- Added another way to further ensure the long slope deceleration issue
is eliminated. If the stepper rate change is too great near zero, the
stepper rate is adjusted at half increments to the end of travel,
creating a smooth transition. - If the new STEPPER_IDLE_LOCK_TIME is
set as zero, this delay is not compiled at compile-time. - NOTE: The
next update is likely going to be major, involving a full re-write of
the stepper.c program to integrate a simple way to apply pauses,
jogging, e-stop, and feedrate overrides. The interface should be
flexible enough to be easily modified for use with either hardware
switches or software commands. Coming soon.
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.
- 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.
- Fixed the planner TODO regarding minimum nominal speeds. Re-arranged
calculations to be both more efficient and guaranteed to be greater
than zero. - Missed a parenthesis location on the rate_delta
calculation. Should fix a nearly in-perceptible issue with incorrect
acceleration ramping in diagonal directions. - Increased maximum dwell
time from 6.5sec to an 18hour max. A crazy amount more, but that's how
the math works out. - Converted the internal feedrate values to mm/min
only, as it was switching between mm/min to mm/sec and back to mm/min.
Also added a feedrate > 0 check in gcode.c. - Identified the long slope
at the end of rapid de/ac-celerations noted by stephanix. Problem with
the numerical integration truncation error between the exact solution
of estimate_acceleration_distance and how grbl actually performs the
acceleration ramps discretely. Increasing the
ACCELERATION_TICKS_PER_SECOND in config.h helps fix this problem.
Investigating further.
