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Refactored exp variables to arrays and changed exp acceleration math to be axis generic

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This commit is contained in:
Emanuele Caruso 2011-05-19 05:36:09 +02:00
parent 1b1e060bff
commit 2e6cc78372
1 changed files with 14 additions and 22 deletions
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36
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -70,9 +70,11 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take
unsigned long steps_per_sqr_second, plateau_steps;
#endif
#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 axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), 100000000.0 / (min_units_per_second * y_steps_per_unit)};
unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * x_steps_per_unit, full_velocity_units * y_steps_per_unit};
unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * x_steps_per_unit,
travel_move_full_velocity_units * y_steps_per_unit};
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)};
unsigned long max_interval;
unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * x_steps_per_unit, min_constant_speed_units * y_steps_per_unit};
unsigned long min_constant_speed_steps;
@ -988,6 +990,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
interval = axis_interval[primary_axis];
//If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.
#ifdef RAMP_ACCELERATION
max_interval = axis_max_interval[primary_axis];
if(e_steps_to_take > 0) steps_per_sqr_second = axis_steps_per_sqr_second[primary_axis];
@ -997,25 +1000,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
#endif
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
#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[1] - axis_min_constant_speed_steps[1]) / 2);
max_interval = axis_max_interval[1];
min_constant_speed_steps = axis_min_constant_speed_steps[1];
#endif
} else if (steep_x) {
#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[0] - axis_min_constant_speed_steps[0]) / 2);
max_interval = axis_max_interval[0];
min_constant_speed_steps = axis_min_constant_speed_steps[0];
#endif
}
#ifdef EXP_ACCELERATION
if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis];
else virtual_full_velocity_steps = axis_travel_virtual_full_velocity_steps[primary_axis];
full_velocity_steps = min(virtual_full_velocity_steps, (delta[primary_axis] - axis_min_constant_speed_steps[primary_axis]) / 2);
max_interval = axis_max_interval[primary_axis];
min_constant_speed_steps = axis_min_constant_speed_steps[primary_axis];
#endif
unsigned long steps_done = 0;
#ifdef RAMP_ACCELERATION
plateau_steps *= 1.01; // This is to compensate we use discrete intervals