22:32:42 +01:00
Simen Svale Skogsrud
2c913a00bd
acceleration-Grbl now works with atmega 168 by disabling arc motion
2011-02-20 22:13:31 +01:00
Simen Svale Skogsrud
d5d6298de3
added support for limit switches and homing action
2011-02-20 00:29:56 +01:00
Simen Svale Skogsrud
9c8c259153
made most internal function static to allow gcc to inline them
2011-02-19 23:03:10 +01:00
Simen Svale Skogsrud
464dcd12e8
formatting
2011-02-19 00:32:36 +01:00
Simen Svale Skogsrud
6edbbe322c
lowercased boolean constants
2011-02-18 23:04:12 +01:00
Simen Svale Skogsrud
6152d16205
circle buffers now power of two size and indicies are unsigned to help gcc make a few nice optimizations
2011-02-18 21:46:18 +01:00
Simen Svale Skogsrud
124bc363bd
removed inline-keywords because gcc ignores them anyway
2011-02-17 23:59:10 +01:00
Simen Svale Skogsrud
b8eee5ac9a
clamped safe speed to 100% of nominal speed. Fixes a problem that might have spelled trouble at very low feed rates
2011-02-17 21:41:41 +01:00
Simen Svale Skogsrud
1ed2195e11
a new (slightly inelegant) stab at eliminating the slow tail problem
2011-02-16 22:58:53 +01:00
Simen Svale Skogsrud
c02a6e2366
possible improvement on the long, slow tail problem
2011-02-16 21:11:27 +01:00
Simen Svale Skogsrud
ff73645a14
cleanup, protected some more module variables as static
2011-02-12 00:03:58 +01:00
Simen Svale Skogsrud
bfd8cfa7dd
slimmed down nuts_bolts
2011-02-11 23:53:58 +01:00
Simen Svale Skogsrud
33f014aa74
eliminated an abstraction violation where motion_control needed position information from the planner (untested)
2011-02-11 23:01:16 +01:00
Simen Svale Skogsrud
ef61efbf70
makes sure steppers cruise at exactly nominal rate to eliminate rounding errors. Possibly fixes the problem where some moves have a long tail of slow steps. (Untested)
2011-02-11 01:31:44 +01:00
Simen Svale Skogsrud
6dc81b41c9
formatting + moved current position getter to planner
2011-02-11 00:44:18 +01:00
Simen Svale Skogsrud
a4c64945e0
refactored stepper_plan -> planner (untested)
2011-02-11 00:34:53 +01:00
