diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 56 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 13 |
2 files changed, 0 insertions, 69 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 535716e..933b6d2 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -78,16 +78,6 @@ unsigned long move_steps_to_take[NUM_AXIS]; max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; unsigned long steps_per_sqr_second, plateau_steps; #endif -#ifdef EXP_ACCELERATION - unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * axis_steps_per_unit[0], full_velocity_units * axis_steps_per_unit[1]}; - unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * axis_steps_per_unit[0], - travel_move_full_velocity_units * axis_steps_per_unit[1]}; - unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]), - 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1])}; - unsigned long max_interval; - unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * axis_steps_per_unit[0], min_constant_speed_units * axis_steps_per_unit[1]}; - unsigned long min_constant_speed_steps; -#endif boolean acceleration_enabled = false, accelerating = false; unsigned long interval; float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0}; @@ -1011,15 +1001,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS); #endif #endif - #ifdef EXP_ACCELERATION - unsigned long virtual_full_velocity_steps; - unsigned long full_velocity_steps; - if(move_steps_to_take[3] > 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 @@ -1029,20 +1010,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with if(interval > max_interval) acceleration_enabled = false; boolean decelerating = false; #endif - #ifdef EXP_ACCELERATION - acceleration_enabled = true; - if(full_velocity_steps == 0) full_velocity_steps++; - if(interval > max_interval) acceleration_enabled = false; - unsigned long full_interval = interval; - if(min_constant_speed_steps >= steps_to_take) { - acceleration_enabled = false; - full_interval = max(max_interval, interval); // choose the min speed between feedrate and acceleration start speed - } - if(full_velocity_steps < virtual_full_velocity_steps && acceleration_enabled) full_interval = max(interval, - max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps)); // choose the min speed between feedrate and speed at full steps - unsigned int steps_acceleration_check = 1; - accelerating = acceleration_enabled; - #endif unsigned long start_move_micros = micros(); for(int i = 0; i < NUM_AXIS; i++) { @@ -1108,29 +1075,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with accelerating = false; } #endif - #ifdef EXP_ACCELERATION - //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval - // TODO: is this any useful? -> steps_done % steps_acceleration_check == 0 - if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) { - if(steps_done == 0) { - interval = max_interval; - } else { - interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps); - } - } else if (acceleration_enabled && steps_remaining < full_velocity_steps) { - //Else, if acceleration is enabled on this move and we are in the deceleration segment, calculate the current interval - if(steps_remaining == 0) { - interval = max_interval; - } else { - interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps); - } - accelerating = true; - } else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){ - //Else, we are just use the full speed interval as current interval - interval = full_interval; - accelerating = false; - } - #endif //If there are x or y steps remaining, perform Bresenham algorithm if(axis_steps_remaining[primary_axis]) { diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index 7710f82..5370977 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -19,11 +19,6 @@ //Comment this to disable ramp acceleration #define RAMP_ACCELERATION 1 -//Uncomment this to enable exponential acceleration. WARNING!! This is not supported in the current version, and will be fixed before -// merging it to the stable branch. -// TODO: fix exp acceleration to correctly perform N bresenham. -//#define EXP_ACCELERATION 1 - //Acceleration settings #ifdef RAMP_ACCELERATION //X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. @@ -31,14 +26,6 @@ float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z 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 -float travel_move_full_velocity_units = 10; // used for travel moves -float min_units_per_second = 35.0; // the minimum feedrate -float min_constant_speed_units = 2; // the minimum units of an accelerated move that must be done at constant speed - // Note that if the move is shorter than this value, acceleration won't be perfomed, - // but will be done at the minimum between min_units_per_seconds and move feedrate speeds. -#endif // AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! |