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authorblddk <michael.andresen@gmail.com>2012-01-22 15:27:27 +0100
committerblddk <michael.andresen@gmail.com>2012-01-22 15:27:27 +0100
commite7fb583df933a7012f2c42d84375b99ced0202c4 (patch)
tree4a7e49d1e8ff4948e841895ef410bf50bf1a105f
parent439f339f74285affa03d53d6b4e1dc6a75f2591f (diff)
Added option to set a delay after enabeling stepper driver, to allow the driver to enable (time needed according to datasheet)
-rw-r--r--Sprinter/Sprinter.pde23
1 files changed, 23 insertions, 0 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index c8acc67..5387923 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1284,10 +1284,33 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
// TODO: maybe it's better to refactor into a generic enable(int axis) function, that will probably take more ram,
// but will reduce code size
+#ifdef DELAY_ENABLE
+ if(axis_steps_remaining[0])
+ {
+ enable_x();
+ delayMicroseconds(DELAY_ENABLE);
+ }
+ if(axis_steps_remaining[1])
+ {
+ enable_y();
+ delayMicroseconds(DELAY_ENABLE);
+ }
+ if(axis_steps_remaining[2])
+ {
+ enable_z();
+ delayMicroseconds(DELAY_ENABLE);
+ }
+ if(axis_steps_remaining[3])
+ {
+ enable_e();
+ delayMicroseconds(DELAY_ENABLE);
+ }
+#else
if(axis_steps_remaining[0]) enable_x();
if(axis_steps_remaining[1]) enable_y();
if(axis_steps_remaining[2]) enable_z();
if(axis_steps_remaining[3]) enable_e();
+#endif
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes