59a84c4925
Added complete stop delay at the end of all motion. Moved grbl preprocessor script into a new repository.
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Added a very short (25 ms) user-definable delay before the steppers are
disabled at the motors are disabled and grbl goes idle. This ensures
any residual inertia at the end of the last motion does not cause the
axes to drift and grbl to lose its position when manually entering
g-code or when performing a tool change and starting the next
operation.
2011-09-29 16:25:48 -06:00
05ed6c122d
Updated some comments and fixed a bug in the new stepper logic.
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- The stepper logic was not initiating the decelerations for certain
cases. Just re-arranged the logic to fix it.
2011-09-25 19:24:29 -06:00
2be0d66872
Fixed long slope at deceleration issue. Moved things into config.h. New MINIMUM_PLANNER_SPEED parameter.
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- The long standing issue of a long slope at deceleration is likely
fixed. The stepper program was not tracking and timing the end of
acceleration and start of deceleration exactly and now is fixed to
start and stop on time. Also, to ensure a better acceleration curve fit
used by the planner, the stepper program delays the start of the
accelerations by a half trapezoid tick to employ the midpoint rule. -
Settings version 3 migration (not fully tested, but should work) -
Added a MINIMUM_PLANNER_SPEED user-defined parameter to planner to let
a user change this if problems arise for some reason. - Moved all
user-definable #define parameters into config.h with clear comments on
what they do and recommendations of how to change them. - Minor
housekeeping.
2011-09-24 07:46:41 -06:00
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
defabc80ed
renamed wiring_serial to serial to reflect its complete remake
2011-05-31 22:45:38 +02:00
c2aec12004
converted the STEPPER_ENABLE_PIN to a STEPPER_DISABLE_PIN as per the request of Alden Hart of Grbl Shield fame.
2011-05-31 13:08:42 +02:00
68ff56a8b1
stepper enable pin now toggles to reflect the active/passive state of the stepper subsystem
2011-02-21 10:00:16 +01:00
d5d6298de3
added support for limit switches and homing action
2011-02-20 00:29:56 +01:00
9c8c259153
made most internal function static to allow gcc to inline them
2011-02-19 23:03:10 +01:00
6edbbe322c
lowercased boolean constants
2011-02-18 23:04:12 +01:00
124bc363bd
removed inline-keywords because gcc ignores them anyway
2011-02-17 23:59:10 +01:00
1ed2195e11
a new (slightly inelegant) stab at eliminating the slow tail problem
2011-02-16 22:58:53 +01:00
ff73645a14
cleanup, protected some more module variables as static
2011-02-12 00:03:58 +01:00
bfd8cfa7dd
slimmed down nuts_bolts
2011-02-11 23:53:58 +01:00
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
6dc81b41c9
formatting + moved current position getter to planner
2011-02-11 00:44:18 +01:00
a4c64945e0
refactored stepper_plan -> planner (untested)
2011-02-11 00:34:53 +01:00
fc1c1b7e09
corrected speed calculation in planner (untested on hardware)
2011-02-10 23:48:17 +01:00
c5e0285e80
eliminated som debug code
2011-02-10 17:06:34 +01:00
041a8b8a3f
purged debug code
2011-02-07 00:07:08 +01:00
ba13ddadd0
refactoring that improved compartmentalization between stepper and stepper_plan modules
2011-02-06 23:52:12 +01:00
52dda8713e
purged an unused method
2011-02-06 23:41:04 +01:00
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
6d3ff506e8
refactored compile time settings back into a new file called config.h
2011-02-05 00:55:37 +01:00
d00947a23a
renamed config.* to settings.*
2011-02-05 00:45:41 +01:00
59a9b64087
removed a grave little bug in the planner and added a baseline safe speed so that motion sequences do not attempt to go to speed 0, but to a safe, higher speed based on the max_jerk setting
2011-02-04 22:09:09 +01:00
5694310a40
formatting
2011-01-31 23:04:39 +01:00
35f499c00c
minor edits
2011-01-25 23:35:25 +01:00
35064b53e9
made local variables static
2011-01-25 23:33:19 +01:00
d8e2778b7b
bye bye support for atmega 168, your flash space has overflowed
2011-01-25 22:54:48 +01:00
25383790e2
updated struct types to use typedefs and conform to Micael Barrs Embedded C Coding Standard
2011-01-25 22:51:37 +01:00
c8f71cf033
cleaned up stepper.c
2011-01-25 14:27:28 +01:00
0c262b03c2
eliminated step down-counter in stepper.c
2011-01-25 14:02:34 +01:00
4869e7b1cc
reallocated debug pin to time replanning
2011-01-24 23:18:07 +01:00
0bc0fd7757
look ahead planner complete and enabled save the acceleration limiting forward scan. Not tested on real hardware, just logic analyzer
2011-01-24 20:55:25 +01:00
8325bfb96e
the trapezoid generator seems to be working
2011-01-23 21:14:38 +01:00
4103e6ca00
still not running, but a lot further along
2011-01-22 23:29:02 +01:00
5880e55ce9
pcomplete, fully untested, support for accelleration management with look ahead optimization, finally
2011-01-15 00:27:08 +01:00
0be21a9034
eliminated an annoying constant that broke my cleanly layered abstractions
2011-01-14 16:56:44 +01:00
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
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
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
48b596c2fe
added code with merge conflict as note to self, accelleration will just have to wait
2010-12-20 14:01:38 +01:00
703d812b85
rough accelleration stuff
2010-06-28 23:29:58 +02:00
937c70cb50
Grbl can now take advantage of the extra memory in the 328
2010-03-14 23:45:31 +01:00
e409f10047
moved all strings to pgm-memory
2010-03-07 23:10:41 +01:00
b8ba8a4231
Added runtime configurable global settings with eeprom persitence
2010-03-07 20:29:18 +01:00
a6b8d73044
removed a warning
2010-03-05 08:38:01 +01:00
58ad1ba509
minor edits after verifying refactored grbl on real hardware
2010-03-04 21:18:55 +01:00
b9c3ea02fb
adjustments to retriggering protection
2010-03-03 23:18:39 +01:00
