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Installed planner-level out-of-band-dwell to better handle pinup delays. Commented out spin down delays. These may be useful later for direction reversals, but for now they are not needed.

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This commit is contained in:
Alden Hart
2017-01-16 11:03:31 -05:00
parent dddfa1ef13
commit 886b4041b3
10 changed files with 77 additions and 102 deletions
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g2core/planner.cpp
+18 -14
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@@ -290,7 +290,7 @@ void mp_set_steps_to_runtime_position()
}
}
/************************************************************************************
/***********************************************************************************
* mp_queue_command() - queue a synchronous Mcode, program control, or other command
* _exec_command() - callback to execute command
*
@@ -346,8 +346,7 @@ stat_t mp_runtime_command(mpBuf_t *bf)
return (STAT_OK);
}
/*************************************************************************
/***********************************************************************************
* mp_json_command() - queue a json command
* _exec_json_command() - execute json string
*/
@@ -373,7 +372,7 @@ static void _exec_json_command(float *value, bool *flag)
}
/*************************************************************************
/***********************************************************************************
* mp_json_wait() - queue a json wait command
* _exec_json_wait() - execute json wait string
*/
@@ -427,7 +426,7 @@ static stat_t _exec_json_wait(mpBuf_t *bf)
}
/*************************************************************************
/***********************************************************************************
* mp_dwell() - queue a dwell
* _exec_dwell() - dwell execution
*
@@ -435,6 +434,7 @@ static stat_t _exec_json_wait(mpBuf_t *bf)
* When the stepper driver sees a dwell it times the dwell on a separate
* timer than the stepper pulse timer.
*/
stat_t mp_dwell(float seconds)
{
mpBuf_t *bf;
@@ -458,19 +458,23 @@ static stat_t _exec_dwell(mpBuf_t *bf)
return (STAT_OK);
}
//++++ stubbed ++++
/***********************************************************************************
* mp_request_out_of_band_dwell() - request that an out-of-band dwell be run
*
* This command is used to request that a dwell be run outside of the planner.
* This is useful for queuing a dwell after a spindle change. The dwell will
* only run if the runtime has been stopped, otherwise it is skipped.
* This function is typically called from an exec such as _exec_spindle_control().
* The request is executed from mp_exec_move().
*/
void mp_request_out_of_band_dwell(float seconds)
{
// mr->out_of_band_dwell_time = seconds;
}
//++++ stubbed ++++
stat_t mp_exec_out_of_band_dwell(void)
{
// return _advance_dwell(mr->out_of_band_dwell_time);
return 0;
mr->out_of_band_dwell_flag = true;
mr->out_of_band_dwell_seconds = seconds;
}
/**********************************************************************************
/***********************************************************************************
* Planner helpers
*
* mp_get_planner_buffers() - return # of available planner buffers