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Many many changes to get the plan bound to a canonical machine. Not working yet for motion.

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Alden Hart
2017-01-09 13:43:41 -05:00
parent e6aca99fa8
commit ddf32df2fd
12 changed files with 296 additions and 237 deletions
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2
g2core/plan_arc.cpp
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@@ -78,7 +78,7 @@ stat_t cm_arc_callback()
if (cm->arc.run_state == BLOCK_INACTIVE) {
return (STAT_NOOP);
}
if (mp_planner_is_full(ACTIVE_Q)) {
if (mp_planner_is_full(mp)) { //+++++
return (STAT_EAGAIN);
}
cm->arc.theta += cm->arc.segment_theta;