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reformating and some minor bugs/things found on the way.

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This commit is contained in:
Bernhard Kubicek
2011-11-06 19:23:08 +01:00
parent 900e0c9bf2
commit 1d171e9e52
17 changed files with 1204 additions and 1192 deletions
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18
Marlin/motion_control.cpp
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@ -33,8 +33,8 @@
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
{
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
SERIAL_ECHOLN("mc_arc.");
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
@ -52,12 +52,12 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
/*
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (invert_feed_rate) { feed_rate *= segments; }
*/
/*
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (invert_feed_rate) { feed_rate *= segments; }
*/
float theta_per_segment = angular_travel/segments;
float linear_per_segment = linear_travel/segments;
@ -128,6 +128,6 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
// Ensure last segment arrives at target location.
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
}