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Diffstat (limited to 'docs/Code_Overview.md')
| -rw-r--r-- | docs/Code_Overview.md | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index d5292ac5..00a77928 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -148,7 +148,7 @@ provides further information on the mechanics of moves. start/crusing/end velocity, and distance traveled during acceleration/cruising/deceleration. All the information is stored in the Move() class and is in cartesian space in units of millimeters - and seconds. Times are stored relative to the start of the print. + and seconds. The move is then handed off to the kinematics classes: `Move.move() -> kin.move()` @@ -174,14 +174,13 @@ provides further information on the mechanics of moves. stepcompress_push_const()`, or for delta kinematics: `DeltaKinematics.move() -> MCU_Stepper.step_delta() -> stepcompress_push_delta()`. The MCU_Stepper code just performs unit - and axis transformation (seconds to clock ticks and millimeters to - step distances), and calls the C code. The C code calculates the - stepper step times for each movement and fills an array (struct - stepcompress.queue) with the corresponding micro-controller clock - counter times for every step. Here the "micro-controller clock - counter" value directly corresponds to the micro-controller's - hardware counter - it is relative to when the micro-controller was - last powered up. + and axis transformation (millimeters to step distances), and calls + the C code. The C code calculates the stepper step times for each + movement and fills an array (struct stepcompress.queue) with the + corresponding micro-controller clock counter times for every + step. Here the "micro-controller clock counter" value directly + corresponds to the micro-controller's hardware counter - it is + relative to when the micro-controller was last powered up. * The next major step is to compress the steps: `stepcompress_flush() -> compress_bisect_add()` (in stepcompress.c). This code generates |