avoid race conditions, don;t actual step if still processing end block

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index 68a0224..34acdd4 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -61,6 +61,8 @@ void StepperMotor::init()
 // we also here check if the move is finished etc ...
 void StepperMotor::step()
 {
+    if(this->is_move_finished) return; // we can't do anything until the next move has been processed, but we will be able to offset the time by shortening the next step
+
     // output to pins 37t
     this->step_pin.set( 1 );
     THEKERNEL->step_ticker->reset_step_pins = true;
@@ -89,6 +91,7 @@ void StepperMotor::step()
         // This is so we don't call that before all the steps have been generated for this tick()
         this->is_move_finished = true;
         THEKERNEL->step_ticker->a_move_finished = true;
+        this->fx_counter = 0;      // set this to zero here so we don't miss any for next move
     }
 }
 
@@ -128,8 +131,6 @@ inline void StepperMotor::update_exit_tick()
 // Instruct the StepperMotor to move a certain number of steps
 void StepperMotor::move( bool direction, unsigned int steps, float initial_speed)
 {
-    // INCORRECT: We do not set the direction directly, we will set the pin just before the step pin on the next tick
-    // FIXME really? looks a lot like the pin is set here not in the next step
     this->dir_pin.set(direction);
     this->direction = direction;
 
@@ -137,7 +138,6 @@ void StepperMotor::move( bool direction, unsigned int steps, float initial_speed
     this->steps_to_move = steps;
 
     // Zero our tool counters
-    this->fx_counter = 0;      // Bresenheim counter
     this->stepped = 0;
 
     // Do not signal steps until we get instructed to

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index e50bc8e..6cc8375 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -522,10 +522,17 @@ void Robot::on_gcode_received(void *argument)
                     arm_solution->set_optional(options);
                 }
 
-                // set delta segments per second, not saved by M500
-                if(gcode->has_letter('S')) {
+
+                if(gcode->has_letter('S')) { // set delta segments per second, not saved by M500
                     this->delta_segments_per_second = gcode->get_value('S');
+                    gcode->stream->printf("Delta segments set to %8.4f segs/sec\n", this->delta_segments_per_second);
+
+                }else if(gcode->has_letter('U')) { // or set mm_per_line_segment, not saved by M500
+                    this->mm_per_line_segment = gcode->get_value('U');
+                    this->delta_segments_per_second = 0;
+                    gcode->stream->printf("mm per line segment set to %8.4f\n", this->mm_per_line_segment);
                 }
+
                 break;
             }
         }