pingu_98/Sprinter
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Made exponential acceleration optional with a #define in configuration.h

Browse source
This commit is contained in:
Emanuele Caruso 2011-05-04 20:44:50 +02:00
parent 51214e5d11
commit 5a5818c109
2 changed files with 28 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

30
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -90,14 +90,17 @@ void kill(byte debug);
bool direction_x, direction_y, direction_z, direction_e;
unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater;
unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
#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 max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval, interval;
unsigned long max_interval;
unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
boolean acceleration_enabled,accelerating;
#endif
boolean acceleration_enabled=false ,accelerating=false;
unsigned long interval;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
@ -915,8 +918,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
int error_x;
int error_y;
int error_z;
#ifdef EXP_ACCELERATION
unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps;
#endif
unsigned long steps_remaining;
unsigned long steps_to_take;
@ -925,43 +930,51 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
error_x = delta_y / 2;
previous_micros_y=micros()*100;
interval = y_interval;
#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_y - y_min_constant_speed_steps) / 2);
steps_remaining = delta_y;
steps_to_take = delta_y;
max_interval = max_y_interval;
min_constant_speed_steps = y_min_constant_speed_steps;
#endif
steps_remaining = delta_y;
steps_to_take = delta_y;
} else if (steep_x) {
error_y = delta_x / 2;
previous_micros_x=micros()*100;
interval = x_interval;
#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_x - x_min_constant_speed_steps) / 2);
steps_remaining = delta_x;
steps_to_take = delta_x;
max_interval = max_x_interval;
min_constant_speed_steps = x_min_constant_speed_steps;
#endif
steps_remaining = delta_x;
steps_to_take = delta_x;
}
previous_micros_z=micros()*100;
previous_micros_e=micros()*100;
unsigned long steps_done = 0;
#ifdef EXP_ACCELERATION
acceleration_enabled = true;
if(full_velocity_steps == 0) full_velocity_steps++;
long full_interval = interval;//max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
if(interval > max_interval) acceleration_enabled = false;
unsigned long full_interval = interval;
if(min_constant_speed_steps >= steps_to_take) {
acceleration_enabled = false;
full_interval = max(max_interval, interval); // choose the min speed between feedrate and acceleration start speed
}
if(full_velocity_steps < virtual_full_velocity_steps && acceleration_enabled) full_interval = max(interval,
max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps)); // choose the min speed between feedrate and speed at full steps
unsigned long steps_done = 0;
unsigned int steps_acceleration_check = 1;
accelerating = acceleration_enabled;
#endif
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
#ifdef EXP_ACCELERATION
//If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
if(steps_done == 0) {
@ -982,6 +995,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
interval = full_interval;
accelerating = false;
}
#endif
//If there are x or y steps remaining, perform Bresenham algorithm
if(x_steps_remaining || y_steps_remaining) {

6
Tonokip_Firmware/configuration.h
View file

@ -16,13 +16,19 @@
//If you enable this, make sure STEP_DELAY_MICROS is disabled.
//#define STEP_DELAY_RATIO 0.25
//Comment this to disable exponential acceleration
#define EXP_ACCELERATION 1
//Acceleration settings
#ifdef EXP_ACCELERATION
float full_velocity_units = 10; // the units between minimum and G1 move feedrate
float travel_move_full_velocity_units = 10; // used for travel moves
float min_units_per_second = 35.0; // the minimum feedrate
float min_constant_speed_units = 2; // the minimum units of an accelerated move that must be done at constant speed
// Note that if the move is shorter than this value, acceleration won't be perfomed,
// but will be done at the minimum between min_units_per_seconds and move feedrate speeds.
#endif
// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!