yair/grbl
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

still not running, but a lot further along

Browse Source
This commit is contained in:
Simen Svale Skogsrud
2011-01-22 23:29:02 +01:00
parent c9df285604
commit 4103e6ca00
8 changed files with 142 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
stepper_plan.h
View File

@@ -44,10 +44,12 @@ struct Block {
double nominal_speed; // The nominal speed for this block in mm/min
double millimeters;
double entry_factor; // The factors representing the change in speed at the start of the trapezoid
uint32_t initial_rate; // The jerk-adjusted step rate at start of block
int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
// Settings for the trapezoid generator
uint32_t initial_rate; // The jerk-adjusted step rate at start of block
int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
uint32_t accelerate_until; // The index of the step event on which to stop acceleration
uint32_t decelerate_after; // The index of the step event on which to start decelerating
};
extern struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions