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added buffered stepping support and the rudiments of the arc-interpolator

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Simen Svale Skogsrud 2009-01-28 23:48:21 +01:00
parent 2207acdf2b
commit ac2e26fda9
9 changed files with 676 additions and 150 deletions
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7
motion_control.h
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@ -31,17 +31,16 @@ void mc_init();
// Prepare for linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate);
// Prepare linear motion relative to the current position.
void mc_dwell(uint32_t milliseconds);
// Prepare to send the tool position home
void mc_go_home();
// Start the prepared operation.
void mc_execute();
// Block until the motion control system is idle
void mc_wait();
// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
// result < 0: the system is in an error state.
int mc_status();