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-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde92
-rw-r--r--Tonokip_Firmware/configuration.h11
2 files changed, 96 insertions, 7 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index f7874aa..62b2d34 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -90,6 +90,16 @@ void kill(byte debug);
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;
+#ifdef RAMP_ACCELERATION
+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;
+unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
+unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
+unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
+unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
+unsigned long steps_per_sqr_second, plateau_steps;
+#endif
#ifdef EXP_ACCELERATION
unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
@@ -908,7 +918,6 @@ 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;
unsigned int delta_y = y_steps_remaining;
@@ -921,6 +930,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
int error_x;
int error_y;
int error_z;
+ #ifdef RAMP_ACCELERATION
+ long max_speed_steps_per_second;
+ long min_speed_steps_per_second;
+ #endif
#ifdef EXP_ACCELERATION
unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps;
@@ -931,8 +944,16 @@ 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()*100;
interval = y_interval;
+ #ifdef RAMP_ACCELERATION
+ max_interval = max_y_interval;
+ if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
+ else steps_per_sqr_second = y_travel_steps_per_sqr_second;
+ max_speed_steps_per_second = 100000000 / interval;
+ min_speed_steps_per_second = 100000000 / max_interval;
+ float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
+ plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
+ #endif
#ifdef EXP_ACCELERATION
if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
else virtual_full_velocity_steps = long_travel_move_full_velocity_units * y_steps_per_unit /100;
@@ -944,8 +965,16 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_to_take = delta_y;
} else if (steep_x) {
error_y = delta_x / 2;
- previous_micros_x=micros()*100;
interval = x_interval;
+ #ifdef RAMP_ACCELERATION
+ max_interval = max_x_interval;
+ if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
+ else steps_per_sqr_second = x_travel_steps_per_sqr_second;
+ max_speed_steps_per_second = 100000000 / interval;
+ min_speed_steps_per_second = 100000000 / max_interval;
+ float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
+ plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
+ #endif
#ifdef EXP_ACCELERATION
if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100;
else virtual_full_velocity_steps = long_travel_move_full_velocity_units * x_steps_per_unit /100;
@@ -956,9 +985,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_remaining = delta_x;
steps_to_take = delta_x;
}
- previous_micros_z=micros()*100;
- previous_micros_e=micros()*100;
unsigned long steps_done = 0;
+ #ifdef RAMP_ACCELERATION
+ plateau_steps *= 1.01; // This is to compensate we use discrete intervals
+ acceleration_enabled = true;
+ long full_interval = interval;
+ if(interval > max_interval) acceleration_enabled = false;
+ boolean decelerating = false;
+ #endif
#ifdef EXP_ACCELERATION
acceleration_enabled = true;
if(full_velocity_steps == 0) full_velocity_steps++;
@@ -974,9 +1008,48 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
accelerating = acceleration_enabled;
#endif
+ unsigned long start_move_micros = micros();
+ previous_micros_x=start_move_micros*100;
+ previous_micros_y=previous_micros_x;
+ previous_micros_z=previous_micros_x;
+ previous_micros_e=previous_micros_x;
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
+ #ifdef RAMP_ACCELERATION
+ //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
+ if (acceleration_enabled && steps_done == 0) {
+ interval = max_interval;
+ } else if (acceleration_enabled && steps_done <= plateau_steps) {
+ long current_speed = (long) ((((long) steps_per_sqr_second) / 10000)
+ * ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second);
+ interval = 100000000 / current_speed;
+ if (interval < full_interval) {
+ accelerating = false;
+ interval = full_interval;
+ }
+ if (steps_done >= steps_to_take / 2) {
+ plateau_steps = steps_done;
+ max_speed_steps_per_second = 100000000 / interval;
+ accelerating = false;
+ }
+ } else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) {
+ if (!accelerating) {
+ start_move_micros = micros();
+ accelerating = true;
+ decelerating = true;
+ }
+ long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000)
+ * (((micros() - start_move_micros) + interval) / 10000)));
+ interval = 100000000 / current_speed;
+ if (interval > max_interval)
+ interval = max_interval;
+ } else {
+ //Else, we are just use the full speed interval as current interval
+ interval = full_interval;
+ accelerating = false;
+ }
+ #endif
#ifdef EXP_ACCELERATION
//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)) {
@@ -1018,6 +1091,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
do_x_step(); x_steps_remaining--;
error_x = error_x + delta_y;
}
+ #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
@@ -1037,6 +1113,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
do_y_step(); y_steps_remaining--;
error_y = error_y + delta_x;
}
+ #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
@@ -1046,6 +1125,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
}
+ #ifdef RAMP_ACCELERATION
+ if (steps_to_take>0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue;
+ #endif
//If there are z steps remaining, check if z steps must be taken
if(z_steps_remaining) {
diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h
index 1d3a1c8..2733a72 100644
--- a/Tonokip_Firmware/configuration.h
+++ b/Tonokip_Firmware/configuration.h
@@ -16,11 +16,18 @@
//If you enable this, make sure STEP_DELAY_MICROS is disabled.
//#define STEP_DELAY_RATIO 0.25
+//Comment this to disable ramp acceleration
+#define RAMP_ACCELERATION 1
-//Comment this to disable exponential acceleration
-#define EXP_ACCELERATION 1
+//Uncomment this to enable exponential acceleration
+//#define EXP_ACCELERATION 1
//Acceleration settings
+#ifdef RAMP_ACCELERATION
+float min_units_per_second = 35.0; // the minimum feedrate
+long max_acceleration_units_per_sq_second = 750;
+long max_travel_acceleration_units_per_sq_second = 1500;
+#endif
#ifdef EXP_ACCELERATION
float full_velocity_units = 10; // the units between minimum and G1 move feedrate
float travel_move_full_velocity_units = 10; // used for travel moves