put accleratrion in the block, thi sallows M204 to change acceleration on the fly...

diff --git a/src/modules/robot/Block.cpp b/src/modules/robot/Block.cpp
index 9090b76..267d483 100644 (file)
--- a/src/modules/robot/Block.cpp
+++ b/src/modules/robot/Block.cpp
@@ -174,7 +174,7 @@ float Block::reverse_pass(float exit_speed)
         // for max allowable speed if block is decelerating and nominal length is false.
         if ((!this->nominal_length_flag) && (this->max_entry_speed > exit_speed))
         {
-            float max_entry_speed = max_allowable_speed(-THEKERNEL->planner->get_acceleration(), exit_speed, this->millimeters);
+            float max_entry_speed = max_allowable_speed(-this->acceleration, exit_speed, this->millimeters);
 
             this->entry_speed = min(max_entry_speed, this->max_entry_speed);
 
@@ -231,7 +231,7 @@ float Block::max_exit_speed()
         return nominal_speed;
 
     // otherwise, we have to work out max exit speed based on entry and acceleration
-    float max = max_allowable_speed(-THEKERNEL->planner->get_acceleration(), this->entry_speed, this->millimeters);
+    float max = max_allowable_speed(-this->acceleration, this->entry_speed, this->millimeters);
 
     return min(max, nominal_speed);
 }

diff --git a/src/modules/robot/Block.h b/src/modules/robot/Block.h
index f960c90..74c3c05 100644 (file)
--- a/src/modules/robot/Block.h
+++ b/src/modules/robot/Block.h
@@ -50,22 +50,22 @@ class Block {
         float          entry_speed;
         float          exit_speed;
         float          rate_delta;         // Nomber of steps to add to the speed for each acceleration tick
+        float          acceleration;       // the acceleratoin for this block
         unsigned int   initial_rate;       // Initial speed in steps per second
         unsigned int   final_rate;         // Final speed in steps per second
         unsigned int   accelerate_until;   // Stop accelerating after this number of steps
         unsigned int   decelerate_after;   // Start decelerating after this number of steps
-        std::bitset<3> direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
 
+        float max_entry_speed;
+
+        short times_taken;    // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
+
+        std::bitset<3> direction_bits;     // Direction for each axis in bit form, relative to the direction port's mask
         struct {
             bool recalculate_flag:1;             // Planner flag to recalculate trapezoids on entry junction
             bool nominal_length_flag:1;          // Planner flag for nominal speed always reached
             bool is_ready:1;
         };
-
-        float max_entry_speed;
-
-        short times_taken;    // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
-
 };
 
 

diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp
index 372e4c9..82242dc 100644 (file)
--- a/src/modules/robot/Planner.cpp
+++ b/src/modules/robot/Planner.cpp
@@ -86,6 +86,8 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
         if(this->z_junction_deviation >= 0.0F) junction_deviation= this->z_junction_deviation;
     }
 
+    block->acceleration= acceleration; // save in block
+
     // Max number of steps, for all axes
     block->steps_event_count = max( block->steps[ALPHA_STEPPER], max( block->steps[BETA_STEPPER], block->steps[GAMMA_STEPPER] ) );
 

diff --git a/src/modules/robot/Robot.cpp b/src/modules/robot/Robot.cpp
index a841693..dfe154f 100644 (file)
--- a/src/modules/robot/Robot.cpp
+++ b/src/modules/robot/Robot.cpp
@@ -419,8 +419,6 @@ void Robot::on_gcode_received(void *argument)
                 gcode->mark_as_taken();
 
                 if (gcode->has_letter('S')) {
-                    // TODO for safety so it applies only to following gcodes, maybe a better way to do this?
-                    THEKERNEL->conveyor->wait_for_empty_queue();
                     float acc = gcode->get_value('S'); // mm/s^2
                     // enforce minimum
                     if (acc < 1.0F)
@@ -428,8 +426,6 @@ void Robot::on_gcode_received(void *argument)
                     THEKERNEL->planner->acceleration = acc;
                 }
                 if (gcode->has_letter('Z')) {
-                    // TODO for safety so it applies only to following gcodes, maybe a better way to do this?
-                    THEKERNEL->conveyor->wait_for_empty_queue();
                     float acc = gcode->get_value('Z'); // mm/s^2
                     // enforce positive
                     if (acc < 0.0F)