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
ed5e5d1181
Revert ea5b8942db2616e93fc0478922010c3bab7c0481^..HEAD
2011-08-15 19:37:22 -06:00
971e50aa9a
Revert 517a0f659a06182c89cafe27ee371edccad777a4^..HEAD
2011-08-15 19:15:43 -06:00
517a0f659a
reordered a couple of functions for consistency
2011-08-02 22:44:32 +02:00
5466bc0c33
fixed a nil dereferencing bug in planner_forward_pass_kernel thanks to jv4779
2011-07-10 21:54:03 +02:00
804837a111
corrected an outdated comment
2011-07-09 22:35:25 +02:00
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
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
ef20be9f4c
result of G92 also affects planner
2011-02-21 22:32:42 +01:00
2c913a00bd
acceleration-Grbl now works with atmega 168 by disabling arc motion
2011-02-20 22:13:31 +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
464dcd12e8
formatting
2011-02-19 00:32:36 +01:00
6edbbe322c
lowercased boolean constants
2011-02-18 23:04:12 +01:00
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
124bc363bd
removed inline-keywords because gcc ignores them anyway
2011-02-17 23:59:10 +01:00
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
1ed2195e11
a new (slightly inelegant) stab at eliminating the slow tail problem
2011-02-16 22:58:53 +01:00
c02a6e2366
possible improvement on the long, slow tail problem
2011-02-16 21:11:27 +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
33f014aa74
eliminated an abstraction violation where motion_control needed position information from the planner (untested)
2011-02-11 23:01:16 +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
