From c14e7255746f2ad0d68674246813d61b9a387c42 Mon Sep 17 00:00:00 2001 From: espr14 Date: Tue, 29 Dec 2020 18:27:33 +0100 Subject: [PATCH] Fix moves --- Firmware/xyzcal.cpp | 42 +++++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 19 deletions(-) diff --git a/Firmware/xyzcal.cpp b/Firmware/xyzcal.cpp index bb49e1cc0..fb7b1f5a2 100644 --- a/Firmware/xyzcal.cpp +++ b/Firmware/xyzcal.cpp @@ -516,6 +516,8 @@ void stop_smoothly(uint8_t axes, uint8_t dir, int16_t dec, uint16_t &delay_us){ } void go_start_stop(uint8_t axes, uint8_t dir, int16_t acc, uint16_t min_delay_us, uint16_t steps){ + if (steps == 0) + return; uint16_t current_delay_us = MAX_DELAY; const uint16_t half = steps / 2; accelerate(axes, dir, acc, current_delay_us, min_delay_us, half); @@ -527,17 +529,18 @@ void go_start_stop(uint8_t axes, uint8_t dir, int16_t acc, uint16_t min_delay_us void go_manhattan(int16_t x, int16_t y, int16_t z, int16_t acc, uint16_t min_delay_us){ int32_t length; - DBG(_n("x %d -> %d\n"), x, _X); + // DBG(_n("x %d -> %d, "), x, _X); length = x - _X; go_start_stop(X_AXIS_MASK, length < 0 ? X_MINUS_MASK : X_PLUS_MASK, acc, min_delay_us, ABS(length)); - DBG(_n("y %d -> %d\n"), y, _Y); + // DBG(_n("y %d -> %d, "), y, _Y); length = y - _Y; go_start_stop(Y_AXIS_MASK, length < 0 ? Y_MINUS_MASK : Y_PLUS_MASK, acc, min_delay_us, ABS(length)); - DBG(_n("z %d -> %d\n"), z, _Z); + // DBG(_n("z %d -> %d\n"), z, _Z); length = z - _Z; go_start_stop(Z_AXIS_MASK, length < 0 ? Z_MINUS_MASK : Z_PLUS_MASK, acc, min_delay_us, ABS(length)); + // DBG(_n("\n")); } void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t *pixels){ @@ -551,10 +554,25 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_ for (uint8_t r = 0; r < 32; r++){ ///< Y axis for (uint8_t d = 0; d < 2; ++d){ - // go_manhattan((d & 1) ? (cx + 1024) : (cx - 1024), cy - 1024 + r * 64, _Z, Z_ACCEL, Z_MIN_DELAY); - xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), cy - 1024 + r * 64, _Z, delay_us, 0); + go_manhattan((d & 1) ? (cx + 992) : (cx - 992), cy - 992 + r * 64, _Z, Z_ACCEL, Z_MIN_DELAY); + xyzcal_lineXYZ_to((d & 1) ? (cx + 992) : (cx - 992), cy - 992 + r * 64, _Z, delay_us, 0); sm4_set_dir(X_AXIS, d); for (uint8_t c = 0; c < 32; c++){ ///< X axis + + /// move to the next point and move Z up diagonally (if needed) + current_delay_us = MAX_DELAY; + const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx; + const int16_t length_x = ABS(end_x - _X); + const int16_t half_x = length_x / 2; + /// don't go up if PINDA not triggered (optimization) + const bool up = _PINDA; + const uint8_t axes = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK; + const uint8_t dir = Z_PLUS_MASK | (d & 1 ? X_MINUS_MASK : X_PLUS_MASK); + + accelerate(axes, dir, Z_ACCEL, current_delay_us, Z_MIN_DELAY, half_x); + go_and_stop(axes, dir, Z_ACCEL, current_delay_us, length_x - half_x); + + z_trig = min_z; /// move up to un-trigger (surpress hysteresis) @@ -611,20 +629,6 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_ /// save average of both directions (filters effect of hysteresis) pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2); } - - /// move to the next point and move Z up diagonally (if needed) - current_delay_us = MAX_DELAY; - // const int8_t dir = (d & 1) ? -1 : 1; - const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx; - const int16_t length_x = ABS(end_x - _X); - const int16_t half_x = length_x / 2; - /// don't go up if PINDA not triggered (optimization) - const bool up = _PINDA; - const uint8_t axes = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK; - const uint8_t dir = Z_PLUS_MASK | (d & 1 ? X_MINUS_MASK : X_PLUS_MASK); - - accelerate(axes, dir, Z_ACCEL, current_delay_us, Z_MIN_DELAY, half_x); - go_and_stop(axes, dir, Z_ACCEL, current_delay_us, length_x - half_x); } } // DBG(_n("\n\n"));