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Added some rough documentation to linear_move()

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This commit is contained in:
Emanuele Caruso 2011-04-19 02:02:06 +02:00
parent 6f712d9306
commit 614d568a96
1 changed files with 18 additions and 9 deletions
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27
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -774,6 +774,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
previous_millis_heater = millis();
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned long start_move_micros = micros();
unsigned int delta_x = x_steps_remaining;
unsigned long x_interval_nanos;
@ -793,6 +794,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
unsigned long steps_remaining;
unsigned long steps_to_take;
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
error_x = delta_y / 2;
previous_micros_y=micros();
@ -819,8 +821,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
unsigned long steps_done = 0;
unsigned int steps_acceleration_check = 1;
// move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
//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) {
interval = max_interval;
@ -828,18 +831,18 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps);
}
} else if (acceleration_enabled && steps_remaining < full_velocity_steps) {
//Else, if acceleration is enabled on this move and we are in the deceleration segment, calculate the current interval
if(steps_remaining == 0) {
interval = max_interval;
} else {
interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps);
}
} else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){
//Else, we are just use the full speed interval as current interval
interval = full_interval;
}
//If there are x or y steps remaining, perform Bresenham algorithm
if(x_steps_remaining || y_steps_remaining) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
@ -873,23 +876,29 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
}
//If there are z steps remaining, check if z steps must be taken
if(z_steps_remaining) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff=micros()-previous_micros_z;
while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; timediff-=z_interval;}
}
}
//If there are e steps remaining, check if e steps must be taken
if(e_steps_remaining){
if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros()-previous_micros_e;
unsigned int final_e_steps_remaining = 0;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take;
//If this move has X or Y steps, let E follow the Bresenham pace
if (final_e_steps_remaining > 0) while(e_steps_remaining > final_e_steps_remaining) { do_e_step(); e_steps_remaining--;}
else if (x_steps_to_take + y_steps_to_take > 0) while(e_steps_remaining) { do_e_step(); e_steps_remaining--;}
//Else, normally check if e steps must be taken
else while (timediff >= e_interval && e_steps_remaining) { do_e_step(); e_steps_remaining--; timediff-=e_interval;}
}
//If more that half second is passed since previous heating check, manage it
if( (millis() - previous_millis_heater) >= 500 ) {
manage_heater();
previous_millis_heater = millis();