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change temporal counters to count down instead of up

This commit is contained in:
Michael Moon 2010-12-04 11:35:14 +11:00
parent 6e7099e9c9
commit 452baed484
1 changed files with 23 additions and 28 deletions
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51
dda.c
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@ -288,15 +288,10 @@ void dda_create(DDA *dda, TARGET *target) {
dda->n = 1; dda->n = 1;
dda->ramp_state = RAMP_UP; dda->ramp_state = RAMP_UP;
#elif defined ACCELERATION_TEMPORAL #elif defined ACCELERATION_TEMPORAL
dda->x_step_interval = move_duration / dda->x_delta; dda->x_counter = dda->x_step_interval = move_duration / dda->x_delta;
dda->y_step_interval = move_duration / dda->y_delta; dda->y_counter = dda->y_step_interval = move_duration / dda->y_delta;
dda->z_step_interval = move_duration / dda->z_delta; dda->z_counter = dda->z_step_interval = move_duration / dda->z_delta;
dda->e_step_interval = move_duration / dda->e_delta; dda->e_counter = dda->e_step_interval = move_duration / dda->e_delta;
dda->x_counter = 0;
dda->y_counter = 0;
dda->z_counter = 0;
dda->e_counter = 0;
dda->c = dda->x_step_interval; dda->c = dda->x_step_interval;
if (dda->y_step_interval < dda->c) if (dda->y_step_interval < dda->c)
@ -379,7 +374,7 @@ void dda_step(DDA *dda) {
uint8_t did_step = 0; uint8_t did_step = 0;
#ifdef ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL
if (dda->x_counter > dda->x_step_interval) { if (dda->x_counter <= 0) {
if ((current_position.X != dda->endpoint.X) /* && if ((current_position.X != dda->endpoint.X) /* &&
(x_max() != dda->x_direction) && (x_min() == dda->x_direction) */) { (x_max() != dda->x_direction) && (x_min() == dda->x_direction) */) {
x_step(); x_step();
@ -388,10 +383,10 @@ void dda_step(DDA *dda) {
else else
current_position.X--; current_position.X--;
} }
dda->x_counter -= dda->x_step_interval; dda->x_counter += dda->x_step_interval;
dda->x_delta--; dda->x_delta--;
} }
if (dda->y_counter > dda->y_step_interval) { if (dda->y_counter <= 0) {
if ((current_position.Y != dda->endpoint.Y) /* && if ((current_position.Y != dda->endpoint.Y) /* &&
(y_max() != dda->y_direction) && (y_min() == dda->y_direction) */) { (y_max() != dda->y_direction) && (y_min() == dda->y_direction) */) {
y_step(); y_step();
@ -400,10 +395,10 @@ void dda_step(DDA *dda) {
else else
current_position.Y--; current_position.Y--;
} }
dda->y_counter -= dda->y_step_interval; dda->y_counter += dda->y_step_interval;
dda->y_delta--; dda->y_delta--;
} }
if (dda->z_counter > dda->z_step_interval) { if (dda->z_counter <= 0) {
if ((current_position.Z != dda->endpoint.Z) /* && if ((current_position.Z != dda->endpoint.Z) /* &&
(z_max() != dda->z_direction) && (z_min() == dda->z_direction) */) { (z_max() != dda->z_direction) && (z_min() == dda->z_direction) */) {
z_step(); z_step();
@ -412,10 +407,10 @@ void dda_step(DDA *dda) {
else else
current_position.Z--; current_position.Z--;
} }
dda->z_counter -= dda->z_step_interval; dda->z_counter += dda->z_step_interval;
dda->z_delta--; dda->z_delta--;
} }
if (dda->e_counter > dda->e_step_interval) { if (dda->e_counter <= 0) {
if ((current_position.E != dda->endpoint.E) /* && if ((current_position.E != dda->endpoint.E) /* &&
(e_max() != dda->e_direction) && (e_min() == dda->e_direction) */) { (e_max() != dda->e_direction) && (e_min() == dda->e_direction) */) {
e_step(); e_step();
@ -424,7 +419,7 @@ void dda_step(DDA *dda) {
else else
current_position.E--; current_position.E--;
} }
dda->e_counter -= dda->e_step_interval; dda->e_counter += dda->e_step_interval;
dda->e_delta--; dda->e_delta--;
} }
#else #else
@ -542,22 +537,22 @@ void dda_step(DDA *dda) {
dda->step_no++; dda->step_no++;
#endif #endif
#ifdef ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL
dda->c = dda->x_step_interval - dda->x_counter; dda->c = dda->x_counter;
if ((dda->y_step_interval - dda->y_counter) < dda->c) if (dda->y_counter < dda->c)
dda->c = dda->y_step_interval - dda->y_counter; dda->c = dda->y_counter;
if ((dda->z_step_interval - dda->z_counter) < dda->c) if (dda->z_counter < dda->c)
dda->c = dda->z_step_interval - dda->z_counter; dda->c = dda->z_counter;
if ((dda->e_step_interval - dda->e_counter) < dda->c) if (dda->e_counter < dda->c)
dda->c = dda->e_step_interval - dda->e_counter; dda->c = dda->e_counter;
if (dda->x_delta) if (dda->x_delta)
dda->x_counter += dda->c; dda->x_counter -= dda->c;
if (dda->y_delta) if (dda->y_delta)
dda->y_counter += dda->c; dda->y_counter -= dda->c;
if (dda->z_delta) if (dda->z_delta)
dda->z_counter += dda->c; dda->z_counter -= dda->c;
if (dda->e_delta) if (dda->e_delta)
dda->e_counter += dda->c; dda->e_counter -= dda->c;
if ( if (
(dda->x_delta > 0) || (dda->x_delta > 0) ||
(dda->y_delta > 0) || (dda->y_delta > 0) ||