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This completely removes the PID logic, leaving only bang-bang control. This saves quite a bit of code space. Enough that I can add debugging even on a atmega168. Quite handy! And some people (nophead) don't need PID control.
This code will now compile correctly wether or not the MIN pins are defined.
Contributor
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Defining "bang-bang" will allow debugging to be built for a 168 chip. |
Contributor
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This was closed? Did I do that by mistake or did somebody mean to close this pull request? |
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hi, is this still relevant to the current codebase? Without my motors set up I can't tell |
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I don't know. With my laptop broken I can't tell :) |
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It's written in the commit comment, but basically I noticed that if I ran two moves:
G1X10
G1X10
I could hear the steppers hesitate between the moves. This change removes that hesitation, at the price of a possibly much longer-running timer interrupt.
This is because next_move is now tail-recursive when there are zero step moves queued.
Also it's not yet perfect, see commit notes for my reflections on the timer status across moves.