diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 23 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 3 |
2 files changed, 17 insertions, 9 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 659d0db..51ae3ea 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -52,6 +52,10 @@ 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; 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; +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; long x_interval, y_interval, z_interval, e_interval; // for speed delay @@ -763,6 +767,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2); steps_remaining = delta_y; steps_to_take = delta_y; + max_interval = max_y_interval; } else if (steep_x) { error_y = delta_x / 2; previous_micros_x=micros(); @@ -771,27 +776,29 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2); steps_remaining = delta_x; steps_to_take = delta_x; + max_interval = max_x_interval; } if(full_velocity_steps == 0) full_velocity_steps++; - long full_interval = interval; + long full_interval = max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps)); + if(full_interval == interval) acceleration_enabled = false; 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) { - if (steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) { + 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 = full_interval * virtual_full_velocity_steps; + interval = max_interval; } else { - interval = full_interval * virtual_full_velocity_steps / steps_done; + interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps); } - } else if (steps_remaining < full_velocity_steps) { + } else if (acceleration_enabled && steps_remaining < full_velocity_steps) { if(steps_remaining == 0) { - interval = full_interval * virtual_full_velocity_steps; + interval = max_interval; } else { - interval = full_interval * virtual_full_velocity_steps / steps_remaining; + interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps); } - } else if (steps_done - full_velocity_steps >= 1){ + } else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){ interval = full_interval; } diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index 646c476..704fdae 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -9,7 +9,8 @@ #define SDSUPPORT 1 //Acceleration settings -float full_velocity_units = 3.0; +float full_velocity_units = 10.0; // the units between minimum and G1 move feedrate +float min_units_per_second = 35.0; // the minimum feedrate // THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! const bool USE_THERMISTOR = true; //Set to false if using thermocouple |