diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 36 |
1 files changed, 14 insertions, 22 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 902c0e0..9d7e0ba 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -70,9 +70,11 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take 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; - unsigned long axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), 100000000.0 / (min_units_per_second * y_steps_per_unit)}; + unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * x_steps_per_unit, full_velocity_units * y_steps_per_unit}; + unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * x_steps_per_unit, + travel_move_full_velocity_units * y_steps_per_unit}; + unsigned long axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), + 100000000.0 / (min_units_per_second * y_steps_per_unit)}; unsigned long max_interval; unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * x_steps_per_unit, min_constant_speed_units * y_steps_per_unit}; unsigned long min_constant_speed_steps; @@ -988,6 +990,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2; interval = axis_interval[primary_axis]; + //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it. #ifdef RAMP_ACCELERATION max_interval = axis_max_interval[primary_axis]; if(e_steps_to_take > 0) steps_per_sqr_second = axis_steps_per_sqr_second[primary_axis]; @@ -997,25 +1000,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with 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 - - //Do some Bresenham calculations depending on which axis will lead it. - if(steep_y) { - #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; - full_velocity_steps = min(virtual_full_velocity_steps, (delta[1] - axis_min_constant_speed_steps[1]) / 2); - max_interval = axis_max_interval[1]; - min_constant_speed_steps = axis_min_constant_speed_steps[1]; - #endif - } else if (steep_x) { - #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; - full_velocity_steps = min(virtual_full_velocity_steps, (delta[0] - axis_min_constant_speed_steps[0]) / 2); - max_interval = axis_max_interval[0]; - min_constant_speed_steps = axis_min_constant_speed_steps[0]; - #endif - } + #ifdef EXP_ACCELERATION + if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis]; + else virtual_full_velocity_steps = axis_travel_virtual_full_velocity_steps[primary_axis]; + full_velocity_steps = min(virtual_full_velocity_steps, (delta[primary_axis] - axis_min_constant_speed_steps[primary_axis]) / 2); + max_interval = axis_max_interval[primary_axis]; + min_constant_speed_steps = axis_min_constant_speed_steps[primary_axis]; + #endif + unsigned long steps_done = 0; #ifdef RAMP_ACCELERATION plateau_steps *= 1.01; // This is to compensate we use discrete intervals |