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Fixed speed bug. Before updating, read the WARNING below!

Browse source 
WARNING: This version fixes a bug that caused speeds to be lower than what
set in GCODE. So before attempting any print, you will have to check all
your axis max speed, including the extruder retract speed. Not following
this guidelines can seriously damage your printer.
This commit is contained in:
Emanuele Caruso 2011-04-19 16:48:27 +02:00
parent 614d568a96
commit aeb9132cbf
1 changed files with 19 additions and 18 deletions
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37
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -52,9 +52,9 @@ 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, previous_millis_bed_heater;
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 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;
unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval, interval;
boolean acceleration_enabled;
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;
@ -436,10 +436,10 @@ inline void process_commands()
time_for_move = max(time_for_move,Z_TIME_FOR_MOVE);
if(time_for_move <= 0) time_for_move = max(time_for_move,E_TIME_FOR_MOVE);
if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take;
if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take;
if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take;
if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take;
if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take*100;
if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take*100;
if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take*100;
if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take*100;
//#define DEBUGGING false
#if 0
@ -782,7 +782,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
unsigned long y_interval_nanos;
unsigned int delta_z = z_steps_remaining;
unsigned long z_interval_nanos;
long interval;
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;
@ -797,7 +796,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
error_x = delta_y / 2;
previous_micros_y=micros();
previous_micros_y=micros()*100;
interval = y_interval;
virtual_full_velocity_steps = long_full_velocity_units * y_steps_per_unit /100;
full_velocity_steps = min(virtual_full_velocity_steps, delta_y / 2);
@ -806,7 +805,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
max_interval = max_y_interval;
} else if (steep_x) {
error_y = delta_x / 2;
previous_micros_x=micros();
previous_micros_x=micros()*100;
interval = x_interval;
virtual_full_velocity_steps = long_full_velocity_units * x_steps_per_unit /100;
full_velocity_steps = min(virtual_full_velocity_steps, delta_x / 2);
@ -814,6 +813,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_to_take = delta_x;
max_interval = max_x_interval;
}
previous_micros_z=micros()*100;
previous_micros_e=micros()*100;
acceleration_enabled = true;
if(full_velocity_steps == 0) full_velocity_steps++;
long full_interval = interval;//max(interval, max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps));
@ -849,7 +850,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
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() - previous_micros_y;
timediff = micros() * 100 - previous_micros_y;
while(timediff >= interval && y_steps_remaining>0) {
steps_done++;
steps_remaining--;
@ -862,7 +863,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
} else if (steep_x) {
timediff=micros() - previous_micros_x;
timediff=micros() * 100 - previous_micros_x;
while(timediff >= interval && x_steps_remaining>0) {
steps_done++;
steps_remaining--;
@ -881,13 +882,13 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
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;
timediff=micros() * 100-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;
if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros() * 100-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;
@ -927,7 +928,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
inline void do_x_step()
{
digitalWrite(X_STEP_PIN, HIGH);
previous_micros_x = micros();
previous_micros_x += interval;
//delayMicroseconds(3);
digitalWrite(X_STEP_PIN, LOW);
}
@ -935,7 +936,7 @@ inline void do_x_step()
inline void do_y_step()
{
digitalWrite(Y_STEP_PIN, HIGH);
previous_micros_y = micros();
previous_micros_y += interval;
//delayMicroseconds(3);
digitalWrite(Y_STEP_PIN, LOW);
}
@ -943,7 +944,7 @@ inline void do_y_step()
inline void do_z_step()
{
digitalWrite(Z_STEP_PIN, HIGH);
previous_micros_z = micros();
previous_micros_z += z_interval;
//delayMicroseconds(3);
digitalWrite(Z_STEP_PIN, LOW);
}
@ -951,7 +952,7 @@ inline void do_z_step()
inline void do_e_step()
{
digitalWrite(E_STEP_PIN, HIGH);
previous_micros_e = micros();
previous_micros_e += e_interval;
//delayMicroseconds(3);
digitalWrite(E_STEP_PIN, LOW);
}