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authorEmanuele Caruso <emanuele.caruso@gmail.com>2011-04-08 07:04:51 +0200
committerEmanuele Caruso <emanuele.caruso@gmail.com>2011-04-08 07:04:51 +0200
commit70514ce33b99d2c945f1d87aa213adb178256929 (patch)
tree5cadcc6e70b2120b9c2cb3c9cf3bfe4311df63d6
parentaad7c19db818f3e879fbba225b8485fa0d52adee (diff)
Improved acceleration algorithm: now you can set minimum feedrate speed
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde23
-rw-r--r--Tonokip_Firmware/configuration.h3
2 files changed, 17 insertions, 9 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 3014d4b..aa639d6 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -52,6 +52,10 @@ bool direction_x, direction_y, direction_z, direction_e;
unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater;
unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
unsigned long long_full_velocity_units = full_velocity_units * 100;
+unsigned long max_x_interval = 1000000.0 / (min_units_per_second * x_steps_per_unit);
+unsigned long max_y_interval = 1000000.0 / (min_units_per_second * y_steps_per_unit);
+unsigned long max_interval;
+boolean acceleration_enabled;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
@@ -758,6 +762,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
steps_remaining = delta_y;
steps_to_take = delta_y;
+ max_interval = max_y_interval;
} else if (steep_x) {
error_y = delta_x / 2;
previous_micros_x=micros();
@@ -766,27 +771,29 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
steps_remaining = delta_x;
steps_to_take = delta_x;
+ max_interval = max_x_interval;
}
if(full_velocity_steps == 0) full_velocity_steps++;
- long full_interval = interval;
+ long full_interval = max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
+ if(full_interval == interval) acceleration_enabled = false;
unsigned long steps_done = 0;
unsigned int steps_acceleration_check = 1;
// move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
- if (steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
+ if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
if(steps_done == 0) {
- interval = full_interval * virtual_full_velocity_steps;
+ interval = max_interval;
} else {
- interval = full_interval * virtual_full_velocity_steps / steps_done;
+ interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps);
}
- } else if (steps_remaining < full_velocity_steps) {
+ } else if (acceleration_enabled && steps_remaining < full_velocity_steps) {
if(steps_remaining == 0) {
- interval = full_interval * virtual_full_velocity_steps;
+ interval = max_interval;
} else {
- interval = full_interval * virtual_full_velocity_steps / steps_remaining;
+ interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps);
}
- } else if (steps_done - full_velocity_steps >= 1){
+ } else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){
interval = full_interval;
}
diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h
index 646c476..704fdae 100644
--- a/Tonokip_Firmware/configuration.h
+++ b/Tonokip_Firmware/configuration.h
@@ -9,7 +9,8 @@
#define SDSUPPORT 1
//Acceleration settings
-float full_velocity_units = 3.0;
+float full_velocity_units = 10.0; // the units between minimum and G1 move feedrate
+float min_units_per_second = 35.0; // the minimum feedrate
// THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!
const bool USE_THERMISTOR = true; //Set to false if using thermocouple