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Improved acceleration algorithm: now you can set minimum feedrate speed

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This commit is contained in:
Emanuele Caruso 2011-04-08 07:04:51 +02:00
parent aad7c19db8
commit 70514ce33b
2 changed files with 17 additions and 9 deletions
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23
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -52,6 +52,10 @@ 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; unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater;
unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take; unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
unsigned long long_full_velocity_units = full_velocity_units * 100; unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long max_x_interval = 1000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 1000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval;
boolean acceleration_enabled;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0; 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; 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 long x_interval, y_interval, z_interval, e_interval; // for speed delay
@ -758,6 +762,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2); full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
steps_remaining = delta_y; steps_remaining = delta_y;
steps_to_take = delta_y; steps_to_take = delta_y;
max_interval = max_y_interval;
} else if (steep_x) { } else if (steep_x) {
error_y = delta_x / 2; error_y = delta_x / 2;
previous_micros_x=micros(); previous_micros_x=micros();
@ -766,27 +771,29 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2); full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
steps_remaining = delta_x; steps_remaining = delta_x;
steps_to_take = delta_x; steps_to_take = delta_x;
max_interval = max_x_interval;
} }
if(full_velocity_steps == 0) full_velocity_steps++; if(full_velocity_steps == 0) full_velocity_steps++;
long full_interval = interval; long full_interval = max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
if(full_interval == interval) acceleration_enabled = false;
unsigned long steps_done = 0; unsigned long steps_done = 0;
unsigned int steps_acceleration_check = 1; unsigned int steps_acceleration_check = 1;
// move until no more steps remain // move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
if (steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) { if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
if(steps_done == 0) { if(steps_done == 0) {
interval = full_interval * virtual_full_velocity_steps; interval = max_interval;
} else { } else {
interval = full_interval * virtual_full_velocity_steps / steps_done; interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps);
} }
} else if (steps_remaining < full_velocity_steps) { } else if (acceleration_enabled && steps_remaining < full_velocity_steps) {
if(steps_remaining == 0) { if(steps_remaining == 0) {
interval = full_interval * virtual_full_velocity_steps; interval = max_interval;
} else { } else {
interval = full_interval * virtual_full_velocity_steps / steps_remaining; interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps);
} }
} else if (steps_done - full_velocity_steps >= 1){ } else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){
interval = full_interval; interval = full_interval;
} }

3
Tonokip_Firmware/configuration.h
View file

@ -9,7 +9,8 @@
#define SDSUPPORT 1 #define SDSUPPORT 1
//Acceleration settings //Acceleration settings
float full_velocity_units = 3.0; float full_velocity_units = 10.0; // the units between minimum and G1 move feedrate
float min_units_per_second = 35.0; // the minimum feedrate
// THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! // THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!
const bool USE_THERMISTOR = true; //Set to false if using thermocouple const bool USE_THERMISTOR = true; //Set to false if using thermocouple