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handling cases with very short moves

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Alden Hart
2017-02-19 06:34:28 -05:00
parent 225bacfd5d
commit f31acbb45b
5 changed files with 36 additions and 29 deletions
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50
g2core/canonical_machine.cpp
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@@ -510,11 +510,9 @@ float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t ax
* Core functions supporting the canonical machining functions
* These functions are not part of the NIST defined functions
***********************************************************************************/
/*
* cm_finalize_move() - perform final operations for a traverse or feed
* cm_update_model_position_from_runtime() - set endpoint position from final runtime position
*
* These routines set the point position in the gcode model.
* cm_update_model_position() - set gmx endpoint position for a traverse, feed or arc
*
* Note: As far as the canonical machine is concerned the final position of a Gcode block (move)
* is achieved as soon as the move is planned and the move target becomes the new model position.
@@ -522,14 +520,9 @@ float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t ax
* execution, and the real tool position is still close to the starting point.
*/
void cm_finalize_move()
void cm_update_model_position()
{
copy_vector(cm->gmx.position, cm->gm.target); // update model position
}
void cm_update_model_position_from_runtime()
{
copy_vector(cm->gmx.position, mr->gm.target);
copy_vector(cm->gmx.position, cm->gm.target); // would be mr->gm.target if from runtime
}
/*
@@ -1128,12 +1121,18 @@ stat_t cm_straight_traverse(const float target[], const bool flags[])
cm_set_display_offsets(&cm->gm); // capture the fully resolved offsets to the state
cm_cycle_start(); // required for homing & other cycles
stat_t status = mp_aline(&cm->gm); // send the move to the planner
cm_update_model_position(); // update gmx.position to ready for next incoming move
cm_finalize_move();
if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer(mp)) { //applies to currently active machine
cm_cycle_end();
return (STAT_OK);
// if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer(mp)) { //mp applies to currently active planner
// cm_cycle_end();
// return (STAT_OK);
// }
if (status == STAT_MINIMUM_LENGTH_MOVE) {
if (!mp_has_runnable_buffer(mp)) { // handle condition where zero-length move is last or only move
cm_cycle_end(); // ...otherwise cycle will not end properly
}
status = STAT_OK;
}
return (status);
}
@@ -1273,8 +1272,8 @@ stat_t cm_straight_feed(const float target[], const bool flags[])
}
cm->gm.motion_mode = MOTION_MODE_STRAIGHT_FEED;
if (!(flags[AXIS_X] | flags[AXIS_Y] | flags[AXIS_Z] |
flags[AXIS_A] | flags[AXIS_B] | flags[AXIS_C])) {
// it's legal for a G1 to have no axis words but we don't want to process it
if (!(flags[AXIS_X] | flags[AXIS_Y] | flags[AXIS_Z] | flags[AXIS_A] | flags[AXIS_B] | flags[AXIS_C])) {
return(STAT_OK);
}
@@ -1283,12 +1282,17 @@ stat_t cm_straight_feed(const float target[], const bool flags[])
cm_set_display_offsets(&cm->gm); // capture the fully resolved offsets to the state
cm_cycle_start(); // required for homing & other cycles
stat_t status = mp_aline(&cm->gm); // send the move to the planner
cm_update_model_position(); // <-- ONLY safe because we don't care about status...
cm_finalize_move(); // <-- ONLY safe because we don't care about status...
if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer(mp)) {
cm_cycle_end();
return (STAT_OK);
// if (status == STAT_MINIMUM_LENGTH_MOVE && !mp_has_runnable_buffer(mp)) { //mp applies to currently active planner
// cm_cycle_end();
// return (STAT_OK);
// }
if (status == STAT_MINIMUM_LENGTH_MOVE) {
if (!mp_has_runnable_buffer(mp)) { // handle condition where zero-length move is last or only move
cm_cycle_end(); // ...otherwise cycle will not end properly
}
status = STAT_OK;
}
return (status);
}
@@ -1605,7 +1609,7 @@ void cm_cycle_start()
void cm_cycle_end()
{
if(cm->cycle_state == CYCLE_MACHINING) {
if (cm->cycle_state == CYCLE_MACHINING) {
float value[] = { (float)MACHINE_PROGRAM_STOP };
_exec_program_finalize(value, nullptr);
}

3
g2core/canonical_machine.h
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@@ -341,8 +341,7 @@ float cm_get_display_position(const GCodeState_t *gcode_state, const uint8_t axi
float cm_get_absolute_position(const GCodeState_t *gcode_state, const uint8_t axis);
// Critical helpers
void cm_update_model_position_from_runtime(void);
void cm_finalize_move(void);
void cm_update_model_position(void);
stat_t cm_deferred_write_callback(void);
void cm_set_model_target(const float target[], const bool flag[]);
bool cm_get_soft_limits(void);

5
g2core/controller.cpp
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@@ -166,8 +166,9 @@ static void _controller_HSM()
DISPATCH(cm_probing_cycle_callback()); // probing cycle operation (G38.2)
DISPATCH(cm_jogging_cycle_callback()); // jog cycle operation
DISPATCH(cm_deferred_write_callback()); // persist G10 changes when not in machining cycle
// DISPATCH(cm_feedhold_command_blocker()); // blocks new commands from arriving while in feedhold
// DISPATCH(cm_feedhold_sequencing_callback());// feedhold state machine runner
DISPATCH(cm_feedhold_command_blocker()); // blocks new Gcode from arriving while in feedhold
//----- command readers and parsers --------------------------------------------------//
DISPATCH(_sync_to_planner()); // ensure there is at least one free buffer in planning queue

2
g2core/plan_arc.cpp
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@@ -250,7 +250,7 @@ stat_t cm_arc_feed(const float target[], const bool target_f[], // target en
cm_cycle_start(); // if not already started
cm->arc.run_state = BLOCK_ACTIVE; // enable arc to be run from the callback
cm_finalize_move();
cm_update_model_position();
return (STAT_OK);
}

5
g2core/plan_zoid.cpp
View File

@@ -325,7 +325,10 @@ void mp_calculate_ramps(mpBlockRuntimeBuf_t* block, mpBuf_t* bf, const float ent
// Rate-limited asymmetric cases (3)
// compute meet velocity to see if the cruise velocity rises above the entry and/or exit velocities
block->cruise_velocity = _get_meet_velocity(entry_velocity, block->exit_velocity, bf->length, bf, block);
TRAP_ZERO(block->cruise_velocity, "zoid() Vc=0 asymmetric HT case");
// TRAP_ZERO(block->cruise_velocity, "zoid() Vc=0 asymmetric HT case");
if (fp_ZERO(block->cruise_velocity)) {
__asm__("BKPT");
}
// We now store the head/tail lengths we computed in _get_meet_velocity.
// treat as a full up and down (head and tail)