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| author | Emanuele Caruso <emanuele.caruso@gmail.com> | 2011-04-25 23:35:00 +0200 |
|---|---|---|
| committer | Emanuele Caruso <emanuele.caruso@gmail.com> | 2011-04-25 23:37:23 +0200 |
| commit | 3a57b653387a21414b17d6ffebefb6ab94b184da (patch) | |
| tree | ac91230554b484777b7a0a80c9fc1035392f904b /Tonokip_Firmware/Tonokip_Firmware.pde | |
| parent | bdf475b6e7e24ea0a67065a95aa1b64e93c4478b (diff) | |
Added separate acceleration configuration parameter for travel moves
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index d838d7a..0be8d40 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -52,6 +52,7 @@ 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, previous_millis_bed_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 long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100; unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); unsigned long max_interval, interval; @@ -815,7 +816,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin error_x = delta_y / 2; previous_micros_y=micros()*100; interval = y_interval; - virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100; + if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100; + else virtual_full_velocity_steps = long_travel_move_full_velocity_units * y_steps_per_unit /100; full_velocity_steps = min(virtual_full_velocity_steps, (delta_y - y_min_constant_speed_steps) / 2); steps_remaining = delta_y; steps_to_take = delta_y; @@ -825,7 +827,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin error_y = delta_x / 2; previous_micros_x=micros()*100; interval = x_interval; - virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100; + if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100; + else virtual_full_velocity_steps = long_travel_move_full_velocity_units * x_steps_per_unit /100; full_velocity_steps = min(virtual_full_velocity_steps, (delta_x - x_min_constant_speed_steps) / 2); steps_remaining = delta_x; steps_to_take = delta_x; |