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time to save, acceleration seems to be temporarily broken, will have to debug later

This commit is contained in:
Michael Moon 2010-02-02 23:51:08 +11:00
parent 5e0f5a6c87
commit 6002e10dd7
4 changed files with 10 additions and 14 deletions
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9
mendel/dda.c
View File

@ -321,21 +321,18 @@ void dda_start(DDA *dda) {
*/
uint8_t can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint8_t dir) {
if (current == target)
return 0;
if (dir) {
// forwards/positive
if (max)
return 0;
if (current > target)
if ((current - target) >= 0)
return 0;
}
else {
// backwards/negative
if (min)
return 0;
if (target > current)
if ((target - current) >= 0)
return 0;
}
@ -487,7 +484,7 @@ void dda_step(DDA *dda) {
if (step_option & F_REAL_STEP)
setTimer(dda->move_duration / current_position.F);
// if we could step, we're still running
// if we could do anything at all, we're still running
dda->live = (step_option != 0)?1:0;
// if (
// (current_position.X == dda->endpoint.X) &&

2
mendel/dda.h
View File

@ -10,7 +10,7 @@ typedef struct {
int32_t X;
int32_t Y;
int32_t Z;
uint32_t E;
int32_t E;
uint32_t F;
} TARGET;

9
mendel/machine.h
View File

@ -16,8 +16,6 @@
#define Y_STEPS_PER_REV X_STEPS_PER_REV
// we need more speed than precision on Z, turn off microstepping
#define Z_STEPS_PER_REV 200.0
// we need more torque and smoothness at very low speeds on E, maximum microstepping
#define E_STEPS_PER_REV 3200.0
#define X_COG_CIRCUMFERENCE (4.77 * 16.0)
#define Y_COG_CIRCUMFERENCE X_COG_CIRCUMFERENCE
@ -26,7 +24,8 @@
// #define XY_COG_CIRCUMFERENCE (XY_COG_RADIUS * PI * 2)
#define Z_GEAR_RATIO 1.0
#define EXTRUDER_STEPS_PER_REV E_STEPS_PER_REV
// we need more torque and smoothness at very low speeds on E, maximum microstepping
#define E_STEPS_PER_REV 3200.0
#define EXTRUDER_SHAFT_RADIUS 5.0
#define EXTRUDER_INLET_DIAMETER 3.0
#define EXTRUDER_NOZZLE_DIAMETER 0.8
@ -37,8 +36,8 @@
// http://blog.arcol.hu/?p=157 may help with this next one
// I haven't tuned this at all- it's just a placeholder until I read the above carefully enough
// does this refer to filament or extrudate? extrudate depends on layer thickness.. hm
#define STEPS_PER_MM_E ((uint32_t) ((EXTRUDER_STEPS_PER_REV / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER / EXTRUDER_NOZZLE_DIAMETER)) + 0.5))
// does this refer to filament or extrudate? extrudate depends on XY distance vs E distance.. hm lets go with filament
#define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER)) + 0.5))
#define FEEDRATE_FAST_XY 6000
#define FEEDRATE_SLOW_XY 300

4
mendel/mendel.c
View File

@ -135,7 +135,7 @@ int main (void)
serial_writechar(',');
serwrite_int32(current_position.Z);
serial_writechar(',');
serwrite_uint32(current_position.E);
serwrite_int32(current_position.E);
serial_writechar(',');
serwrite_uint32(current_position.F);
serial_writechar('\n');
@ -148,7 +148,7 @@ int main (void)
serial_writechar(',');
serwrite_int32(movebuffer[mb_tail].endpoint.Z);
serial_writechar(',');
serwrite_uint32(movebuffer[mb_tail].endpoint.E);
serwrite_int32(movebuffer[mb_tail].endpoint.E);
serial_writechar(',');
serwrite_uint32(movebuffer[mb_tail].endpoint.F);
serial_writechar('\n');