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authorChris Dieringer <cdaringe@comcast.net>2011-11-06 07:57:57 -0800
committerChris Dieringer <cdaringe@comcast.net>2011-11-06 07:57:57 -0800
commitf5c05d94393b79d52b9ada67fe4bdffa3c39da52 (patch)
tree42aa9ba5f60b17a6be4b787b0b4520a83f736f91 /Sprinter
parentb7cf9b4ea3bd47bc9911dd56450c40c68117538e (diff)
osc reduction
Diffstat (limited to 'Sprinter')
-rw-r--r--Sprinter/Configuration.h6
-rw-r--r--Sprinter/Sprinter.pde44
2 files changed, 48 insertions, 2 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index df52a08..950387a 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -99,6 +99,12 @@ bool axis_relative_modes[] = {false, false, false, false};
// If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.)
//#define STEP_DELAY_RATIO 0.25
+///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
+//#define RAPID_OSCILLATION_REDUCTION
+#ifdef RAPID_OSCILLATION_REDUCTION
+long min_time_before_dir_change = 30; //milliseconds
+#endif
+
// Comment this to disable ramp acceleration
#define RAMP_ACCELERATION
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 657efed..bc8a2ac 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -91,7 +91,12 @@ float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
#ifdef STEP_DELAY_RATIO
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
-
+///oscillation reduction
+ifdef RAPID_OSCILLATION_REDUCTION
+ float cumm_wait_time_in_dir[NUM_AXIS]={0.0,0.0,0.0,0.0};
+ bool prev_move_direction[NUM_AXIS]={1,1,1,1};
+ float osc_wait_remainder = 0.0;
+#endif
// comm variables
#define MAX_CMD_SIZE 96
@@ -1081,11 +1086,46 @@ void prepare_move()
time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0));
}
}
+
+#ifdef RAPID_OSCILLATION_REDUCTION //VERBOSE commenting for peer review. tested on multiple prints--works!
+ for(int i=0; i < NUM_AXIS-1; i++) { //do for each axis, except for extruder (refer to the -1 value)
+ if(prev_move_direction[i] != move_direction[i]){ //check if we've changed direcitons
+ osc_wait_remainder=min_time_before_dir_change; //if we changed directions, then shit the bed! We better make sure to wait & chill out time before jerkin' over in the opposite direction!
+ if(cumm_wait_time_in_dir[i]<min_time_before_dir_change){ //if so, check if we've sat @ the current position long enough for this axis
+ if((min_time_before_dir_change-cumm_wait_time_in_dir[i])>osc_wait_remainder){ //if not, dont overwrite the remaining wait time if we already have to wait LONGER for a different axis
+ osc_wait_remainder=min_time_before_dir_change-cumm_wait_time_in_dir[i];
+ }
+ }
+ cumm_wait_time_in_dir[i] = 0.0; //we've changed directions! now that we've either set a wait period, or we had already waited long enough after a direction change, let's reset our wait variable for this axis
+ }
+ else{ //we haven't changed directions! so, lets make sure to increase our wait time for the time we have not been moving back on the same axis
+ if(cumm_wait_time_in_dir[i]==0.0){
+ cumm_wait_time_in_dir[i] = 0.001; //if the cumm wait variable = 0.0, that means we've just completed our first move after a dir change. we really haven't waited at all. so, let's increment the wait value insignifcant value so that we may proceed, but not hit this line again.
+ }
+ else{
+ //Serial.print("It is will take [ESTIMATED] this many seconds to perform this move:"); Serial.println(time_for_move/1000000);
+ cumm_wait_time_in_dir[i] = cumm_wait_time_in_dir[i] + time_for_move/1000; //increment the time we've waited in this axis
+ }
+ }
+ }
+
+ //update prev_moves for next move. again, excluded extruder
+ for(int i=0; i < NUM_AXIS-1; i++) {
+ prev_move_direction[i]=move_direction[i];
+ }
+
+ //now WAIT if you are oscillating back & forth too fast in any given axis
+ if(osc_wait_remainder>0.0){
+ delay(osc_wait_remainder);
+ osc_wait_remainder=0.0;
+ }
+#endif
+
//Calculate the full speed stepper interval for each axis
for(int i=0; i < NUM_AXIS; i++) {
if(move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100;
}
-
+
#ifdef DEBUG_PREPARE_MOVE
log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);