Sonny J
ffcc3470a3
Optimized planner re-write. Significantly faster. Full arc support enabled by rotation matrix approach.
...
- 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.
2011-09-06 19:39:14 -06:00
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
60f417b570
fixed a double rounding error compensation bug in mc_arc thanks to Etienne Chové
2011-02-23 20:06:55 +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
6edbbe322c
lowercased boolean constants
2011-02-18 23:04:12 +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
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
480f898c2b
eliminated the mc_line-method and replaced it with a macro forwarding calls directly to the planner (untested)
2011-02-11 00:53:00 +01:00
Simen Svale Skogsrud
6dc81b41c9
formatting + moved current position getter to planner
2011-02-11 00:44:18 +01:00
Simen Svale Skogsrud
07f8623098
smoothed a wrinkle
2011-02-11 00:36:40 +01:00
Simen Svale Skogsrud
a4c64945e0
refactored stepper_plan -> planner (untested)
2011-02-11 00:34:53 +01:00
Simen Svale Skogsrud
c42741032f
Refactored line buffering to eliminate state from motion control and centralize tracking of position. UNTESTED: NEEDS TESTING
2011-02-06 23:23:34 +01:00
Simen Svale Skogsrud
cdcc7bf86e
cleaned up methods for enabling/disabling acceleration manger
2011-02-06 22:25:01 +01:00
Simen Svale Skogsrud
6d3ff506e8
refactored compile time settings back into a new file called config.h
2011-02-05 00:55:37 +01:00
Simen Svale Skogsrud
d00947a23a
renamed config.* to settings.*
2011-02-05 00:45:41 +01:00
Simen Svale Skogsrud
f4b9da1ecb
acceleration management is disabled during arc-motions until the two can be made to play nice together
2011-02-03 13:12:47 +01:00
Simen Svale Skogsrud
4b63cf3ab5
small fixes after testing on real hardware. Still no chaining of motions and something odd with arcs
2011-02-03 10:42:00 +01:00
Simen Svale Skogsrud
dad9db1b02
formatting
2011-01-31 23:19:51 +01:00
Simen Svale Skogsrud
4dbe7c4833
added high-level api-call for enabling or disabling the acceleration manager
2011-01-25 22:44:46 +01:00
Simen Svale Skogsrud
49a16cb777
refactored block buffer into separate module motion_plan pending the addition of the actual look ahead planner
2011-01-14 16:45:18 +01:00
Simen Svale Skogsrud
b628a4aabf
added basic accelleration management with trapezoid accelleration profiles but no look ahead optimization (coming next patch)
2011-01-14 12:10:18 +01:00
Simen Svale Skogsrud
e0f3dcbe43
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
2011-01-03 00:36:33 +01:00
Simen Svale Skogsrud
703d812b85
rough accelleration stuff
2010-06-28 23:29:58 +02:00
Simen Svale Skogsrud
b8ba8a4231
Added runtime configurable global settings with eeprom persitence
2010-03-07 20:29:18 +01:00
Simen Svale Skogsrud
58ad1ba509
minor edits after verifying refactored grbl on real hardware
2010-03-04 21:18:55 +01:00
Simen Svale Skogsrud
e8f94e6a87
removed void credits
2010-03-03 17:53:46 +01:00
Simen Svale Skogsrud
898b4ca99d
further refactoring debris extraction
2010-03-03 17:52:56 +01:00
Simen Svale Skogsrud
7e152851cc
general clean up after refactoring
2010-03-03 13:04:51 +01:00
Simen Svale Skogsrud
49ca861dc0
added segmented arc support with configurable segmentation
2010-03-03 01:39:44 +01:00
Simen Svale Skogsrud
df243d2490
successfully maintained 30khz, lots of optimization of code and buffering allocation
2010-03-03 00:26:48 +01:00
Simen Svale Skogsrud
2be1f473cd
first stab at replacing step-buffering with line-buffering
2010-03-02 21:46:51 +01:00
Simen Svale Skogsrud
36fd3a9bfb
improved the serial protocol, added some debug pins for a while
2010-03-02 08:19:21 +01:00
Simen Svale Skogsrud
a42c03601d
Fixed a number of bugs caused by using abs() on floats and long ints. Added support for selectively inverting bits of the stepping port. Debugged, optimized and cleaned up timing code for the step-pulses.
2010-02-27 19:55:09 +01:00
Simen Svale Skogsrud
6ac3b3f2e6
added some gcode to test with
2010-01-07 23:14:29 +01:00
Simen Svale Skogsrud
960444fb97
fixed feed rate calculation
2010-01-06 00:23:28 +01:00
Simen Svale Skogsrud
ed400693b3
fixed feed rate calculation
2010-01-06 00:23:07 +01:00
Simen Svale Skogsrud
2bd984a734
configurations and adjustments to protocol
2009-02-15 12:56:07 +01:00
Simen Svale Skogsrud
bf38fae67b
minor edits
2009-02-11 09:28:40 +01:00
Simen Svale Skogsrud
e257fc195c
support for helical motion
2009-02-11 00:37:33 +01:00
Simen Svale Skogsrud
8f3a69b37e
edit
2009-02-09 20:54:03 +01:00
Simen Svale Skogsrud
c2981be94a
added code to estimate steps in arc in order to support helical motion
2009-02-09 15:47:51 +01:00
Simen Svale Skogsrud
2992683c8d
optimized for size and did some housekeeping
2009-02-08 22:08:27 +01:00
Simen Svale Skogsrud
05bacc436e
optimized for size, shaved 2k
2009-02-08 21:22:54 +01:00
Simen Svale Skogsrud
c07a322589
fixed buffering of pace changes and general cleaning
2009-02-08 20:40:24 +01:00
Simen Svale Skogsrud
6c3a6a25d5
pace calculation correct, arc algorithm correct, support for negative R
2009-02-08 12:24:52 +01:00
Simen Svale Skogsrud
d012440518
presumably fixed the feed rate computation
2009-02-04 14:01:24 +01:00
Simen Svale Skogsrud
7f9a9d27e2
stepper signals looks good on scope
2009-02-03 23:36:04 +01:00
Simen Svale Skogsrud
50a9f78088
lots and lots of bugfixes after running on reals hardware for the first time
2009-02-03 09:56:45 +01:00
Simen Svale Skogsrud
9799955555
arc code complete with support for both R and IJK style blocks
2009-02-01 11:58:21 +01:00
Simen Svale Skogsrud
02f6699b0a
minor edits
2009-01-30 11:26:21 +01:00
Simen Svale Skogsrud
5f5bd35ddb
minor optimizatin for size
2009-01-30 11:10:57 +01:00
Simen Svale Skogsrud
0c8004357a
optimized arc code for size and speed
2009-01-30 11:05:10 +01:00
Simen Svale Skogsrud
8c18e2659d
motion control level support for arcs. No gcode yet
2009-01-29 23:12:06 +01:00
Simen Svale Skogsrud
73a357e512
minor edit
2009-01-29 11:56:14 +01:00
Simen Svale Skogsrud
a9d41c6c64
tweaks and bugfixes
2009-01-29 09:58:29 +01:00
Simen Svale Skogsrud
ac2e26fda9
added buffered stepping support and the rudiments of the arc-interpolator
2009-01-28 23:48:21 +01:00
Simen Svale Skogsrud
9df29ad3b3
version 0.1
2009-01-25 00:48:56 +01:00
