diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 18 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 4 |
2 files changed, 14 insertions, 8 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 9d7e0ba..c1e3d17 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -65,8 +65,8 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take #ifdef RAMP_ACCELERATION 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_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second * x_steps_per_unit, max_acceleration_units_per_sq_second * y_steps_per_unit}; - unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second * x_steps_per_unit, max_travel_acceleration_units_per_sq_second * y_steps_per_unit}; + unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_acceleration_units_per_sq_second[1] * y_steps_per_unit}; + unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_travel_acceleration_units_per_sq_second[1] * y_steps_per_unit}; unsigned long steps_per_sqr_second, plateau_steps; #endif #ifdef EXP_ACCELERATION @@ -991,14 +991,20 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with interval = axis_interval[primary_axis]; //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it. + //NOTE: if later, axis dependent min speed is introduced, we probably must ensure it is respected here... or maybe not #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]; - else steps_per_sqr_second = axis_travel_steps_per_sqr_second[primary_axis]; max_speed_steps_per_second = 100000000 / interval; min_speed_steps_per_second = 100000000 / max_interval; - 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); + //Calculate slowest axis plateau time + float slowest_axis_plateau_time = 0; + for(int i=0; i < 2 ; i++) { //TODO: change to NUM_AXIS as axes get added to bresenham + if(e_steps_to_take > 0 && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, (100000000.0 / axis_interval[i] - 100000000.0 / axis_max_interval[i]) / (float) axis_steps_per_sqr_second[i]); + else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, (100000000.0 / axis_interval[i] - 100000000.0 / axis_max_interval[i]) / (float) axis_travel_steps_per_sqr_second[i]); + } + //Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated + steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / axis_max_interval[primary_axis]) / slowest_axis_plateau_time; + plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time); #endif #ifdef EXP_ACCELERATION if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis]; diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index dc6226e..004c0d8 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -25,8 +25,8 @@ //Acceleration settings #ifdef RAMP_ACCELERATION float min_units_per_second = 35.0; // the minimum feedrate -long max_acceleration_units_per_sq_second = 750; // Max acceleration in mm/s^2 for printing moves -long max_travel_acceleration_units_per_sq_second = 1500; // Max acceleration in mm/s^2 for travel moves +long max_acceleration_units_per_sq_second[] = {750,750,100,10000}; // X, Y (Z and E currently not used) max acceleration in mm/s^2 for printing moves +long max_travel_acceleration_units_per_sq_second[] = {1500,1500,100}; // X, Y (Z currently not used) max acceleration in mm/s^2 for travel moves #endif #ifdef EXP_ACCELERATION float full_velocity_units = 10; // the units between minimum and G1 move feedrate |