Acceleration #89
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Acceleration #89
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Added the RX pullup to the UART config that was getting inherited by the bootloader. This will fix when using a different/wrong bootloader, or no bootloader. I tested with a modified optiboot and it works.
* extended upload scripts
…lease torque, issue a speed of 0 RPM
Found a better way anyway.
So, I got the curve wrong because I up the acceleration every _step_ instead of every _tick_.
I've added the centripetal calculations from Grbl, but they don't seem to work right, so I'm going to make them a compile-time option and switch back.
Getting pretty nice prints now.
Hopefully to save space.
Since we can't do it in hardware … yet.
Switching directions now slows down. Co-linear movements no longer have slow-downs in between.
Also removed the use of % (modulus) from the CircularBuffer.
Now that the stepper dynamically multi-step, we can step less often and get perceptively as smooth of operation. We really need to use a dedicated timer for this, though.
Tuned the parameters for my Cupcake some.
Fixed the math used for when a block is replanted. It uses sort, though, which I don't like. Needs optimized.
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This is a big one!