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Comment cleanup and clarification

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This commit is contained in:
Rob Giseburt
2019-11-05 13:37:14 -05:00
parent 007ac27c57
commit 9ab35061ce
2 changed files with 10 additions and 10 deletions
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1
g2core/plan_exec.cpp
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@@ -912,7 +912,6 @@ static stat_t _exec_aline_segment()
}
// Convert target position to steps
// kn->inverse_kinematics(mr->gm.target, exec_target_steps); // now determine the target steps...
kn->inverse_kinematics(mr->gm.target, mr->position, mr->segment_velocity, mr->target_velocity, mr->segment_time, exec_target_steps);
// Update the mb->run_time_remaining -- we know it's missing the current segment's time before it's loaded, that's ok.

19
g2core/stepper.cpp
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@@ -303,28 +303,29 @@ void dda_timer_type::interrupt()
// for (uint8_t motor=0; motor<MOTORS; motor++) {
// if ((st_run.mot[motor].substep_accumulator += st_run.mot[motor].substep_increment) > 0) {
// Motors[motor]->stepStart(); // turn step bit on
// st_run.mot[motor].substep_accumulator -= st_run.dda_ticks_X_substeps;
// st_run.mot[motor].substep_accumulator -= DDA_SUBSTEPS;
// INCREMENT_ENCODER(motor);
// }
// st_run.mot[motor].substep_increment += st_run.mot[motor].substep_increment_increment;
// }
// process DDAs for each motor
if ((st_run.mot[MOTOR_1].substep_accumulator += st_run.mot[MOTOR_1].substep_increment) > 0) {
motor_1.stepStart(); // turn step bit on
st_run.mot[MOTOR_1].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_1].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_1);
}
st_run.mot[MOTOR_1].substep_increment += st_run.mot[MOTOR_1].substep_increment_increment;
if ((st_run.mot[MOTOR_2].substep_accumulator += st_run.mot[MOTOR_2].substep_increment) > 0) {
motor_2.stepStart(); // turn step bit on
st_run.mot[MOTOR_2].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_2].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_2);
}
st_run.mot[MOTOR_2].substep_increment += st_run.mot[MOTOR_2].substep_increment_increment;
#if MOTORS > 2
if ((st_run.mot[MOTOR_3].substep_accumulator += st_run.mot[MOTOR_3].substep_increment) > 0) {
motor_3.stepStart(); // turn step bit on
st_run.mot[MOTOR_3].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_3].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_3);
}
st_run.mot[MOTOR_3].substep_increment += st_run.mot[MOTOR_3].substep_increment_increment;
@@ -332,7 +333,7 @@ void dda_timer_type::interrupt()
#if MOTORS > 3
if ((st_run.mot[MOTOR_4].substep_accumulator += st_run.mot[MOTOR_4].substep_increment) > 0) {
motor_4.stepStart(); // turn step bit on
st_run.mot[MOTOR_4].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_4].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_4);
}
st_run.mot[MOTOR_4].substep_increment += st_run.mot[MOTOR_4].substep_increment_increment;
@@ -340,15 +341,15 @@ void dda_timer_type::interrupt()
#if MOTORS > 4
if ((st_run.mot[MOTOR_5].substep_accumulator += st_run.mot[MOTOR_5].substep_increment) > 0) {
motor_5.stepStart(); // turn step bit on
st_run.mot[MOTOR_5].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_5].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_5);
st_run.mot[MOTOR_5].substep_increment += st_run.mot[MOTOR_5].substep_increment_increment;
}
st_run.mot[MOTOR_5].substep_increment += st_run.mot[MOTOR_5].substep_increment_increment;
#endif
#if MOTORS > 5
if ((st_run.mot[MOTOR_6].substep_accumulator += st_run.mot[MOTOR_6].substep_increment) > 0) {
motor_6.stepStart(); // turn step bit on
st_run.mot[MOTOR_6].substep_accumulator -= DDA_SUBSTEPS; //st_run.dda_ticks_X_substeps;
st_run.mot[MOTOR_6].substep_accumulator -= DDA_SUBSTEPS;
INCREMENT_ENCODER(MOTOR_6);
}
st_run.mot[MOTOR_6].substep_increment += st_run.mot[MOTOR_6].substep_increment_increment;
@@ -494,7 +495,7 @@ static void _load_move()
// always operate on the last segment actually run by this motor, regardless of how many
// segments it may have been inactive in between.
// Apply accumulator correction if the time base has changed since previous segment
// Prepare the substep increment increment for linear velocity ramping
st_run.mot[MOTOR_1].substep_increment_increment = st_pre.mot[MOTOR_1].substep_increment_increment;
// Detect direction change and if so: