diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 37 |
1 files changed, 19 insertions, 18 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 7b3b734..902310c 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -52,9 +52,9 @@ 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 max_x_interval = 1000000.0 / (min_units_per_second * x_steps_per_unit); -unsigned long max_y_interval = 1000000.0 / (min_units_per_second * y_steps_per_unit); -unsigned long max_interval; +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; 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; @@ -436,10 +436,10 @@ inline void process_commands() time_for_move = max(time_for_move,Z_TIME_FOR_MOVE); if(time_for_move <= 0) time_for_move = max(time_for_move,E_TIME_FOR_MOVE); - if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take; - if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take; - if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take; - if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take; + if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take*100; + if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take*100; + if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take*100; + if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take*100; //#define DEBUGGING false #if 0 @@ -782,7 +782,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin unsigned long y_interval_nanos; unsigned int delta_z = z_steps_remaining; unsigned long z_interval_nanos; - long 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; @@ -797,7 +796,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin //Do some Bresenham calculations depending on which axis will lead it. if(steep_y) { error_x = delta_y / 2; - previous_micros_y=micros(); + 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); @@ -806,7 +805,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin max_interval = max_y_interval; } else if (steep_x) { error_y = delta_x / 2; - previous_micros_x=micros(); + 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); @@ -814,6 +813,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin steps_to_take = delta_x; max_interval = max_x_interval; } + previous_micros_z=micros()*100; + previous_micros_e=micros()*100; acceleration_enabled = true; 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)); @@ -849,7 +850,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin 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() - previous_micros_y; + timediff = micros() * 100 - previous_micros_y; while(timediff >= interval && y_steps_remaining>0) { steps_done++; steps_remaining--; @@ -862,7 +863,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin } } } else if (steep_x) { - timediff=micros() - previous_micros_x; + timediff=micros() * 100 - previous_micros_x; while(timediff >= interval && x_steps_remaining>0) { steps_done++; steps_remaining--; @@ -881,13 +882,13 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin if(z_steps_remaining) { if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; - timediff=micros()-previous_micros_z; + timediff=micros() * 100-previous_micros_z; while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; timediff-=z_interval;} } //If there are e steps remaining, check if e steps must be taken if(e_steps_remaining){ - if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros()-previous_micros_e; + if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros() * 100-previous_micros_e; unsigned int final_e_steps_remaining = 0; if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take; else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take; @@ -927,7 +928,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin inline void do_x_step() { digitalWrite(X_STEP_PIN, HIGH); - previous_micros_x = micros(); + previous_micros_x += interval; //delayMicroseconds(3); digitalWrite(X_STEP_PIN, LOW); } @@ -935,7 +936,7 @@ inline void do_x_step() inline void do_y_step() { digitalWrite(Y_STEP_PIN, HIGH); - previous_micros_y = micros(); + previous_micros_y += interval; //delayMicroseconds(3); digitalWrite(Y_STEP_PIN, LOW); } @@ -943,7 +944,7 @@ inline void do_y_step() inline void do_z_step() { digitalWrite(Z_STEP_PIN, HIGH); - previous_micros_z = micros(); + previous_micros_z += z_interval; //delayMicroseconds(3); digitalWrite(Z_STEP_PIN, LOW); } @@ -951,7 +952,7 @@ inline void do_z_step() inline void do_e_step() { digitalWrite(E_STEP_PIN, HIGH); - previous_micros_e = micros(); + previous_micros_e += e_interval; //delayMicroseconds(3); digitalWrite(E_STEP_PIN, LOW); } |