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Diffstat (limited to 'Tonokip_Firmware')
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde37
1 files changed, 19 insertions, 18 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 97764da..97e42a4 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -52,9 +52,9 @@ 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;
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;
+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, 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;
@@ -436,10 +436,10 @@ inline void process_commands()
time_for_move = max(time_for_move,Z_TIME_FOR_MOVE);
if(time_for_move <= 0) time_for_move = max(time_for_move,E_TIME_FOR_MOVE);
- if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take;
- if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take;
- if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take;
- if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take;
+ if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take*100;
+ if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take*100;
+ if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take*100;
+ if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take*100;
//#define DEBUGGING false
#if 0
@@ -782,7 +782,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
unsigned long y_interval_nanos;
unsigned int delta_z = z_steps_remaining;
unsigned long z_interval_nanos;
- long 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;
@@ -797,7 +796,7 @@ 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();
+ previous_micros_y=micros()*100;
interval = y_interval;
virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
@@ -806,7 +805,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
max_interval = max_y_interval;
} else if (steep_x) {
error_y = delta_x / 2;
- previous_micros_x=micros();
+ previous_micros_x=micros()*100;
interval = x_interval;
virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100;
full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
@@ -814,6 +813,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_to_take = delta_x;
max_interval = max_x_interval;
}
+ previous_micros_z=micros()*100;
+ previous_micros_e=micros()*100;
acceleration_enabled = true;
if(full_velocity_steps == 0) full_velocity_steps++;
long full_interval = interval;//max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
@@ -849,7 +850,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
- timediff = micros() - previous_micros_y;
+ timediff = micros() * 100 - previous_micros_y;
while(timediff >= interval && y_steps_remaining>0) {
steps_done++;
steps_remaining--;
@@ -862,7 +863,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
} else if (steep_x) {
- timediff=micros() - previous_micros_x;
+ timediff=micros() * 100 - previous_micros_x;
while(timediff >= interval && x_steps_remaining>0) {
steps_done++;
steps_remaining--;
@@ -881,13 +882,13 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
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;
+ timediff=micros() * 100-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;
+ if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros() * 100-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;
@@ -927,7 +928,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
inline void do_x_step()
{
digitalWrite(X_STEP_PIN, HIGH);
- previous_micros_x = micros();
+ previous_micros_x += interval;
//delayMicroseconds(3);
digitalWrite(X_STEP_PIN, LOW);
}
@@ -935,7 +936,7 @@ inline void do_x_step()
inline void do_y_step()
{
digitalWrite(Y_STEP_PIN, HIGH);
- previous_micros_y = micros();
+ previous_micros_y += interval;
//delayMicroseconds(3);
digitalWrite(Y_STEP_PIN, LOW);
}
@@ -943,7 +944,7 @@ inline void do_y_step()
inline void do_z_step()
{
digitalWrite(Z_STEP_PIN, HIGH);
- previous_micros_z = micros();
+ previous_micros_z += z_interval;
//delayMicroseconds(3);
digitalWrite(Z_STEP_PIN, LOW);
}
@@ -951,7 +952,7 @@ inline void do_z_step()
inline void do_e_step()
{
digitalWrite(E_STEP_PIN, HIGH);
- previous_micros_e = micros();
+ previous_micros_e += e_interval;
//delayMicroseconds(3);
digitalWrite(E_STEP_PIN, LOW);
}