diff options
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 106 |
1 files changed, 3 insertions, 103 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index a8bcab1..f5941c7 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -671,108 +671,40 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin 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 - { - /*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; - }*/ - + // 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(steps_done == 0) { interval = full_interval * steps_acceleration_check / full_velocity_steps; @@ -794,58 +726,26 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin 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_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; if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0; |