5c2150daa9
- 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.
44 lines
1.3 KiB
C
44 lines
1.3 KiB
C
/*
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motion_control.h - cartesian robot controller.
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef nuts_bolts_h
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#define nuts_bolts_h
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#include <string.h>
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#include <stdint.h>
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#include <stdbool.h>
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#define false 0
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#define true 1
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#define X_AXIS 0
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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// Read a floating point value from a string. Line points to the input buffer, char_counter
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// is the indexer pointing to the current character of the line, while double_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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int read_double(char *line, uint8_t *char_counter, double *double_ptr);
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#endif
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