- Overhauled the stepper algorithm and planner again. This time
concentrating on the decoupling of the stepper ISR completely. It is
now dumb, relying on the segment generator to provide the number of
steps to execute and how fast it needs to go. This freed up lots of
memory as well because it made a lot tracked variables obsolete.
- The segment generator now computes the velocity profile of the
executing planner block on the fly in floating point math, instead of
allowing the stepper algorithm to govern accelerations in the previous
code. What this accomplishes is the ability and framework to (somewhat)
easily install a different physics model for generating a velocity
profile, i.e. s-curves.
- Made some more planner enhancements and increased efficiency a bit.
- The changes also did not increase the compiled size of Grbl, but
decreased it slightly as well.
- Cleaned up a lot of the commenting.
- Still much to do, but this push works and still is missing feedholds
(coming next.)
