formatting

gcode.c

@@ -394,7 +394,7 @@ uint8_t gc_execute_line(char *line) {
   // As far as the parser is concerned, the position is now == target. In reality the
   // motion control system might still be processing the action and the real tool position
   // in any intermediate location.
-  memcpy(gc.position, target, sizeof(double)*3); // equivalent of: gc.position = target;
+  memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
   return(gc.status_code);
 }
 

main.c

@@ -44,8 +44,8 @@ int main(void)
   DDRD |= (1<<3)|(1<<4)|(1<<5);
   
   for(;;){
-    sleep_mode();
-    sp_process(); // process the serial protocol
+    sleep_mode(); // Wait for it ...
+    sp_process(); // ... process the serial protocol
   }
   return 0;   /* never reached */
 }

motion_control.c

@@ -29,7 +29,8 @@
 #include "stepper_plan.h"
 #include "wiring_serial.h"
 
-int32_t position[3];    // The current position of the tool in absolute steps
+// The current position of the tool in absolute steps
+int32_t position[3]; 
 
 void mc_init()
 {

motion_control.h

@@ -45,7 +45,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
 // Dwell for a couple of time units
 void mc_dwell(uint32_t milliseconds);
 
-// Send the tool home
+// Send the tool home (not implemented)
 void mc_go_home();
 
 #endif

nuts_bolts.h

@@ -25,7 +25,6 @@
 #define ONE_MINUTE_OF_MICROSECONDS 60000000.0
 #define TICKS_PER_MICROSECOND (F_CPU/1000000)
 
-
 #define max(a,b) (((a) > (b)) ? (a) : (b))
 #define min(a,b) (((a) < (b)) ? (a) : (b))
 
@@ -41,10 +40,4 @@
 #define Y_AXIS 1
 #define Z_AXIS 2
 
-// void scale_vector(double *target, double *source, double multiplier) {
-//   target[0] = source[0]*multiplier;
-//   target[1] = source[1]*multiplier;
-//   target[2] = source[2]*multiplier;
-// }
-
 #endif

stepper_plan.c

@@ -66,10 +66,6 @@ volatile int block_buffer_tail;           // Index of the block to process now
 
 static uint8_t acceleration_management;   // Acceleration management active?
 
-
-// NOTE: See bottom of this module for a comment outlining the reasoning behind the mathematics of the
-// following functions.
-
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
 inline double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) {