Teacup_Firmware VS grbl

Ooh another fun one you may be interested in is how I wrote Teacup's config handling - the user has to provide a config.h with various macros defining their machine setup, and then multiple separate parts of the codebase redefine those macros and re-include the file to build various structures and constants at compile-time

Since then I've made lots of things like audio amplifiers and effects, motor controllers, 3d printer controllers and firmware (and subsequently smoothieboard), muscle stimulators, bluetooth LED strip controllers, etc

Teacup can go pretty fast too, I think I've seen it clocked at 48k @ 20MHz although that may have been across 4 motors at once.

See here and here for an example from my ESC project, or this example from Teacup

https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html says "The fastest motor speed that can be reliably supported is about 4000 steps per second at a clock frequency of 16 MHz on Arduino" which is pretty poor - teacup can hit something like 10× that when controlling 4 steppers, and also comes with a non-blocking state machine based gcode parser ;)

Teacup had decent performance last time I checked, but it's more a complete firmware project rather than a library.

That's hard enough just with linear acceleration let alone complex functions - might be worth converting it to line segments host-side and just streaming basic gcode to a 3D printer firmware over the serial port.

Last time I checked, Teacup can do something like 40kHz on an atmega - might be worth having a play with that?

AccelStepper may interest you, and I think Teacup can go even faster.

The latest what? Teacup? Marlin? Aprinter? Repetier? GRBL? Something else?

there is a free projecton github: GRBL.

Did you mean this - https://github.com/grbl/grbl

You could see if translate-c can handle the grbl source. https://github.com/grbl/grbl

Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1 - Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80 - Feed Rate Modes: G93, G94 - Unit Modes: G20, G21 - Distance Modes: G90, G91 - Arc IJK Distance Modes: G91.1 - Plane Select Modes: G17, G18, G19 - Tool Length Offset Modes: G43.1, G49 - Cutter Compensation Modes: G40 - Coordinate System Modes: G54, G55, G56, G57, G58, G59 - Control Modes: G61 - Program Flow: M0, M1, M2, M30* - Coolant Control: M7*, M8, M9 - Spindle Control: M3, M4, M5 - Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z https://github.com/grbl/grbl Thank you in advance for your thoughts and expertise on this.

It's a GRBL board for a small 3-axis CNC machine. GRBL firmware uses gcode just like 3D printers, but CNC gcode has some commands that 3D printers don't, and vice versa, and CNC gcode is modal (remembers certain operations and settings) in ways that printer software such as Marlin/klipper/RRF isn't.

It's raised in a few places at https://github.com/grbl/grbl/blob/master/grbl/gcode.c

GRBL: https://github.com/grbl/grbl (not sure what category this falls under)