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Attempt at geometry fix. Catches up to missed steps whenever it finds them.

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This commit is contained in:
kliment 2011-03-28 22:57:39 +02:00
parent 8562260f00
commit 254f42b118
1 changed files with 16 additions and 10 deletions
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26
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -91,6 +91,7 @@ SdFile root;
SdFile file;
uint32_t filesize=0;
uint32_t sdpos=0;
unsigned long timediff=0;
bool sdmode=false;
bool sdactive=false;
int16_t n;
@ -363,7 +364,7 @@ inline void process_commands()
y_steps_to_take = abs(destination_y - current_y)*y_steps_per_unit;
z_steps_to_take = abs(destination_z - current_z)*z_steps_per_unit;
e_steps_to_take = abs(destination_e - current_e)*e_steps_per_unit;
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*feedrate/60000000))
@ -653,10 +654,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
if(z_steps_remaining) enable_z();
if(e_steps_remaining) enable_e();
if(x_steps_remaining) { enable_x(); do_x_step(); x_steps_remaining--;}
if(y_steps_remaining) { enable_y(); do_y_step(); y_steps_remaining--;}
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;}
if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--;}
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
@ -668,22 +669,27 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) // move until no more steps remain
{
if(x_steps_remaining) {
if ((micros()-previous_micros_x) >= x_interval) { do_x_step(); x_steps_remaining--; }
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
timediff=micros()-previous_micros_x;
while(timediff >= x_interval && x_steps_remaining) { do_x_step(); x_steps_remaining--; timediff-=x_interval;}
}
if(y_steps_remaining) {
if ((micros()-previous_micros_y) >= y_interval) { do_y_step(); y_steps_remaining--; }
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
timediff=micros()-previous_micros_y;
while(timediff >= y_interval && y_steps_remaining) { do_y_step(); y_steps_remaining--; timediff-=y_interval;}
}
if(z_steps_remaining) {
if ((micros()-previous_micros_z) >= z_interval) { do_z_step(); z_steps_remaining--; }
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
timediff=micros()-previous_micros_z;
while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; timediff-=z_interval;}
}
if(e_steps_remaining) if ((micros()-previous_micros_e) >= e_interval) { do_e_step(); e_steps_remaining--; }
if(e_steps_remaining){
timediff=micros()-previous_micros_e;
while(timediff >= e_interval && e_steps_remaining) { do_e_step(); e_steps_remaining--; timediff-=e_interval;}
}
if( (millis() - previous_millis_heater) >= 500 ) {
manage_heater();
previous_millis_heater = millis();