G-code interpreter and stepmotor controller for crazy fast coordinated moves of up to 8 steppers. Uses the Programmable Realtime Unit (PRU) of the Beaglebone.
On my machine, the E-Stop is connected up to disable the motors but BeagleG does not check the input at any time (that I can see).
The proper handling of the E-Stop should be something like this (open for discussion):
When the E-Stop is active BeagleG should abort any motion and ignore any incoming commands (i.e. do an internal M0 to set the Software E-Stop) until the E-Stop is deactivated. Once deactivated motion should not be allowed until the Software E-Stop is cleared by an M999.
I think this will involve hooking up the M0/M999 codes so that commands are not added to the PRU queue when the machine is in E-Stop.
Currently the E-Stop input is not being checked.
On my machine, the E-Stop is connected up to disable the motors but BeagleG does not check the input at any time (that I can see).
The proper handling of the E-Stop should be something like this (open for discussion):
When the E-Stop is active BeagleG should abort any motion and ignore any incoming commands (i.e. do an internal M0 to set the Software E-Stop) until the E-Stop is deactivated. Once deactivated motion should not be allowed until the Software E-Stop is cleared by an M999.
I think this will involve hooking up the M0/M999 codes so that commands are not added to the PRU queue when the machine is in E-Stop.