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Added constant acceleration option (aka speed ramp), enabled by default

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This commit is contained in:
Emanuele Caruso 2011-05-04 21:49:09 +02:00
parent 93529ad632
commit d15d4b96ce
2 changed files with 96 additions and 7 deletions
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92
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -90,6 +90,16 @@ void kill(byte debug);
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;
#ifdef RAMP_ACCELERATION
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;
unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
@ -908,7 +918,6 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
previous_millis_heater = millis();
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned long start_move_micros = micros();
unsigned int delta_x = x_steps_remaining;
unsigned long x_interval_nanos;
unsigned int delta_y = y_steps_remaining;
@ -921,6 +930,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
int error_x;
int error_y;
int error_z;
#ifdef RAMP_ACCELERATION
long max_speed_steps_per_second;
long min_speed_steps_per_second;
#endif
#ifdef EXP_ACCELERATION
unsigned long virtual_full_velocity_steps;
unsigned long full_velocity_steps;
@ -931,8 +944,16 @@ 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()*100;
interval = y_interval;
#ifdef RAMP_ACCELERATION
max_interval = max_y_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
else steps_per_sqr_second = y_travel_steps_per_sqr_second;
max_speed_steps_per_second = 100000000 / interval;
min_speed_steps_per_second = 100000000 / max_interval;
float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
#endif
#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;
@ -944,8 +965,16 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_to_take = delta_y;
} else if (steep_x) {
error_y = delta_x / 2;
previous_micros_x=micros()*100;
interval = x_interval;
#ifdef RAMP_ACCELERATION
max_interval = max_x_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
else steps_per_sqr_second = x_travel_steps_per_sqr_second;
max_speed_steps_per_second = 100000000 / interval;
min_speed_steps_per_second = 100000000 / max_interval;
float plateau_time = (max_speed_steps_per_second - min_speed_steps_per_second) / (float) steps_per_sqr_second;
plateau_steps = (long) ((steps_per_sqr_second / 2.0 * plateau_time + min_speed_steps_per_second) * plateau_time);
#endif
#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;
@ -956,9 +985,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_remaining = delta_x;
steps_to_take = delta_x;
}
previous_micros_z=micros()*100;
previous_micros_e=micros()*100;
unsigned long steps_done = 0;
#ifdef RAMP_ACCELERATION
plateau_steps *= 1.01; // This is to compensate we use discrete intervals
acceleration_enabled = true;
long full_interval = interval;
if(interval > max_interval) acceleration_enabled = false;
boolean decelerating = false;
#endif
#ifdef EXP_ACCELERATION
acceleration_enabled = true;
if(full_velocity_steps == 0) full_velocity_steps++;
@ -974,9 +1008,48 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
accelerating = acceleration_enabled;
#endif
unsigned long start_move_micros = micros();
previous_micros_x=start_move_micros*100;
previous_micros_y=previous_micros_x;
previous_micros_z=previous_micros_x;
previous_micros_e=previous_micros_x;
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
#ifdef RAMP_ACCELERATION
//If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
if (acceleration_enabled && steps_done == 0) {
interval = max_interval;
} else if (acceleration_enabled && steps_done <= plateau_steps) {
long current_speed = (long) ((((long) steps_per_sqr_second) / 10000)
* ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second);
interval = 100000000 / current_speed;
if (interval < full_interval) {
accelerating = false;
interval = full_interval;
}
if (steps_done >= steps_to_take / 2) {
plateau_steps = steps_done;
max_speed_steps_per_second = 100000000 / interval;
accelerating = false;
}
} else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) {
if (!accelerating) {
start_move_micros = micros();
accelerating = true;
decelerating = true;
}
long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000)
* (((micros() - start_move_micros) + interval) / 10000)));
interval = 100000000 / current_speed;
if (interval > max_interval)
interval = max_interval;
} else {
//Else, we are just use the full speed interval as current interval
interval = full_interval;
accelerating = false;
}
#endif
#ifdef EXP_ACCELERATION
//If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
@ -1018,6 +1091,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
do_x_step(); x_steps_remaining--;
error_x = error_x + delta_y;
}
#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
@ -1037,6 +1113,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
do_y_step(); y_steps_remaining--;
error_y = error_y + delta_x;
}
#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
@ -1046,6 +1125,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
}
#ifdef RAMP_ACCELERATION
if (steps_to_take>0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue;
#endif
//If there are z steps remaining, check if z steps must be taken
if(z_steps_remaining) {

11
Tonokip_Firmware/configuration.h
View file

@ -16,11 +16,18 @@
//If you enable this, make sure STEP_DELAY_MICROS is disabled.
//#define STEP_DELAY_RATIO 0.25
//Comment this to disable ramp acceleration
#define RAMP_ACCELERATION 1
//Comment this to disable exponential acceleration
#define EXP_ACCELERATION 1
//Uncomment this to enable exponential acceleration
//#define EXP_ACCELERATION 1
//Acceleration settings
#ifdef RAMP_ACCELERATION
float min_units_per_second = 35.0; // the minimum feedrate
long max_acceleration_units_per_sq_second = 750;
long max_travel_acceleration_units_per_sq_second = 1500;
#endif
#ifdef EXP_ACCELERATION
float full_velocity_units = 10; // the units between minimum and G1 move feedrate
float travel_move_full_velocity_units = 10; // used for travel moves