Merge branch 'minconstspeed'

1 files changed, 17 insertions, 4 deletions

diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index ad26775..d838d7a 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -55,7 +55,9 @@ unsigned long long_full_velocity_units = 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;
-boolean acceleration_enabled;
+unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
+  y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
+boolean acceleration_enabled,accelerating;
 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
@@ -814,19 +816,21 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
    previous_micros_y=micros()*100;
    interval = y_interval;
    virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
-   full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
+   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;
    max_interval = max_y_interval;
+   min_constant_speed_steps = y_min_constant_speed_steps;
   } else if (steep_x) {
    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;
-   full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
+   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;
    max_interval = max_x_interval;
+   min_constant_speed_steps = x_min_constant_speed_steps;
   }
   previous_micros_z=micros()*100;
   previous_micros_e=micros()*100;
@@ -834,8 +838,15 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
   if(full_velocity_steps == 0) full_velocity_steps++;
   long full_interval = interval;//max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
   if(interval > max_interval) acceleration_enabled = false;
+  if(min_constant_speed_steps >= steps_to_take) {
+    acceleration_enabled = false;
+    full_interval = max(max_interval, interval); // choose the min speed between feedrate and acceleration start speed
+  }
+  if(full_velocity_steps < virtual_full_velocity_steps && acceleration_enabled) full_interval = max(interval,
+      max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps)); // choose the min speed between feedrate and speed at full steps
   unsigned long steps_done = 0;
   unsigned int steps_acceleration_check = 1;
+  accelerating = acceleration_enabled;
   
   //move until no more steps remain 
   while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
@@ -853,9 +864,11 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
       } else {
         interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps);
       }
+      accelerating = true;
     } else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){
       //Else, we are just use the full speed interval as current interval
       interval = full_interval;
+      accelerating = false;
     }
 
     //If there are x or y steps remaining, perform Bresenham algorithm
@@ -915,7 +928,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
     }
     
     //If more that half second is passed since previous heating check, manage it
-    if( (millis() - previous_millis_heater) >= 500 ) {
+    if(!accelerating && (millis() - previous_millis_heater) >= 500 ) {
       manage_heater();
       previous_millis_heater = millis();