先上一个步进马达加减速控制方式：（GRBL） 摘自 GRBL0.9J 程序内注释。 如果需要源代码可以到github.com中下载，里面有很详细的说明。 /* BLOCK VELOCITY PROFILE DEFINITION __________________________ /| |\ _________________ ^ / | | \ /| |\ | / | | \ / | | \ s / | | | | | \ p / | | | | | \ e +-----+------------------------+---+--+---------------+----+ e | BLOCK 1 ^ BLOCK 2 | d | time -----> EXAMPLE: Block 2 entry speed is at max junction velocity The planner block buffer is planned assuming constant acceleration velocity profiles and are continuously joined at block junctions as shown above. However, the planner only actively computes the block entry speeds for an optimal velocity plan, but does not compute the block internal velocity profiles. These velocity profiles are computed ad-hoc as they are executed by the stepper algorithm and consists of only 7 possible types of profiles: cruise-only, cruise- deceleration, acceleration-cruise, acceleration-only, deceleration-only, full-trapezoid, and triangle(no cruise). maximum_speed (< nominal_speed) -> + +--------+ <- maximum_speed (= nominal_speed) /|\ / \ / | \ current_speed -> + \ / | + <- exit_speed | + <- exit_speed / | | +-------------+ current_speed -> +----+--+ time --> ^ ^ ^ ^ | | | | decelerate_after(in mm) decelerate_after(in mm) ^ ^ ^ ^ | | | | accelerate_until(in mm) accelerate_until(in mm) The step segment buffer computes the executing block velocity profile and tracks the critical parameters for the stepper algorithm to accurately trace the profile. These critical parameters are shown and defined in the above illustration. */
应该是电脑问题系统问题，USB转串口也不能用了，可能是优化系统时误删了文件。 因有项目在做，暂时用JLINK，待闲时将电脑重新来过。
