Firmware/FiveD on Arduino
Rewrite of FiveD firmware for the atmega168-based Arduino by Triffid Hunter
This firmware is loosely based on the official FiveD Firmware, however it uses 100% integer math, and works very hard to minimize/eliminate long math operations in interrupt context.
Constant Acceleration
The official FiveD firmware changes speed by a fixed amount each step, however this also alters the step time. acceleration = dv/dt, so with a fixed dv but a changing dt, acceleration changes during a move. This makes high speeds quite unattainable as the acceleration quickly outstrips the motor's ability to keep up.
FiveD on Arduino contains a constant acceleration implementation.
Transmission of Multiple Commands
FiveD on Arduino has the capability to receive additional commands while working on the first one. This avoids short stops between commands and will allow for even more smooth transitions from one movement to the next in the future.
Patches, Enhancements
As Triffid Hunter is apparently out of town currently (2010-07-03), the Git Repository doesn't allow to upload patches and I don't want to do yet another fork, I'll upload patches here.
To apply those patches, type git apply in your terminal, inside your local copy of git repo, then copy the text given her into the terminal and hit ctrl-d. Well, I hope it works that way.
