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authorEmanuele Caruso <emanuele.caruso@gmail.com>2011-05-19 03:50:59 +0200
committerEmanuele Caruso <emanuele.caruso@gmail.com>2011-05-19 03:50:59 +0200
commit6d2fdf16b6f61a9aa7d58509073ce82c8033f65c (patch)
tree6cbe38de4a7b893a5aba129beb149b69415ad64d /Tonokip_Firmware
parent8b7c5a64c886826146311edc42319807e04b26ab (diff)
N Bresenham is ready for constant speed, though we still enforce only X and Y use it
Diffstat (limited to 'Tonokip_Firmware')
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde81
1 files changed, 28 insertions, 53 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 0ac491d..f281e9e 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -976,6 +976,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
boolean steep_x = delta[0] >= delta[1];// && delta[0] > delta[3] && delta[0] > delta[2];
//boolean steep_z = delta[2] > delta[0] && delta[2] > delta[1] && delta[2] > delta[3];
int axis_error[NUM_AXIS];
+ unsigned int primary_axis;
+ if(steep_x) primary_axis = 0;
+ else primary_axis = 1;
#ifdef RAMP_ACCELERATION
long max_speed_steps_per_second;
long min_speed_steps_per_second;
@@ -984,13 +987,13 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps;
#endif
- unsigned long steps_remaining;
- unsigned long steps_to_take;
-
+ unsigned long steps_remaining = delta[primary_axis];
+ unsigned long steps_to_take = steps_remaining;
+ for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ interval = axis_interval[primary_axis];
+
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
- axis_error[0] = delta[1] / 2;
- interval = axis_interval[1];
#ifdef RAMP_ACCELERATION
max_interval = max_y_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
@@ -1007,11 +1010,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
max_interval = max_y_interval;
min_constant_speed_steps = y_min_constant_speed_steps;
#endif
- steps_remaining = delta[1];
- steps_to_take = delta[1];
} else if (steep_x) {
- axis_error[1] = delta[0] / 2;
- interval = axis_interval[0];
#ifdef RAMP_ACCELERATION
max_interval = max_x_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
@@ -1028,8 +1027,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
max_interval = max_x_interval;
min_constant_speed_steps = x_min_constant_speed_steps;
#endif
- steps_remaining = delta[0];
- steps_to_take = delta[0];
}
unsigned long steps_done = 0;
#ifdef RAMP_ACCELERATION
@@ -1127,50 +1124,28 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
- if(steep_y) {
- timediff = micros() * 100 - axis_previous_micros[1];
- while(timediff >= interval && axis_steps_remaining[1] > 0) {
- steps_done++;
- steps_remaining--;
- axis_steps_remaining[1]--; timediff -= interval;
- axis_error[0] = axis_error[0] - delta[0];
- do_step(1);
- if(axis_error[0] < 0) {
- do_step(0); axis_steps_remaining[0]--;
- axis_error[0] = axis_error[0] + delta[1];
+ timediff = micros() * 100 - axis_previous_micros[primary_axis];
+ while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
+ steps_done++;
+ steps_remaining--;
+ axis_steps_remaining[primary_axis]--; timediff -= interval;
+ do_step(primary_axis);
+ for(int i=0; i < 2; i++) if(i != primary_axis) {//TODO change "2" to NUM_AXIS when other axes gets added to bresenham
+ axis_error[i] = axis_error[i] - delta[i];
+ if(axis_error[i] < 0) {
+ do_step(i); axis_steps_remaining[i]--;
+ axis_error[i] = axis_error[i] + delta[primary_axis];
}
- #ifdef RAMP_ACCELERATION
- if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
- #endif
- #ifdef STEP_DELAY_RATIO
- if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
- #endif
- #ifdef STEP_DELAY_MICROS
- if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
- #endif
- }
- } else if (steep_x) {
- timediff=micros() * 100 - axis_previous_micros[0];
- while(timediff >= interval && axis_steps_remaining[0]>0) {
- steps_done++;
- steps_remaining--;
- axis_steps_remaining[0]--; timediff -= interval;
- axis_error[1] = axis_error[1] - delta[1];
- do_step(0);
- if(axis_error[1] < 0) {
- do_step(1); axis_steps_remaining[1]--;
- axis_error[1] = axis_error[1] + delta[0];
- }
- #ifdef RAMP_ACCELERATION
- if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
- #endif
- #ifdef STEP_DELAY_RATIO
- if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
- #endif
- #ifdef STEP_DELAY_MICROS
- if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
- #endif
}
+ #ifdef RAMP_ACCELERATION
+ if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
+ #endif
+ #ifdef STEP_DELAY_RATIO
+ if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
+ #endif
+ #ifdef STEP_DELAY_MICROS
+ if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
+ #endif
}
}
#ifdef RAMP_ACCELERATION