diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 27 |
1 files changed, 18 insertions, 9 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 90c42d5..97764da 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -774,6 +774,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin previous_millis_heater = millis(); + //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm. unsigned long start_move_micros = micros(); unsigned int delta_x = x_steps_remaining; unsigned long x_interval_nanos; @@ -793,6 +794,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin unsigned long steps_remaining; unsigned long steps_to_take; + //Do some Bresenham calculations depending on which axis will lead it. if(steep_y) { error_x = delta_y / 2; previous_micros_y=micros(); @@ -819,8 +821,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin unsigned long steps_done = 0; unsigned int steps_acceleration_check = 1; - // move until no more steps remain - while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { + //move until no more steps remain + while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { + //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) { if(steps_done == 0) { interval = max_interval; @@ -828,18 +831,18 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps); } } else if (acceleration_enabled && steps_remaining < full_velocity_steps) { + //Else, if acceleration is enabled on this move and we are in the deceleration segment, calculate the current interval if(steps_remaining == 0) { interval = max_interval; } else { interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps); } } 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; } - - - - + + //If there are x or y steps remaining, perform Bresenham algorithm if(x_steps_remaining || y_steps_remaining) { if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break; if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break; @@ -873,23 +876,29 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin } } } - + + //If there are z steps remaining, check if z steps must be taken 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; 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; 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; + //If this move has X or Y steps, let E follow the Bresenham pace if (final_e_steps_remaining > 0) while(e_steps_remaining > final_e_steps_remaining) { do_e_step(); e_steps_remaining--;} else if (x_steps_to_take + y_steps_to_take > 0) while(e_steps_remaining) { do_e_step(); e_steps_remaining--;} + //Else, normally check if e steps must be taken else while (timediff >= e_interval && e_steps_remaining) { do_e_step(); e_steps_remaining--; timediff-=e_interval;} } + + //If more that half second is passed since previous heating check, manage it if( (millis() - previous_millis_heater) >= 500 ) { manage_heater(); previous_millis_heater = millis(); |