diff options
Diffstat (limited to 'Tonokip_Firmware')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 30 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 6 |
2 files changed, 28 insertions, 8 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 0000035..a9924d9 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -90,14 +90,17 @@ 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 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 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, interval; +unsigned long max_interval; unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit, y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps; -boolean acceleration_enabled,accelerating; +#endif +boolean acceleration_enabled=false ,accelerating=false; +unsigned long interval; float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0; float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0; long x_interval, y_interval, z_interval, e_interval; // for speed delay @@ -915,8 +918,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin int error_x; int error_y; int error_z; + #ifdef EXP_ACCELERATION unsigned long virtual_full_velocity_steps; unsigned long full_velocity_steps; + #endif unsigned long steps_remaining; unsigned long steps_to_take; @@ -925,43 +930,51 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin error_x = delta_y / 2; previous_micros_y=micros()*100; interval = y_interval; + #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_y - y_min_constant_speed_steps) / 2); - steps_remaining = delta_y; - steps_to_take = delta_y; max_interval = max_y_interval; min_constant_speed_steps = y_min_constant_speed_steps; + #endif + steps_remaining = delta_y; + steps_to_take = delta_y; } else if (steep_x) { error_y = delta_x / 2; previous_micros_x=micros()*100; interval = x_interval; + #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_x - x_min_constant_speed_steps) / 2); - steps_remaining = delta_x; - steps_to_take = delta_x; max_interval = max_x_interval; min_constant_speed_steps = x_min_constant_speed_steps; + #endif + 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 EXP_ACCELERATION acceleration_enabled = true; if(full_velocity_steps == 0) full_velocity_steps++; - long full_interval = interval;//max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_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 long steps_done = 0; unsigned int steps_acceleration_check = 1; accelerating = acceleration_enabled; + #endif + //move until no more steps remain while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { + #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)) { if(steps_done == 0) { @@ -982,6 +995,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin interval = full_interval; accelerating = false; } + #endif //If there are x or y steps remaining, perform Bresenham algorithm if(x_steps_remaining || y_steps_remaining) { diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index e4f6773..e176ea4 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -16,13 +16,19 @@ //If you enable this, make sure STEP_DELAY_MICROS is disabled. //#define STEP_DELAY_RATIO 0.25 + +//Comment this to disable exponential acceleration +#define EXP_ACCELERATION 1 + //Acceleration settings +#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!!!! |