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Refactored errors and deltas variable into array, needed for N bresenham implementation

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This commit is contained in:
Emanuele Caruso 2011-05-19 03:20:47 +02:00
parent 222f2e8082
commit 8b7c5a64c8
1 changed files with 19 additions and 26 deletions
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45
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -971,18 +971,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(axis_steps_remaining[3]) { enable_e(); do_step(3); axis_steps_remaining[3]--; }
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned int delta_x = axis_steps_remaining[0];
unsigned long x_interval_nanos;
unsigned int delta_y = axis_steps_remaining[1];
unsigned long y_interval_nanos;
unsigned int delta_z = axis_steps_remaining[2];
unsigned long z_interval_nanos;
boolean steep_y = delta_y > delta_x;// && delta_y > delta_e && delta_y > delta_z;
boolean steep_x = delta_x >= delta_y;// && delta_x > delta_e && delta_x > delta_z;
//boolean steep_z = delta_z > delta_x && delta_z > delta_y && delta_z > delta_e;
int error_x;
int error_y;
int error_z;
unsigned int delta[NUM_AXIS] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
boolean steep_y = delta[1] > delta[0];// && delta[1] > delta[3] && delta[1] > delta[2];
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];
#ifdef RAMP_ACCELERATION
long max_speed_steps_per_second;
long min_speed_steps_per_second;
@ -996,7 +989,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
error_x = delta_y / 2;
axis_error[0] = delta[1] / 2;
interval = axis_interval[1];
#ifdef RAMP_ACCELERATION
max_interval = max_y_interval;
@ -1010,14 +1003,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#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);
full_velocity_steps = min(virtual_full_velocity_steps, (delta[1] - y_min_constant_speed_steps) / 2);
max_interval = max_y_interval;
min_constant_speed_steps = y_min_constant_speed_steps;
#endif
steps_remaining = delta_y;
steps_to_take = delta_y;
steps_remaining = delta[1];
steps_to_take = delta[1];
} else if (steep_x) {
error_y = delta_x / 2;
axis_error[1] = delta[0] / 2;
interval = axis_interval[0];
#ifdef RAMP_ACCELERATION
max_interval = max_x_interval;
@ -1031,12 +1024,12 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#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);
full_velocity_steps = min(virtual_full_velocity_steps, (delta[0] - x_min_constant_speed_steps) / 2);
max_interval = max_x_interval;
min_constant_speed_steps = x_min_constant_speed_steps;
#endif
steps_remaining = delta_x;
steps_to_take = delta_x;
steps_remaining = delta[0];
steps_to_take = delta[0];
}
unsigned long steps_done = 0;
#ifdef RAMP_ACCELERATION
@ -1140,11 +1133,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
steps_done++;
steps_remaining--;
axis_steps_remaining[1]--; timediff -= interval;
error_x = error_x - delta_x;
axis_error[0] = axis_error[0] - delta[0];
do_step(1);
if(error_x < 0) {
if(axis_error[0] < 0) {
do_step(0); axis_steps_remaining[0]--;
error_x = error_x + delta_y;
axis_error[0] = axis_error[0] + delta[1];
}
#ifdef RAMP_ACCELERATION
if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break;
@ -1162,11 +1155,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
steps_done++;
steps_remaining--;
axis_steps_remaining[0]--; timediff -= interval;
error_y = error_y - delta_y;
axis_error[1] = axis_error[1] - delta[1];
do_step(0);
if(error_y < 0) {
if(axis_error[1] < 0) {
do_step(1); axis_steps_remaining[1]--;
error_y = error_y + delta_x;
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;