diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 223 |
1 files changed, 146 insertions, 77 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 4dcd2aa..24557a2 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -264,15 +264,11 @@ void setup() initsd(); #endif - - } void loop() { - - if(buflen<3) get_command(); @@ -453,78 +449,7 @@ inline void process_commands() case 0: // G0 -> G1 case 1: // G1 get_coordinates(); // For X Y Z E F - xdiff=(destination_x - current_x); - ydiff=(destination_y - current_y); - zdiff=(destination_z - current_z); - ediff=(destination_e - current_e); - x_steps_to_take = abs(xdiff)*x_steps_per_unit; - y_steps_to_take = abs(ydiff)*y_steps_per_unit; - z_steps_to_take = abs(zdiff)*z_steps_per_unit; - e_steps_to_take = abs(ediff)*e_steps_per_unit; - if(feedrate<10) - feedrate=10; - /* - //experimental feedrate calc - if(abs(xdiff)>0.1 && abs(ydiff)>0.1) - d=sqrt(xdiff*xdiff+ydiff*ydiff); - else if(abs(xdiff)>0.1) - d=abs(xdiff); - else if(abs(ydiff)>0.1) - d=abs(ydiff); - else if(abs(zdiff)>0.05) - d=abs(zdiff); - else if(abs(ediff)>0.1) - d=abs(ediff); - else d=1; //extremely slow move, should be okay for moves under 0.1mm - time_for_move=(xdiff/(feedrate/60000000)); - //time=60000000*dist/feedrate - //int feedz=(60000000*zdiff)/time_for_move; - //if(feedz>maxfeed) - */ - #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000)) - #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000)) - #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000)) - #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000)) - - time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE); - 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*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 - if(0) { - Serial.print("destination_x: "); Serial.println(destination_x); - Serial.print("current_x: "); Serial.println(current_x); - Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take); - Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE); - Serial.print("x_interval: "); Serial.println(x_interval); - Serial.println(""); - Serial.print("destination_y: "); Serial.println(destination_y); - Serial.print("current_y: "); Serial.println(current_y); - Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take); - Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE); - Serial.print("y_interval: "); Serial.println(y_interval); - Serial.println(""); - Serial.print("destination_z: "); Serial.println(destination_z); - Serial.print("current_z: "); Serial.println(current_z); - Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take); - Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE); - Serial.print("z_interval: "); Serial.println(z_interval); - Serial.println(""); - Serial.print("destination_e: "); Serial.println(destination_e); - Serial.print("current_e: "); Serial.println(current_e); - Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take); - Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE); - Serial.print("e_interval: "); Serial.println(e_interval); - Serial.println(""); - } - #endif - linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move + prepare_move(); previous_millis_cmd = millis(); //ClearToSend(); return; @@ -536,6 +461,73 @@ inline void process_commands() previous_millis_heater = millis(); // keep track of when we started waiting while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up break; + case 28: //G28 Home all Axis one at a time + destination_x = 0; + current_x = 0; + destination_y = 0; + current_y = 0; + destination_z = 0; + current_z = 0; + destination_e = 0; + current_e = 0; + feedrate = 0; + + if(X_MIN_PIN > -1) { + current_x = 0; + destination_x = -250; + feedrate = min_units_per_second*60; + prepare_move(); + + current_x = 0; + destination_x = 1; + prepare_move(); + + destination_x = -10; + prepare_move(); + + current_x = 0; + destination_x = 0; + feedrate = 0; + } + + if(Y_MIN_PIN > -1) { + current_y = 0; + destination_y = -250; + feedrate = min_units_per_second*60; + prepare_move(); + + current_y = 0; + destination_y = 1; + prepare_move(); + + destination_y = -10; + prepare_move(); + + current_y = 0; + destination_y = 0; + feedrate = 0; + } + + if(Z_MIN_PIN > -1) { + current_z = 0; + destination_z = -250; + feedrate = max_z_feedrate/2; + prepare_move(); + + current_z = 0; + destination_z = 1; + prepare_move(); + + destination_z = -10; + prepare_move(); + + current_z = 0; + destination_z = 0; + feedrate = 0; + } + + previous_millis_cmd = millis(); + break; case 90: // G90 relative_mode = false; break; @@ -836,7 +828,10 @@ inline void get_coordinates() next_feedrate = code_value(); if(next_feedrate > 0.0) feedrate = next_feedrate; } - +} + +void prepare_move() +{ //Find direction if(destination_x >= current_x) direction_x=1; else direction_x=0; @@ -864,6 +859,80 @@ inline void get_coordinates() if(feedrate > max_z_feedrate) z_feedrate = max_z_feedrate; else z_feedrate=feedrate; + + xdiff=(destination_x - current_x); + ydiff=(destination_y - current_y); + zdiff=(destination_z - current_z); + ediff=(destination_e - current_e); + x_steps_to_take = abs(xdiff)*x_steps_per_unit; + y_steps_to_take = abs(ydiff)*y_steps_per_unit; + z_steps_to_take = abs(zdiff)*z_steps_per_unit; + e_steps_to_take = abs(ediff)*e_steps_per_unit; + if(feedrate<10) + feedrate=10; + /* + //experimental feedrate calc + if(abs(xdiff)>0.1 && abs(ydiff)>0.1) + d=sqrt(xdiff*xdiff+ydiff*ydiff); + else if(abs(xdiff)>0.1) + d=abs(xdiff); + else if(abs(ydiff)>0.1) + d=abs(ydiff); + else if(abs(zdiff)>0.05) + d=abs(zdiff); + else if(abs(ediff)>0.1) + d=abs(ediff); + else d=1; //extremely slow move, should be okay for moves under 0.1mm + time_for_move=(xdiff/(feedrate/60000000)); + //time=60000000*dist/feedrate + //int feedz=(60000000*zdiff)/time_for_move; + //if(feedz>maxfeed) + */ + #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000)) + #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000)) + #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000)) + #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000)) + + time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE); + 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*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 + if(0) { + Serial.print("destination_x: "); Serial.println(destination_x); + Serial.print("current_x: "); Serial.println(current_x); + Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take); + Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE); + Serial.print("x_interval: "); Serial.println(x_interval); + Serial.println(""); + Serial.print("destination_y: "); Serial.println(destination_y); + Serial.print("current_y: "); Serial.println(current_y); + Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take); + Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE); + Serial.print("y_interval: "); Serial.println(y_interval); + Serial.println(""); + Serial.print("destination_z: "); Serial.println(destination_z); + Serial.print("current_z: "); Serial.println(current_z); + Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take); + Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE); + Serial.print("z_interval: "); Serial.println(z_interval); + Serial.println(""); + Serial.print("destination_e: "); Serial.println(destination_e); + Serial.print("current_e: "); Serial.println(current_e); + Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take); + Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE); + Serial.print("e_interval: "); Serial.println(e_interval); + Serial.println(""); + } + #endif + + linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move } void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1 |