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authorEmanuele Caruso <emanuele.caruso@gmail.com>2011-05-19 07:26:51 +0200
committerEmanuele Caruso <emanuele.caruso@gmail.com>2011-05-19 08:19:21 +0200
commit7b90a1f0f89f588247051a76d849584aa515cebc (patch)
treedc9206406bfb8760e433362489e84e5b90487b39
parent2e6cc78372d0543cce431cb29fe2ac82d89a9cec (diff)
X and Y axis now have their constant acceleration, and that is taken into account when calculating the leading axis acceleration for the move
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde18
-rw-r--r--Tonokip_Firmware/configuration.h4
2 files changed, 14 insertions, 8 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 9d7e0ba..c1e3d17 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -65,8 +65,8 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take
#ifdef RAMP_ACCELERATION
unsigned long axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), 100000000.0 / (min_units_per_second * y_steps_per_unit)};
unsigned long max_interval;
- unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second * x_steps_per_unit, max_acceleration_units_per_sq_second * y_steps_per_unit};
- unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second * x_steps_per_unit, max_travel_acceleration_units_per_sq_second * y_steps_per_unit};
+ unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_acceleration_units_per_sq_second[1] * y_steps_per_unit};
+ unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_travel_acceleration_units_per_sq_second[1] * y_steps_per_unit};
unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
@@ -991,14 +991,20 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
interval = axis_interval[primary_axis];
//If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.
+ //NOTE: if later, axis dependent min speed is introduced, we probably must ensure it is respected here... or maybe not
#ifdef RAMP_ACCELERATION
max_interval = axis_max_interval[primary_axis];
- if(e_steps_to_take > 0) steps_per_sqr_second = axis_steps_per_sqr_second[primary_axis];
- else steps_per_sqr_second = axis_travel_steps_per_sqr_second[primary_axis];
max_speed_steps_per_second = 100000000 / interval;
min_speed_steps_per_second = 100000000 / max_interval;
- float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
- plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
+ //Calculate slowest axis plateau time
+ float slowest_axis_plateau_time = 0;
+ for(int i=0; i < 2 ; i++) { //TODO: change to NUM_AXIS as axes get added to bresenham
+ if(e_steps_to_take > 0 && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, (100000000.0 / axis_interval[i] - 100000000.0 / axis_max_interval[i]) / (float) axis_steps_per_sqr_second[i]);
+ else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, (100000000.0 / axis_interval[i] - 100000000.0 / axis_max_interval[i]) / (float) axis_travel_steps_per_sqr_second[i]);
+ }
+ //Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated
+ steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / axis_max_interval[primary_axis]) / slowest_axis_plateau_time;
+ plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time);
#endif
#ifdef EXP_ACCELERATION
if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis];
diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h
index dc6226e..004c0d8 100644
--- a/Tonokip_Firmware/configuration.h
+++ b/Tonokip_Firmware/configuration.h
@@ -25,8 +25,8 @@
//Acceleration settings
#ifdef RAMP_ACCELERATION
float min_units_per_second = 35.0; // the minimum feedrate
-long max_acceleration_units_per_sq_second = 750; // Max acceleration in mm/s^2 for printing moves
-long max_travel_acceleration_units_per_sq_second = 1500; // Max acceleration in mm/s^2 for travel moves
+long max_acceleration_units_per_sq_second[] = {750,750,100,10000}; // X, Y (Z and E currently not used) max acceleration in mm/s^2 for printing moves
+long max_travel_acceleration_units_per_sq_second[] = {1500,1500,100}; // X, Y (Z currently not used) max acceleration in mm/s^2 for travel moves
#endif
#ifdef EXP_ACCELERATION
float full_velocity_units = 10; // the units between minimum and G1 move feedrate