From 3c98837a7083b386cf9840854cd58b3d12e4612a Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Sun, 7 Mar 2010 20:44:21 +0100 Subject: [PATCH] purged legacy code, updated todo --- legacy/unrolled_arc.c | 220 ------------------------------------------ todo.txt | 3 +- 2 files changed, 1 insertion(+), 222 deletions(-) delete mode 100644 legacy/unrolled_arc.c diff --git a/legacy/unrolled_arc.c b/legacy/unrolled_arc.c deleted file mode 100644 index 807dbe8..0000000 --- a/legacy/unrolled_arc.c +++ /dev/null @@ -1,220 +0,0 @@ -// Prepare an arc. theta == start angle, angular_travel == number of radians to go along the arc, -// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the -// circle in millimeters. axis_1 and axis_2 selects the plane in tool space. -// ISSUE: The arc interpolator assumes all axes have the same steps/mm as the X axis. -void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate) -{ - uint32_t radius_steps = round(radius*X_STEPS_PER_MM); - mc.mode = MC_MODE_ARC; - // Determine angular direction (+1 = clockwise, -1 = counterclockwise) - mc.arc.angular_direction = signof(angular_travel); - // Calculate the initial position and target position in the local coordinate system of the arc - mc.arc.x = round(sin(theta)*radius_steps); - mc.arc.y = round(cos(theta)*radius_steps); - mc.arc.target_x = trunc(sin(theta+angular_travel)*radius_steps); - mc.arc.target_y = trunc(cos(theta+angular_travel)*radius_steps); - // Precalculate these values to optimize target detection - mc.arc.target_direction_x = signof(mc.arc.target_x)*mc.arc.angular_direction; - mc.arc.target_direction_y = signof(mc.arc.target_y)*mc.arc.angular_direction; - // The "error" factor is kept up to date so that it is always == (x**2+y**2-radius**2). When error - // <0 we are inside the arc, when it is >0 we are outside of the arc, and when it is 0 we - // are exactly on top of the arc. - mc.arc.error = mc.arc.x*mc.arc.x + mc.arc.y*mc.arc.y - radius_steps*radius_steps; - // Because the error-value moves in steps of (+/-)2x+1 and (+/-)2y+1 we save a couple of multiplications - // by keeping track of the doubles of the arc coordinates at all times. - mc.arc.x2 = 2*mc.arc.x; - mc.arc.y2 = 2*mc.arc.y; - - // Set up a vector with the steppers we are going to use tracing the plane of this arc - clear_vector(mc.arc.plane_steppers); - mc.arc.plane_steppers[axis_1] = 1; - mc.arc.plane_steppers[axis_2] = 1; - // And map the local coordinate system of the arc onto the tool axes of the selected plane - mc.arc.axis_x = axis_1; - mc.arc.axis_y = axis_2; - // mm/second -> microseconds/step. Assumes all axes have the same steps/mm as the x axis - mc.pace = - ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM); - mc.arc.incomplete = true; -} - -#define check_arc_target \ - if ((mc.arc.x * mc.arc.target_direction_y >= \ - mc.arc.target_x * mc.arc.target_direction_y) && \ - (mc.arc.y * mc.arc.target_direction_x <= \ - mc.arc.target_y * mc.arc.target_direction_x)) \ - { mc.arc.incomplete = false; } - -// Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy -void step_arc_along_x(int8_t dx, int8_t dy) -{ - uint32_t diagonal_error; - mc.arc.x+=dx; - mc.arc.error += 1+mc.arc.x2*dx; - mc.arc.x2 += 2*dx; - diagonal_error = mc.arc.error + 1 + mc.arc.y2*dy; - if(abs(mc.arc.error) >= abs(diagonal_error)) { - mc.arc.y += dy; - mc.arc.y2 += 2*dy; - mc.arc.error = diagonal_error; - step_steppers(mc.arc.plane_steppers); // step diagonal - } else { - step_axis(mc.arc.axis_x); // step straight - } - check_arc_target; -} - -// Internal method used by execute_arc to trace vertically in the general direction provided by dx and dy -void step_arc_along_y(int8_t dx, int8_t dy) -{ - uint32_t diagonal_error; - mc.arc.y+=dy; - mc.arc.error += 1+mc.arc.y2*dy; - mc.arc.y2 += 2*dy; - diagonal_error = mc.arc.error + 1 + mc.arc.x2*dx; - if(abs(mc.arc.error) >= abs(diagonal_error)) { - mc.arc.x += dx; - mc.arc.x2 += 2*dx; - mc.arc.error = diagonal_error; - step_steppers(mc.arc.plane_steppers); // step diagonal - } else { - step_axis(mc.arc.axis_y); // step straight - } - check_arc_target; -} - -// Take dx and dy which are local to the arc being generated and map them on to the -// selected tool-space-axes for the current arc. -void map_local_arc_directions_to_stepper_directions(int8_t dx, int8_t dy) -{ - int8_t direction[3]; - direction[mc.arc.axis_x] = dx; - direction[mc.arc.axis_y] = dy; - set_stepper_directions(direction); -} - - - -/* - Quandrants of the arc - \ 7|0 / - \ | / - 6 \|/ 1 y+ - ---------|----------- - 5 /|\ 2 y- - / | \ - x- / 4|3 \ x+ */ - -#ifdef UNROLLED_ARC_LOOP // This function only used by the unrolled arc loop -// Determine within which quadrant of the circle the provided coordinate falls -int quadrant(uint32_t x,uint32_t y) -{ - // determine if the coordinate is in the quadrants 0,3,4 or 7 - register int quad0347 = abs(x)mc.arc.y)) { step_arc_along_x(1,-1); } - case 1: - map_local_arc_directions_to_stepper_directions(1,-1); - while(mc.arc.incomplete && (mc.arc.y>0)) { step_arc_along_y(1,-1); } - case 2: - map_local_arc_directions_to_stepper_directions(-1,-1); - while(mc.arc.incomplete && (mc.arc.y>-mc.arc.x)) { step_arc_along_y(-1,-1); } - case 3: - map_local_arc_directions_to_stepper_directions(-1,-1); - while(mc.arc.incomplete && (mc.arc.x>0)) { step_arc_along_x(-1,-1); } - case 4: - map_local_arc_directions_to_stepper_directions(-1,1); - while(mc.arc.incomplete && (mc.arc.y-mc.arc.x)) { step_arc_along_x(-1,-1); } - case 6: - map_local_arc_directions_to_stepper_directions(-1,-1); - while(mc.arc.incomplete && (mc.arc.y>0)) { step_arc_along_y(-1,-1); } - case 5: - map_local_arc_directions_to_stepper_directions(1,-1); - while(mc.arc.incomplete && (mc.arc.y>mc.arc.x)) { step_arc_along_y(1,-1); } - case 4: - map_local_arc_directions_to_stepper_directions(1,-1); - while(mc.arc.incomplete && (mc.arc.x<0)) { step_arc_along_x(1,-1); } - case 3: - map_local_arc_directions_to_stepper_directions(1,1); - while(mc.arc.incomplete && (mc.arc.y<-mc.arc.x)) { step_arc_along_x(1,1); } - case 2: - map_local_arc_directions_to_stepper_directions(1,1); - while(mc.arc.incomplete && (mc.arc.y<0)) { step_arc_along_y(1,1); } - case 1: - map_local_arc_directions_to_stepper_directions(-1,1); - while(mc.arc.incomplete && (mc.arc.y0)) { step_arc_along_x(-1,1); } - } - } -#else - dx = (mc.arc.y!=0) ? signof(mc.arc.y) * mc.arc.angular_direction : -signof(mc.arc.x); - dy = (mc.arc.x!=0) ? -signof(mc.arc.x) * mc.arc.angular_direction : -signof(mc.arc.y); - map_local_arc_directions_to_stepper_directions(dx,dy); - if (abs(mc.arc.x)