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Refactoring acceleration math to a new setup_acceleration() function to make M92 fully working.

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This commit is contained in:
Alessandro Ranellucci 2011-08-29 15:07:37 +02:00
parent bc9e0b7a5e
commit 2acd4af635
1 changed files with 13 additions and 12 deletions
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25
Sprinter/Sprinter.pde
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@ -311,11 +311,7 @@ void setup()
SET_OUTPUT(E_STEP_PIN);
#endif
#ifdef RAMP_ACCELERATION
for(int i=0; i < NUM_AXIS; i++){
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
setup_acceleration();
#endif
#ifdef HEATER_USES_MAX6675
@ -891,15 +887,10 @@ inline void process_commands()
if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
}
//Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it
// should also be used in setup() as well
#ifdef RAMP_ACCELERATION
long temp_max_intervals[NUM_AXIS];
for(int i=0; i < NUM_AXIS; i++) {
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);//TODO: do this for
// all steps_per_unit related variables
}
setup_acceleration();
#endif
break;
case 115: // M115
Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:");
@ -1638,6 +1629,16 @@ if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time)
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
}
#ifdef RAMP_ACCELERATION
void setup_acceleration() {
for (int i=0; i < NUM_AXIS; i++) {
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
#endif
#ifdef DEBUG
void log_message(char* message) {
Serial.print("DEBUG"); Serial.println(message);