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-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde180
1 files changed, 170 insertions, 10 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 2e94cad..c15ecbd 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -678,31 +678,191 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
- if(x_steps_remaining) { enable_x(); do_x_step(); x_steps_remaining--;}
- if(y_steps_remaining) { enable_y(); do_y_step(); y_steps_remaining--;}
+ if(x_steps_remaining) enable_x();
+ if(y_steps_remaining) enable_y();
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;}
- if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--;}
+ if(e_steps_remaining) {enable_e(); do_e_step(); e_steps_remaining--;}
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
previous_millis_heater = millis();
-
- //while(x_steps_remaining > 0 || y_steps_remaining > 0 || z_steps_remaining > 0 || e_steps_remaining > 0) // move until no more steps remain
+
+ unsigned long start_move_micros = micros();
+ unsigned int delta_x = x_steps_remaining;
+ unsigned long previous_nanos_x;
+ unsigned long x_interval_nanos;
+ unsigned int delta_y = y_steps_remaining;
+ unsigned long previous_nanos_y;
+ unsigned long y_interval_nanos;
+ unsigned int delta_z = z_steps_remaining;
+ unsigned long previous_nanos_z;
+ unsigned long z_interval_nanos;
+ unsigned int delta_e = e_steps_remaining;
+ unsigned long previous_nanos_e;
+ unsigned long e_interval_nanos;
+ float interval;
+ boolean steep_y = delta_y > delta_x;// && delta_y > delta_e && delta_y > delta_z;
+ boolean steep_x = delta_x >= delta_y;// && delta_x > delta_e && delta_x > delta_z;
+ //boolean steep_z = delta_z > delta_x && delta_z > delta_y && delta_z > delta_e;
+ int error_x;
+ int error_y;
+ int error_e;
+ int error_z;
+ float full_velocity_units = 0.3;
+ unsigned long full_velocity_steps;
+ //unsigned int steps_per_micros;
+ unsigned long timediff_nanos;
+ if(steep_y) {
+ error_x = delta_y / 2;
+ error_e = delta_y / 2;
+ previous_micros_y=micros();
+ interval = y_interval;
+ full_velocity_steps = full_velocity_units * y_steps_per_unit;
+ if (full_velocity_steps > y_steps_remaining) full_velocity_steps = y_steps_remaining;
+ //previous_nanos_y= (start_move_micros - micros()) * 1000;
+ //steps_per_micros = 1000 * delta_y / (time_for_move * 1000);
+ //y_interval_nanos = y_interval * 1000;
+ } else if (steep_x) {
+ error_y = delta_x / 2;
+ error_e = delta_x / 2;
+ previous_micros_x=micros();
+ interval = x_interval;
+ full_velocity_steps = full_velocity_units * x_steps_per_unit;
+ if (full_velocity_steps > x_steps_remaining) full_velocity_steps = x_steps_remaining;
+ //previous_nanos_x= (start_move_micros - micros()) * 1000;
+ //x_interval_nanos = x_interval * 1000;
+ } else {
+ error_x = delta_e / 2;
+ error_y = delta_e / 2;
+ previous_micros_e=micros();
+ interval = e_interval;
+ full_velocity_steps = full_velocity_units * e_steps_per_unit;
+ if (full_velocity_steps > e_steps_remaining) full_velocity_steps = e_steps_remaining;
+ //previous_nanos_e= (start_move_micros - micros()) * 1000;
+ //e_interval_nanos = e_interval * 1000;
+ }
+ int counter;
+ //float start_velocity = 0.001;
+ float full_interval = interval;
+ //float velocity_multiplier;
+ //unsigned long total_move_time;
+ //unsigned long acceleration_move_time;
+ unsigned long steps_done = 0;
+ unsigned int steps_acceleration_check = 100;
+
+/* unsigned int delta_
+ unsigned int delta_x = x_steps_remaining;
+ unsigned int delta_y = y_steps_remaining;
+ unsigned int delta_z = z_steps_remaining;
+ unsigned int delta_e = e_steps_remaining;
+ boolean steep_y = delta_y > delta_x && delta_y > delta_e;
+ boolean steep_x = delta_x > delta_y && delta_x > delta_e;
+ int error_x;
+ int error_y;
+ int error_e;
+ unsigned int steps_per_micros;
+ if(steep_y) {
+ error_x = delta_y / 2;
+ error_e = delta_y / 2;
+ previous_micros_y=micros();
+ steps_per_micros = 1000 * delta_y / (time_for_move * 1000);
+ } else if (steep_x) {
+ error_y = delta_x / 2;
+ error_e = delta_x / 2;
+ previous_micros_x=micros();
+ } else {
+ error_x = delta_e / 2;
+ error_y = delta_e / 2;
+ previous_micros_e=micros();
+ }
+ int counter;*/
+
+
+
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) // move until no more steps remain
{
- if(x_steps_remaining) {
+ /*total_move_time = micros() - start_move_micros;
+ if (velocity_multiplier < 1 && total_move_time - acceleration_move_time > 100 &&x_steps_remaining + y_steps_remaining > 0) {
+ float velocity_multiplier = total_move_time / full_velocity_microseconds;
+ if (velocity_multiplier > 1) velocity_multiplier = 1;
+ interval = full_interval / velocity_multiplier;
+ acceleration_move_time = total_move_time;
+ } else {
+ interval = full_interval;
+ }*/
+
+ if (steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
+ if(steps_done == 0) {
+ interval = full_interval * steps_acceleration_check / full_velocity_steps;
+ } else {
+ interval = full_interval * steps_done / full_velocity_steps;
+ }
+ } else if (steps_done - full_velocity_steps >= 1) {
+ interval = full_interval;
+ }
+ steps_done++;
+
+ if(x_steps_remaining || y_steps_remaining) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
- timediff=micros()-previous_micros_x;
- while(timediff >= x_interval && x_steps_remaining) { do_x_step(); x_steps_remaining--; timediff-=x_interval;}
+ if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
+ if(steep_y) {
+ timediff = micros() - previous_micros_y;
+ while(timediff >= interval) {
+ y_steps_remaining--; timediff-=interval;
+ error_x = error_x - delta_x;
+ //error_e = error_e - delta_e;
+ do_y_step();
+ if(error_x < 0) {
+ do_x_step(); x_steps_remaining--;
+ error_x = error_x + delta_y;
+ }
+ /*if(error_e < 0) {
+ do_e_step(); e_steps_remaining--;
+ error_e = error_e + delta_y;
+ }*/
+ }
+ } else if (steep_x) {
+ timediff=micros() - previous_micros_x;
+ while(timediff >= interval) {
+ x_steps_remaining--; timediff-=interval;
+ error_y = error_y - delta_y;
+ //error_e = error_e - delta_e;
+ do_x_step();
+ if(error_y < 0) {
+ do_y_step(); y_steps_remaining--;
+ error_y = error_y + delta_x;
+ }
+ /*if(error_e < 0) {
+ do_e_step(); e_steps_remaining--;
+ error_e = error_e + delta_x;
+ }*/
+ }
+ } else {
+ timediff=micros() - previous_micros_e;
+ while(timediff >= interval) {
+ e_steps_remaining--; timediff-=interval;
+ error_y = error_y - delta_y;
+ error_x = error_x - delta_x;
+ do_e_step();
+ if(error_y < 0) {
+ do_y_step(); y_steps_remaining--;
+ error_y = error_y + delta_e;
+ }
+ if(error_x < 0) {
+ do_x_step(); x_steps_remaining--;
+ error_x = error_x + delta_e;
+ }
+ }
+ }
}
- if(y_steps_remaining) {
+ /*if(y_steps_remaining) {
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
timediff=micros()-previous_micros_y;
while(timediff >= y_interval && y_steps_remaining) { do_y_step(); y_steps_remaining--; timediff-=y_interval;}
- }
+ }*/
if(z_steps_remaining) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;