9 Commits

Author	SHA1	Message	Date
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
Simen Svale Skogsrud	d5d6298de3	added support for limit switches and homing action	2011-02-20 00:29:56 +01:00
Simen Svale Skogsrud	464dcd12e8	formatting	2011-02-19 00:32:36 +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	1ed2195e11	a new (slightly inelegant) stab at eliminating the slow tail problem	2011-02-16 22:58:53 +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	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