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Merge pull request #15 from sam-ward/master

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Added G28 homing code
This commit is contained in:
kliment 2011-05-12 03:56:34 -07:00
commit f7f6137c00
2 changed files with 151 additions and 78 deletions
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1
Tonokip_Firmware/Tonokip_Firmware.h
View file

@ -17,6 +17,7 @@ void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
void prepare_move();
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
void disable_x();
void disable_y();

228
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -17,6 +17,7 @@
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
@ -84,7 +85,7 @@ unsigned long interval;
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;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
float feedrate = 1500, next_feedrate, z_feedrate;
float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@ -264,15 +265,11 @@ void setup()
initsd();
#endif
}
void loop()
{
if(buflen<3)
get_command();
@ -453,78 +450,7 @@ inline void process_commands()
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
xdiff=(destination_x - current_x);
ydiff=(destination_y - current_y);
zdiff=(destination_z - current_z);
ediff=(destination_e - current_e);
x_steps_to_take = abs(xdiff)*x_steps_per_unit;
y_steps_to_take = abs(ydiff)*y_steps_per_unit;
z_steps_to_take = abs(zdiff)*z_steps_per_unit;
e_steps_to_take = abs(ediff)*e_steps_per_unit;
if(feedrate<10)
feedrate=10;
/*
//experimental feedrate calc
if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
d=sqrt(xdiff*xdiff+ydiff*ydiff);
else if(abs(xdiff)>0.1)
d=abs(xdiff);
else if(abs(ydiff)>0.1)
d=abs(ydiff);
else if(abs(zdiff)>0.05)
d=abs(zdiff);
else if(abs(ediff)>0.1)
d=abs(ediff);
else d=1; //extremely slow move, should be okay for moves under 0.1mm
time_for_move=(xdiff/(feedrate/60000000));
//time=60000000*dist/feedrate
//int feedz=(60000000*zdiff)/time_for_move;
//if(feedz>maxfeed)
*/
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000))
#define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000))
time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE);
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*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
if(0) {
Serial.print("destination_x: "); Serial.println(destination_x);
Serial.print("current_x: "); Serial.println(current_x);
Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
Serial.print("x_interval: "); Serial.println(x_interval);
Serial.println("");
Serial.print("destination_y: "); Serial.println(destination_y);
Serial.print("current_y: "); Serial.println(current_y);
Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
Serial.print("y_interval: "); Serial.println(y_interval);
Serial.println("");
Serial.print("destination_z: "); Serial.println(destination_z);
Serial.print("current_z: "); Serial.println(current_z);
Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
Serial.print("z_interval: "); Serial.println(z_interval);
Serial.println("");
Serial.print("destination_e: "); Serial.println(destination_e);
Serial.print("current_e: "); Serial.println(current_e);
Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
Serial.print("e_interval: "); Serial.println(e_interval);
Serial.println("");
}
#endif
linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
@ -536,6 +462,75 @@ inline void process_commands()
previous_millis_heater = millis(); // keep track of when we started waiting
while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
destination_x = 0;
current_x = 0;
destination_y = 0;
current_y = 0;
destination_z = 0;
current_z = 0;
destination_e = 0;
current_e = 0;
feedrate = 0;
if(X_MIN_PIN > -1) {
current_x = 0;
destination_x = -1.5 * X_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
current_x = 0;
destination_x = 1;
prepare_move();
destination_x = -10;
prepare_move();
current_x = 0;
destination_x = 0;
feedrate = 0;
}
if(Y_MIN_PIN > -1) {
current_y = 0;
destination_y = -1.5 * Y_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
current_y = 0;
destination_y = 1;
prepare_move();
destination_y = -10;
prepare_move();
current_y = 0;
destination_y = 0;
feedrate = 0;
}
if(Z_MIN_PIN > -1) {
current_z = 0;
destination_z = -1.5 * Z_MAX_LENGTH;
feedrate = max_z_feedrate/2;
prepare_move();
current_z = 0;
destination_z = 1;
prepare_move();
destination_z = -10;
prepare_move();
current_z = 0;
destination_z = 0;
feedrate = 0;
}
feedrate = saved_feedrate;
previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
break;
@ -836,7 +831,10 @@ inline void get_coordinates()
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
inline void prepare_move()
{
//Find direction
if(destination_x >= current_x) direction_x=1;
else direction_x=0;
@ -864,6 +862,80 @@ inline void get_coordinates()
if(feedrate > max_z_feedrate) z_feedrate = max_z_feedrate;
else z_feedrate=feedrate;
xdiff=(destination_x - current_x);
ydiff=(destination_y - current_y);
zdiff=(destination_z - current_z);
ediff=(destination_e - current_e);
x_steps_to_take = abs(xdiff)*x_steps_per_unit;
y_steps_to_take = abs(ydiff)*y_steps_per_unit;
z_steps_to_take = abs(zdiff)*z_steps_per_unit;
e_steps_to_take = abs(ediff)*e_steps_per_unit;
if(feedrate<10)
feedrate=10;
/*
//experimental feedrate calc
if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
d=sqrt(xdiff*xdiff+ydiff*ydiff);
else if(abs(xdiff)>0.1)
d=abs(xdiff);
else if(abs(ydiff)>0.1)
d=abs(ydiff);
else if(abs(zdiff)>0.05)
d=abs(zdiff);
else if(abs(ediff)>0.1)
d=abs(ediff);
else d=1; //extremely slow move, should be okay for moves under 0.1mm
time_for_move=(xdiff/(feedrate/60000000));
//time=60000000*dist/feedrate
//int feedz=(60000000*zdiff)/time_for_move;
//if(feedz>maxfeed)
*/
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000))
#define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000))
time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE);
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*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
if(0) {
Serial.print("destination_x: "); Serial.println(destination_x);
Serial.print("current_x: "); Serial.println(current_x);
Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
Serial.print("x_interval: "); Serial.println(x_interval);
Serial.println("");
Serial.print("destination_y: "); Serial.println(destination_y);
Serial.print("current_y: "); Serial.println(current_y);
Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
Serial.print("y_interval: "); Serial.println(y_interval);
Serial.println("");
Serial.print("destination_z: "); Serial.println(destination_z);
Serial.print("current_z: "); Serial.println(current_z);
Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
Serial.print("z_interval: "); Serial.println(z_interval);
Serial.println("");
Serial.print("destination_e: "); Serial.println(destination_e);
Serial.print("current_e: "); Serial.println(current_e);
Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
Serial.print("e_interval: "); Serial.println(e_interval);
Serial.println("");
}
#endif
linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
}
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1