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Z now has its own max acceleration, and it is now fully integrated into Bresenham

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This commit is contained in:
Emanuele Caruso 2011-05-19 21:52:30 +02:00
parent 05274fd218
commit 0cf824857b
2 changed files with 31 additions and 37 deletions
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54
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -66,10 +66,12 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take
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]),
100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]),
100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function
100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup()
unsigned long max_interval;
unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1]};
unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1]};
unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2]};
unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2]};
unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
@ -822,10 +824,12 @@ inline void process_commands()
case 201: // M201
if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0];
if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1];
if(code_seen('Z')) axis_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2];
break;
case 202: // M202
if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0];
if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1];
if(code_seen('Z')) axis_travel_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2];
break;
#endif
}
@ -1011,18 +1015,19 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
// but will reduce code size
if(axis_steps_remaining[0]) enable_x();
if(axis_steps_remaining[1]) enable_y();
if(axis_steps_remaining[2]) { enable_z(); do_step(2); axis_steps_remaining[2]--; }
if(axis_steps_remaining[2]) enable_z();
if(axis_steps_remaining[3]) { enable_e(); do_step(3); axis_steps_remaining[3]--; }
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned int delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
boolean steep_y = delta[1] > delta[0];// && delta[1] > delta[3] && delta[1] > delta[2];
boolean steep_x = delta[0] >= delta[1];// && delta[0] > delta[3] && delta[0] > delta[2];
//boolean steep_z = delta[2] > delta[0] && delta[2] > delta[1] && delta[2] > delta[3];
boolean steep_y = delta[1] > delta[0] && delta[1] > delta[2];// && delta[1] > delta[3];
boolean steep_x = delta[0] >= delta[1] && delta[0] > delta[2];// && delta[0] > delta[3]];
boolean steep_z = delta[2] >= delta[0] && delta[2] >= delta[1]; // && delta[2] > delta[3];
int axis_error[NUM_AXIS];
unsigned int primary_axis;
if(steep_x) primary_axis = 0;
else primary_axis = 1;
else if (steep_y) primary_axis = 1;
else primary_axis = 2;
#ifdef RAMP_ACCELERATION
long max_speed_steps_per_second;
long min_speed_steps_per_second;
@ -1064,7 +1069,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//Serial.print("Max interval :"); Serial.println(max_interval); //TODO: delete this println when finished
//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
for(int i=0; i < 3 ; i++) { //TODO: change to NUM_AXIS as axes get added to bresenham
if(axis_steps_remaining[i] > 0) {
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 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]);
@ -1153,6 +1158,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#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;
@ -1175,18 +1181,20 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#endif
//If there are x or y steps remaining, perform Bresenham algorithm
if(axis_steps_remaining[0] || axis_steps_remaining[1]) {
if(axis_steps_remaining[0] || axis_steps_remaining[1] || axis_steps_remaining[2]) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff = micros() * 100 - axis_previous_micros[primary_axis];
while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[primary_axis]--; timediff -= interval;
do_step(primary_axis);
for(int i=0; i < 2; i++) if(i != primary_axis) {//TODO change "2" to NUM_AXIS when other axes gets added to bresenham
for(int i=0; i < 3; i++) if(i != primary_axis) {//TODO change "3" to NUM_AXIS when other axes gets added to bresenham
axis_error[i] = axis_error[i] - delta[i];
if(axis_error[i] < 0) {
do_step(i); axis_steps_remaining[i]--;
@ -1194,6 +1202,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
}
}
#ifdef RAMP_ACCELERATION
//TODO: may this check be dangerous? -> steps_remaining == plateau_steps
if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
#endif
#ifdef STEP_DELAY_RATIO
@ -1210,33 +1219,16 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
(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(axis_steps_remaining[2]) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff = micros() * 100-axis_previous_micros[2];
while(timediff >= axis_interval[2] && axis_steps_remaining[2]) {
do_step(2);
axis_steps_remaining[2]--;
timediff -= axis_interval[2];
#ifdef STEP_DELAY_RATIO
if(timediff >= axis_interval[2]) delayMicroseconds(long_step_delay_ratio * axis_interval[2] / 10000);
#endif
#ifdef STEP_DELAY_MICROS
if(timediff >= axis_interval[2]) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
}
//If there are e steps remaining, check if e steps must be taken
if(axis_steps_remaining[3]){
if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros()*100 - axis_previous_micros[3];
if (x_steps_to_take + y_steps_to_take + z_steps_to_take<= 0) timediff = micros()*100 - axis_previous_micros[3];
unsigned int final_e_steps_remaining = 0;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[0] / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[1] / y_steps_to_take;
else if (steep_z && z_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[2] / z_steps_to_take;
//If this move has X or Y steps, let E follow the Bresenham pace
if (final_e_steps_remaining > 0) while(axis_steps_remaining[3] > final_e_steps_remaining) { do_step(3); axis_steps_remaining[3]--;}
else if (x_steps_to_take + y_steps_to_take > 0) while(axis_steps_remaining[3]) { do_step(3); axis_steps_remaining[3]--;}
else if (x_steps_to_take + y_steps_to_take + z_steps_to_take > 0) while(axis_steps_remaining[3]) { do_step(3); axis_steps_remaining[3]--;}
//Else, normally check if e steps must be taken
else while (timediff >= axis_interval[3] && axis_steps_remaining[3]) {
do_step(3);

14
Tonokip_Firmware/configuration.h
View file

@ -19,15 +19,17 @@
//Comment this to disable ramp acceleration
#define RAMP_ACCELERATION 1
//Uncomment this to enable exponential acceleration
//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 value is good for skeinforge 40+, for older versions raise it a lot.
float max_start_speed_units_per_second[] = {35.0,35.0,1.0,10.0};
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
float max_start_speed_units_per_second[] = {35.0,35.0,0.2,10.0};
long max_acceleration_units_per_sq_second[] = {750,750,50,4000}; // X, Y, Z (E currently not used) max acceleration in mm/s^2 for printing moves
long max_travel_acceleration_units_per_sq_second[] = {1500,1500,50}; // 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
@ -89,8 +91,8 @@ float min_constant_speed_units = 2; // the minimum units of an accelerated move
//Calibration variables
const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
float axis_steps_per_unit[] = {80.376,80.376,3200/1.25,16};
float max_feedrate = 200000; //mmm, acceleration!
float max_z_feedrate = 120;
float max_feedrate = 200000; // mm/min, acceleration!
float max_z_feedrate = 180; // mm/min, acceleration!
//float x_steps_per_unit = 10.047;
//float y_steps_per_unit = 10.047;