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Various minor updates and variable definition corrections. Removed deprecated acceleration manager.

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- Removed deprecated acceleration manager (non-functional since v0.7b)
- Updated variable types and function headers. - Updated stepper
interrupt to ISR() from SIGNAL()+sei(). - General code cleanup.
This commit is contained in:
Sonny Jeon
2011-12-10 11:18:24 -07:00
parent 4bf0085ae6
commit 12bae58994
10 changed files with 210 additions and 205 deletions
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5
motion_control.c
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@@ -48,9 +48,6 @@ void mc_dwell(double seconds)
void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double 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
double center_axis0 = position[axis_0] + offset[axis_0];
double center_axis1 = position[axis_1] + offset[axis_1];
double linear_travel = target[axis_linear] - position[axis_linear];
@@ -141,8 +138,6 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
}
// Ensure last segment arrives at target location.
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
}
#endif