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More testing. Passes regressions; adjusted minimum line test to 0.00002 mm (up from 0.00001)

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Alden Hart
2017-02-19 16:59:20 -05:00
parent 61704e9eb3
commit d67dc6540e
4 changed files with 17 additions and 16 deletions
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g2core/plan_exec.cpp
+9 -9
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@@ -913,8 +913,8 @@ static stat_t _exec_aline_head(mpBuf_t *bf)
/*********************************************************************************************
* _exec_aline_body()
*
* The body is broken into little segments even though it is a straight line so that
* feed holds can happen in the middle of a line with a minimum of latency
* The body is broken into little segments even though it is a straight line
* so that feed holds can happen in the middle of a line with minimum latency
*/
static stat_t _exec_aline_body(mpBuf_t *bf)
{
@@ -935,11 +935,11 @@ static stat_t _exec_aline_body(mpBuf_t *bf)
}
mr->section = SECTION_BODY;
mr->section_state = SECTION_RUNNING; // uses PERIOD_2 so last segment detection works
mr->section_state = SECTION_RUNNING; // uses PERIOD_2 so last segment detection works
}
if (_exec_aline_segment() == STAT_OK) { // OK means this section is done
if (fp_ZERO(mr->r->tail_length)) {
return(STAT_OK); // ends the move
return(STAT_OK); // ends the move
}
mr->section = SECTION_TAIL;
mr->section_state = SECTION_NEW;
@@ -954,16 +954,16 @@ static stat_t _exec_aline_body(mpBuf_t *bf)
static stat_t _exec_aline_tail(mpBuf_t *bf)
{
bool first_pass = false;
if (mr->section_state == SECTION_NEW) { // INITIALIZATION
if (mr->section_state == SECTION_NEW) { // INITIALIZATION
first_pass = true;
// Mark the block as unplannable
bf->plannable = false;
if (fp_ZERO(mr->r->tail_length)) { return(STAT_OK);} // end the move
if (fp_ZERO(mr->r->tail_length)) { return(STAT_OK);} // end the move
mr->segments = ceil(uSec(mr->r->tail_time) / NOM_SEGMENT_USEC);// # of segments for the section
mr->segment_count = (uint32_t)mr->segments;
mr->segment_time = mr->r->tail_time / mr->segments; // time to advance for each segment
mr->segment_time = mr->r->tail_time / mr->segments; // time to advance for each segment
if (mr->segment_count == 1) {
mr->segment_velocity = mr->r->tail_length / mr->segment_time;
@@ -972,8 +972,8 @@ static stat_t _exec_aline_tail(mpBuf_t *bf)
}
if (mr->segment_time < MIN_SEGMENT_TIME) {
_debug_trap("mr->segment_time < MIN_SEGMENT_TIME");
return(STAT_OK); // exit without advancing position, say we're done
// return(STAT_MINIMUM_TIME_MOVE); // exit without advancing position
return(STAT_OK); // exit without advancing position, say we're done
// return(STAT_MINIMUM_TIME_MOVE); // exit without advancing position
}
mr->section = SECTION_TAIL;
mr->section_state = SECTION_RUNNING;