diff options
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 40 |
1 files changed, 30 insertions, 10 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index a0d48b4..3014d4b 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -51,6 +51,7 @@ 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; 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 @@ -744,38 +745,53 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin int error_x; int error_y; int error_z; - long full_velocity_units = 30; + unsigned long virtual_full_velocity_steps; unsigned long full_velocity_steps; + unsigned long steps_remaining; + unsigned long steps_to_take; if(steep_y) { error_x = delta_y / 2; previous_micros_y=micros(); interval = y_interval; - full_velocity_steps = full_velocity_units * y_steps_per_unit /100; - if (full_velocity_steps > y_steps_remaining) full_velocity_steps = y_steps_remaining; + virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100; + full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2); + steps_remaining = delta_y; + steps_to_take = delta_y; } else if (steep_x) { error_y = delta_x / 2; previous_micros_x=micros(); interval = x_interval; - full_velocity_steps = full_velocity_units * x_steps_per_unit /100; - if (full_velocity_steps > x_steps_remaining) full_velocity_steps = x_steps_remaining; + virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100; + full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2); + steps_remaining = delta_x; + steps_to_take = delta_x; } + if(full_velocity_steps == 0) full_velocity_steps++; long full_interval = interval; unsigned long steps_done = 0; - unsigned int steps_acceleration_check = 100; + 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(steps_done == 0) { - interval = full_interval * steps_acceleration_check / full_velocity_steps; + interval = full_interval * virtual_full_velocity_steps; } else { - interval = full_interval * steps_done / full_velocity_steps; + interval = full_interval * virtual_full_velocity_steps / steps_done; } - } else if (steps_done - full_velocity_steps >= 1) { + } else if (steps_remaining < full_velocity_steps) { + if(steps_remaining == 0) { + interval = full_interval * virtual_full_velocity_steps; + } else { + interval = full_interval * virtual_full_velocity_steps / steps_remaining; + } + } else if (steps_done - full_velocity_steps >= 1){ interval = full_interval; } - steps_done++; + + + if(x_steps_remaining || y_steps_remaining) { if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0; @@ -785,6 +801,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin if(steep_y) { timediff = micros() - previous_micros_y; while(timediff >= interval && y_steps_remaining>0) { + steps_done++; + steps_remaining--; y_steps_remaining--; timediff-=interval; error_x = error_x - delta_x; do_y_step(); @@ -796,6 +814,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin } else if (steep_x) { timediff=micros() - previous_micros_x; while(timediff >= interval && x_steps_remaining>0) { + steps_done++; + steps_remaining--; x_steps_remaining--; timediff-=interval; error_y = error_y - delta_y; do_x_step(); |