Refactored ramp and exp acceleration variables to arrays and changed ramp acceleration math code to be axis generic
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Emanuele Caruso
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6d2fdf16b6
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1b1e060bff
1 changed files with 27 additions and 39 deletions
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@ -63,23 +63,19 @@ unsigned long axis_previous_micros[NUM_AXIS];
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unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater;
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unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
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#ifdef RAMP_ACCELERATION
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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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)};
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unsigned long max_interval;
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unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
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unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
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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};
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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};
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unsigned long steps_per_sqr_second, plateau_steps;
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#endif
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#ifdef EXP_ACCELERATION
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unsigned long long_full_velocity_units = full_velocity_units * 100;
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unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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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)};
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unsigned long max_interval;
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unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
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y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
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unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * x_steps_per_unit, min_constant_speed_units * y_steps_per_unit};
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unsigned long min_constant_speed_steps;
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#endif
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boolean acceleration_enabled = false, accelerating = false;
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unsigned long interval;
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@ -778,12 +774,12 @@ inline void process_commands()
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break;
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#ifdef RAMP_ACCELERATION
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case 201: // M201
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if(code_seen('X')) x_steps_per_sqr_second = code_value() * x_steps_per_unit;
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if(code_seen('Y')) y_steps_per_sqr_second = code_value() * y_steps_per_unit;
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if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * x_steps_per_unit;
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if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * y_steps_per_unit;
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break;
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case 202: // M202
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if(code_seen('X')) x_travel_steps_per_sqr_second = code_value() * x_steps_per_unit;
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if(code_seen('Y')) y_travel_steps_per_sqr_second = code_value() * y_steps_per_unit;
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if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * x_steps_per_unit;
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if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * y_steps_per_unit;
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break;
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#endif
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}
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@ -971,7 +967,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
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if(axis_steps_remaining[3]) { enable_e(); do_step(3); axis_steps_remaining[3]--; }
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//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
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unsigned int delta[NUM_AXIS] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
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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
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boolean steep_y = delta[1] > delta[0];// && delta[1] > delta[3] && delta[1] > delta[2];
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boolean steep_x = delta[0] >= delta[1];// && delta[0] > delta[3] && delta[0] > delta[2];
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//boolean steep_z = delta[2] > delta[0] && delta[2] > delta[1] && delta[2] > delta[3];
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@ -992,40 +988,32 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
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for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
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interval = axis_interval[primary_axis];
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#ifdef RAMP_ACCELERATION
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max_interval = axis_max_interval[primary_axis];
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if(e_steps_to_take > 0) steps_per_sqr_second = axis_steps_per_sqr_second[primary_axis];
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else steps_per_sqr_second = axis_travel_steps_per_sqr_second[primary_axis];
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max_speed_steps_per_second = 100000000 / interval;
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min_speed_steps_per_second = 100000000 / max_interval;
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float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
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plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
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#endif
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//Do some Bresenham calculations depending on which axis will lead it.
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if(steep_y) {
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#ifdef RAMP_ACCELERATION
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max_interval = max_y_interval;
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if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
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else steps_per_sqr_second = y_travel_steps_per_sqr_second;
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max_speed_steps_per_second = 100000000 / interval;
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min_speed_steps_per_second = 100000000 / max_interval;
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float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
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plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
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#endif
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#ifdef EXP_ACCELERATION
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if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
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else virtual_full_velocity_steps = long_travel_move_full_velocity_units * y_steps_per_unit /100;
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full_velocity_steps = min(virtual_full_velocity_steps, (delta[1] - y_min_constant_speed_steps) / 2);
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max_interval = max_y_interval;
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min_constant_speed_steps = y_min_constant_speed_steps;
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full_velocity_steps = min(virtual_full_velocity_steps, (delta[1] - axis_min_constant_speed_steps[1]) / 2);
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max_interval = axis_max_interval[1];
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min_constant_speed_steps = axis_min_constant_speed_steps[1];
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#endif
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} else if (steep_x) {
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#ifdef RAMP_ACCELERATION
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max_interval = max_x_interval;
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if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
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else steps_per_sqr_second = x_travel_steps_per_sqr_second;
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max_speed_steps_per_second = 100000000 / interval;
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min_speed_steps_per_second = 100000000 / max_interval;
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float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
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plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
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#endif
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#ifdef EXP_ACCELERATION
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if(e_steps_to_take > 0) virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100;
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else virtual_full_velocity_steps = long_travel_move_full_velocity_units * x_steps_per_unit /100;
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full_velocity_steps = min(virtual_full_velocity_steps, (delta[0] - x_min_constant_speed_steps) / 2);
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max_interval = max_x_interval;
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min_constant_speed_steps = x_min_constant_speed_steps;
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full_velocity_steps = min(virtual_full_velocity_steps, (delta[0] - axis_min_constant_speed_steps[0]) / 2);
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max_interval = axis_max_interval[0];
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min_constant_speed_steps = axis_min_constant_speed_steps[0];
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#endif
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}
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unsigned long steps_done = 0;
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