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Updated comments. Changed stepper variable names to be more understandable. Added step locking note.

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- Updated config comments and stepper code comments for the new changes.

- Changed stepper algorithm variable names to be more understandable in
what they actually do.

- Added a stepper lock note in default.h per user request.

- Started some code layout in handling feed holds and refactoring the
homing routine to use the main stepper algorithm instead of a seperate
version.
This commit is contained in:
Sonny Jeon 2013-10-29 08:31:48 -06:00
parent f7429ec79b
commit 27297d444b
7 changed files with 998 additions and 286 deletions
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13
config.h
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@ -71,12 +71,13 @@
// NOTE: Make sure this value is less than 256, when adjusting both dependent parameters.
#define ISR_TICKS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND)
// The inverse time algorithm can use either floating point or long integers for its counters, but for
// integers the counter values must be scaled since these values can be very small (10^-6). This
// multiplier value scales the floating point counter values for use in a long integer. Long integers
// are finite so select the multiplier value high enough to avoid any numerical round-off issues and
// still have enough range to account for all motion types. However, in most all imaginable CNC
// applications, the following multiplier value will work more than well enough. If you do have
// The inverse time algorithm can use either floating point or long integers for its counters (usually
// very small values ~10^-6), but with integers, the counter values must be scaled to be greater than
// one. This multiplier value scales the floating point counter values for use in a long integer, which
// are significantly faster to compute with a slightly higher precision ceiling than floats. Long
// integers are finite so select the multiplier value high enough to avoid any numerical round-off
// issues and still have enough range to account for all motion types. However, in most all imaginable
// CNC applications, the following multiplier value will work more than well enough. If you do have
// happened to weird stepper motion issues, try modifying this value by adding or subtracting a
// zero and report it to the Grbl administrators.
#define INV_TIME_MULTIPLIER 10000000.0