diff options
| -rw-r--r-- | Sprinter/Configuration.h | 6 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 44 |
2 files changed, 48 insertions, 2 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index df52a08..950387a 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -99,6 +99,12 @@ bool axis_relative_modes[] = {false, false, false, false}; // If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.) //#define STEP_DELAY_RATIO 0.25 +///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate. +//#define RAPID_OSCILLATION_REDUCTION +#ifdef RAPID_OSCILLATION_REDUCTION +long min_time_before_dir_change = 30; //milliseconds +#endif + // Comment this to disable ramp acceleration #define RAMP_ACCELERATION diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 657efed..bc8a2ac 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -91,7 +91,12 @@ float axis_diff[NUM_AXIS] = {0, 0, 0, 0}; #ifdef STEP_DELAY_RATIO long long_step_delay_ratio = STEP_DELAY_RATIO * 100; #endif - +///oscillation reduction +ifdef RAPID_OSCILLATION_REDUCTION + float cumm_wait_time_in_dir[NUM_AXIS]={0.0,0.0,0.0,0.0}; + bool prev_move_direction[NUM_AXIS]={1,1,1,1}; + float osc_wait_remainder = 0.0; +#endif // comm variables #define MAX_CMD_SIZE 96 @@ -1081,11 +1086,46 @@ void prepare_move() time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0)); } } + +#ifdef RAPID_OSCILLATION_REDUCTION //VERBOSE commenting for peer review. tested on multiple prints--works! + for(int i=0; i < NUM_AXIS-1; i++) { //do for each axis, except for extruder (refer to the -1 value) + if(prev_move_direction[i] != move_direction[i]){ //check if we've changed direcitons + osc_wait_remainder=min_time_before_dir_change; //if we changed directions, then shit the bed! We better make sure to wait & chill out time before jerkin' over in the opposite direction! + if(cumm_wait_time_in_dir[i]<min_time_before_dir_change){ //if so, check if we've sat @ the current position long enough for this axis + if((min_time_before_dir_change-cumm_wait_time_in_dir[i])>osc_wait_remainder){ //if not, dont overwrite the remaining wait time if we already have to wait LONGER for a different axis + osc_wait_remainder=min_time_before_dir_change-cumm_wait_time_in_dir[i]; + } + } + cumm_wait_time_in_dir[i] = 0.0; //we've changed directions! now that we've either set a wait period, or we had already waited long enough after a direction change, let's reset our wait variable for this axis + } + else{ //we haven't changed directions! so, lets make sure to increase our wait time for the time we have not been moving back on the same axis + if(cumm_wait_time_in_dir[i]==0.0){ + cumm_wait_time_in_dir[i] = 0.001; //if the cumm wait variable = 0.0, that means we've just completed our first move after a dir change. we really haven't waited at all. so, let's increment the wait value insignifcant value so that we may proceed, but not hit this line again. + } + else{ + //Serial.print("It is will take [ESTIMATED] this many seconds to perform this move:"); Serial.println(time_for_move/1000000); + cumm_wait_time_in_dir[i] = cumm_wait_time_in_dir[i] + time_for_move/1000; //increment the time we've waited in this axis + } + } + } + + //update prev_moves for next move. again, excluded extruder + for(int i=0; i < NUM_AXIS-1; i++) { + prev_move_direction[i]=move_direction[i]; + } + + //now WAIT if you are oscillating back & forth too fast in any given axis + if(osc_wait_remainder>0.0){ + delay(osc_wait_remainder); + osc_wait_remainder=0.0; + } +#endif + //Calculate the full speed stepper interval for each axis for(int i=0; i < NUM_AXIS; i++) { if(move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100; } - + #ifdef DEBUG_PREPARE_MOVE log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d); log_float("_PREPARE_MOVE - Move distance on the XYZ space", d); |