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N Bresenham is ready for constant speed, though we still enforce only X and Y use it

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This commit is contained in:
Emanuele Caruso 2011-05-19 03:50:59 +02:00
parent 8b7c5a64c8
commit 6d2fdf16b6
1 changed files with 28 additions and 53 deletions
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81
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -976,6 +976,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
boolean steep_x = delta[0] >= delta[1];// && delta[0] > delta[3] && delta[0] > delta[2];
//boolean steep_z = delta[2] > delta[0] && delta[2] > delta[1] && delta[2] > delta[3];
int axis_error[NUM_AXIS];
unsigned int primary_axis;
if(steep_x) primary_axis = 0;
else primary_axis = 1;
#ifdef RAMP_ACCELERATION
long max_speed_steps_per_second;
long min_speed_steps_per_second;
@ -984,13 +987,13 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps;
#endif
unsigned long steps_remaining;
unsigned long steps_to_take;
unsigned long steps_remaining = delta[primary_axis];
unsigned long steps_to_take = steps_remaining;
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
interval = axis_interval[primary_axis];
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
axis_error[0] = delta[1] / 2;
interval = axis_interval[1];
#ifdef RAMP_ACCELERATION
max_interval = max_y_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
@ -1007,11 +1010,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
max_interval = max_y_interval;
min_constant_speed_steps = y_min_constant_speed_steps;
#endif
steps_remaining = delta[1];
steps_to_take = delta[1];
} else if (steep_x) {
axis_error[1] = delta[0] / 2;
interval = axis_interval[0];
#ifdef RAMP_ACCELERATION
max_interval = max_x_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
@ -1028,8 +1027,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
max_interval = max_x_interval;
min_constant_speed_steps = x_min_constant_speed_steps;
#endif
steps_remaining = delta[0];
steps_to_take = delta[0];
}
unsigned long steps_done = 0;
#ifdef RAMP_ACCELERATION
@ -1127,50 +1124,28 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
timediff = micros() * 100 - axis_previous_micros[1];
while(timediff >= interval && axis_steps_remaining[1] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[1]--; timediff -= interval;
axis_error[0] = axis_error[0] - delta[0];
do_step(1);
if(axis_error[0] < 0) {
do_step(0); axis_steps_remaining[0]--;
axis_error[0] = axis_error[0] + delta[1];
timediff = micros() * 100 - axis_previous_micros[primary_axis];
while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[primary_axis]--; timediff -= interval;
do_step(primary_axis);
for(int i=0; i < 2; i++) if(i != primary_axis) {//TODO change "2" to NUM_AXIS when other axes gets added to bresenham
axis_error[i] = axis_error[i] - delta[i];
if(axis_error[i] < 0) {
do_step(i); axis_steps_remaining[i]--;
axis_error[i] = axis_error[i] + delta[primary_axis];
}
#ifdef RAMP_ACCELERATION
if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
#endif
#ifdef STEP_DELAY_RATIO
if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
#endif
#ifdef STEP_DELAY_MICROS
if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
} else if (steep_x) {
timediff=micros() * 100 - axis_previous_micros[0];
while(timediff >= interval && axis_steps_remaining[0]>0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[0]--; timediff -= interval;
axis_error[1] = axis_error[1] - delta[1];
do_step(0);
if(axis_error[1] < 0) {
do_step(1); axis_steps_remaining[1]--;
axis_error[1] = axis_error[1] + delta[0];
}
#ifdef RAMP_ACCELERATION
if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
#endif
#ifdef STEP_DELAY_RATIO
if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
#endif
#ifdef STEP_DELAY_MICROS
if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
#ifdef RAMP_ACCELERATION
if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
#endif
#ifdef STEP_DELAY_RATIO
if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
#endif
#ifdef STEP_DELAY_MICROS
if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
}
#ifdef RAMP_ACCELERATION