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Fixed acceleration algorithm. Added deceleration. Added configuration setting for acceleration in configuration.h

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This commit is contained in:
Emanuele Caruso 2011-04-07 06:14:23 +02:00
parent 0f095d94d8
commit aad7c19db8
2 changed files with 33 additions and 10 deletions
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40
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -51,6 +51,7 @@
bool direction_x, direction_y, direction_z, direction_e; 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;
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
@ -744,38 +745,53 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
int error_x; int error_x;
int error_y; int error_y;
int error_z; int error_z;
long full_velocity_units = 30; unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps; unsigned long full_velocity_steps;
unsigned long steps_remaining;
unsigned long steps_to_take;
if(steep_y) { if(steep_y) {
error_x = delta_y / 2; error_x = delta_y / 2;
previous_micros_y=micros(); previous_micros_y=micros();
interval = y_interval; interval = y_interval;
full_velocity_steps = full_velocity_units * y_steps_per_unit /100; virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
if (full_velocity_steps > y_steps_remaining) full_velocity_steps = y_steps_remaining; full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
steps_remaining = delta_y;
steps_to_take = delta_y;
} 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();
interval = x_interval; interval = x_interval;
full_velocity_steps = full_velocity_units * x_steps_per_unit /100; virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100;
if (full_velocity_steps > x_steps_remaining) full_velocity_steps = x_steps_remaining; full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
steps_remaining = delta_x;
steps_to_take = delta_x;
} }
if(full_velocity_steps == 0) full_velocity_steps++;
long full_interval = interval; long full_interval = interval;
unsigned long steps_done = 0; unsigned long steps_done = 0;
unsigned int steps_acceleration_check = 100; 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 (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 * steps_acceleration_check / full_velocity_steps; interval = full_interval * virtual_full_velocity_steps;
} else { } else {
interval = full_interval * steps_done / full_velocity_steps; interval = full_interval * virtual_full_velocity_steps / steps_done;
} }
} else if (steps_done - full_velocity_steps >= 1) { } else if (steps_remaining < full_velocity_steps) {
if(steps_remaining == 0) {
interval = full_interval * virtual_full_velocity_steps;
} else {
interval = full_interval * virtual_full_velocity_steps / steps_remaining;
}
} else if (steps_done - full_velocity_steps >= 1){
interval = full_interval; interval = full_interval;
} }
steps_done++;
if(x_steps_remaining || y_steps_remaining) { if(x_steps_remaining || y_steps_remaining) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0; if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
@ -785,6 +801,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(steep_y) { if(steep_y) {
timediff = micros() - previous_micros_y; timediff = micros() - previous_micros_y;
while(timediff >= interval && y_steps_remaining>0) { while(timediff >= interval && y_steps_remaining>0) {
steps_done++;
steps_remaining--;
y_steps_remaining--; timediff-=interval; y_steps_remaining--; timediff-=interval;
error_x = error_x - delta_x; error_x = error_x - delta_x;
do_y_step(); do_y_step();
@ -796,6 +814,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
} else if (steep_x) { } else if (steep_x) {
timediff=micros() - previous_micros_x; timediff=micros() - previous_micros_x;
while(timediff >= interval && x_steps_remaining>0) { while(timediff >= interval && x_steps_remaining>0) {
steps_done++;
steps_remaining--;
x_steps_remaining--; timediff-=interval; x_steps_remaining--; timediff-=interval;
error_y = error_y - delta_y; error_y = error_y - delta_y;
do_x_step(); do_x_step();

3
Tonokip_Firmware/configuration.h
View file

@ -8,6 +8,9 @@
//Comment out to disable SD support //Comment out to disable SD support
#define SDSUPPORT 1 #define SDSUPPORT 1
//Acceleration settings
float full_velocity_units = 3.0;
// 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