diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 92 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 11 |
2 files changed, 96 insertions, 7 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index f7874aa..62b2d34 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -90,6 +90,16 @@ void kill(byte debug); bool direction_x, direction_y, direction_z, direction_e; unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater; unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take; +#ifdef RAMP_ACCELERATION +unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); +unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); +unsigned long max_interval; +unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit; +unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit; +unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit; +unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit; +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; @@ -908,7 +918,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin previous_millis_heater = millis(); //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm. - unsigned long start_move_micros = micros(); unsigned int delta_x = x_steps_remaining; unsigned long x_interval_nanos; unsigned int delta_y = y_steps_remaining; @@ -921,6 +930,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin int error_x; int error_y; int error_z; + #ifdef RAMP_ACCELERATION + long max_speed_steps_per_second; + long min_speed_steps_per_second; + #endif #ifdef EXP_ACCELERATION unsigned long virtual_full_velocity_steps; unsigned long full_velocity_steps; @@ -931,8 +944,16 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin //Do some Bresenham calculations depending on which axis will lead it. if(steep_y) { error_x = delta_y / 2; - previous_micros_y=micros()*100; interval = y_interval; + #ifdef RAMP_ACCELERATION + max_interval = max_y_interval; + if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second; + else steps_per_sqr_second = y_travel_steps_per_sqr_second; + 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); + #endif #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; @@ -944,8 +965,16 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin steps_to_take = delta_y; } else if (steep_x) { error_y = delta_x / 2; - previous_micros_x=micros()*100; interval = x_interval; + #ifdef RAMP_ACCELERATION + max_interval = max_x_interval; + if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second; + else steps_per_sqr_second = x_travel_steps_per_sqr_second; + 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); + #endif #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; @@ -956,9 +985,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin steps_remaining = delta_x; steps_to_take = delta_x; } - previous_micros_z=micros()*100; - previous_micros_e=micros()*100; unsigned long steps_done = 0; + #ifdef RAMP_ACCELERATION + plateau_steps *= 1.01; // This is to compensate we use discrete intervals + acceleration_enabled = true; + long full_interval = interval; + 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++; @@ -974,9 +1008,48 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin accelerating = acceleration_enabled; #endif + unsigned long start_move_micros = micros(); + previous_micros_x=start_move_micros*100; + previous_micros_y=previous_micros_x; + previous_micros_z=previous_micros_x; + previous_micros_e=previous_micros_x; //move until no more steps remain while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { + #ifdef RAMP_ACCELERATION + //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval + if (acceleration_enabled && steps_done == 0) { + interval = max_interval; + } else if (acceleration_enabled && steps_done <= plateau_steps) { + long current_speed = (long) ((((long) steps_per_sqr_second) / 10000) + * ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second); + interval = 100000000 / current_speed; + if (interval < full_interval) { + accelerating = false; + interval = full_interval; + } + if (steps_done >= steps_to_take / 2) { + plateau_steps = steps_done; + max_speed_steps_per_second = 100000000 / interval; + accelerating = false; + } + } else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) { + if (!accelerating) { + start_move_micros = micros(); + accelerating = true; + decelerating = true; + } + long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000) + * (((micros() - start_move_micros) + interval) / 10000))); + interval = 100000000 / current_speed; + if (interval > max_interval) + interval = max_interval; + } else { + //Else, we are just use the full speed interval as current interval + interval = full_interval; + accelerating = false; + } + #endif #ifdef EXP_ACCELERATION //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) { @@ -1018,6 +1091,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin do_x_step(); x_steps_remaining--; error_x = error_x + delta_y; } + #ifdef RAMP_ACCELERATION + if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break; + #endif #ifdef STEP_DELAY_RATIO if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000); #endif @@ -1037,6 +1113,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin do_y_step(); y_steps_remaining--; error_y = error_y + delta_x; } + #ifdef RAMP_ACCELERATION + if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break; + #endif #ifdef STEP_DELAY_RATIO if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000); #endif @@ -1046,6 +1125,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin } } } + #ifdef RAMP_ACCELERATION + if (steps_to_take>0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue; + #endif //If there are z steps remaining, check if z steps must be taken if(z_steps_remaining) { diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index 1d3a1c8..2733a72 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -16,11 +16,18 @@ //If you enable this, make sure STEP_DELAY_MICROS is disabled. //#define STEP_DELAY_RATIO 0.25 +//Comment this to disable ramp acceleration +#define RAMP_ACCELERATION 1 -//Comment this to disable exponential acceleration -#define EXP_ACCELERATION 1 +//Uncomment this to enable exponential acceleration +//#define EXP_ACCELERATION 1 //Acceleration settings +#ifdef RAMP_ACCELERATION +float min_units_per_second = 35.0; // the minimum feedrate +long max_acceleration_units_per_sq_second = 750; +long max_travel_acceleration_units_per_sq_second = 1500; +#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 |