No changes in functionality. Path vectors moved from ring buffer to
local planner static variables to save 3*(BUFFER_SIZE - 1) doubles in
memory. Detailed comments. Really need to stop micro-updating. Should be
the last until a planner optimization (ala Jens Geisler) has been
completed.
Reverse planner was over-writing the initial/buffer tail entry speed,
which reset the forward planner and caused it to lose track of its
speed. Should now accelerate into short linear segments much nicer now.
Beta pre-processor script used to clean and streamline g-code for
streaming and converts G02/03 arcs into linear segments. Allows for full
acceleration support if the pre-processed g-code is then streamed to
grill, sans G02/03 arcs. Added a simple example streaming script for
Python users.
- 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.
Comments, block delete characters, and blank lines are no longer passed
to the gcode parser and should free up some memory by ignoring these
characters. Gcode parser now expects clean gcode only. There was a bug
if there were block deletes or comments not in the first character (i.e.
spindle on/off for proofing geode without turning it on, or a NXX
followed by a comment). This should fix it by bypassing the problem.
Left a commented line for easily turning on and off block deletes for a
later feature, if desired.
Comments, block delete characters, and blank lines are no longer passed
to the gcode parser and should free up some memory by ignoring these
characters. Gcode parser now expects clean gcode only. There was a bug
if there were block deletes or comments not in the first character (i.e.
spindle on/off for proofing geode without turning it on, or a NXX
followed by a comment). This should fix it by bypassing the problem.
Left a commented line for easily turning on and off block deletes for a
later feature, if desired.
