|
|
|
@ -54,7 +54,7 @@ static unsigned int cleaning_buffer_counter;
|
|
|
|
|
locked_z2_motor = false;
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Counter variables for the bresenham line tracer
|
|
|
|
|
// Counter variables for the Bresenham line tracer
|
|
|
|
|
static long counter_x, counter_y, counter_z, counter_e;
|
|
|
|
|
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
|
|
|
|
|
|
|
|
|
@ -66,7 +66,7 @@ volatile static unsigned long step_events_completed; // The number of step event
|
|
|
|
|
|
|
|
|
|
static long acceleration_time, deceleration_time;
|
|
|
|
|
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
|
|
|
|
static unsigned short acc_step_rate; // needed for deccelaration start point
|
|
|
|
|
static unsigned short acc_step_rate; // needed for deceleration start point
|
|
|
|
|
static char step_loops;
|
|
|
|
|
static unsigned short OCR1A_nominal;
|
|
|
|
|
static unsigned short step_loops_nominal;
|
|
|
|
@ -484,7 +484,7 @@ ISR(TIMER1_COMPA_vect) {
|
|
|
|
|
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
|
|
|
|
|
if (TEST(out_bits, X_HEAD))
|
|
|
|
|
#else
|
|
|
|
|
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
|
|
|
|
|
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
|
|
|
|
|
#endif
|
|
|
|
|
{ // -direction
|
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
|
|
|