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Merge pull request #148 from midopple/experimental

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Slowdown Function when Plannerpuffer is low
This commit is contained in:
kliment 2012-03-05 02:43:42 -08:00
commit 54b68d0bf3
1 changed files with 10 additions and 7 deletions
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Sprinter/Sprinter.pde
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@ -79,6 +79,9 @@
- Same fix for SD Card, testet and work - Same fix for SD Card, testet and work
Version 1.3.09T
- Move SLOWDOWN Function up
*/ */
@ -178,7 +181,7 @@ void __cxa_pure_virtual(){};
// M603 - Show Free Ram // M603 - Show Free Ram
#define _VERSION_TEXT "1.3.08T / 24.02.2012" #define _VERSION_TEXT "1.3.09T / 04.03.2012"
//Stepper Movement Variables //Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@ -2256,6 +2259,12 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
if(block->steps_e != 0) enable_e(); if(block->steps_e != 0) enable_e();
#endif #endif
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
#ifdef SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
float delta_mm[4]; float delta_mm[4];
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
@ -2287,12 +2296,6 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
} }
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
#ifdef SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
/* /*
// segment time im micro seconds // segment time im micro seconds
long segment_time = lround(1000000.0/inverse_second); long segment_time = lround(1000000.0/inverse_second);