From 6002e10dd7420c8991719f9be493cad968e06329 Mon Sep 17 00:00:00 2001
From: Michael Moon <triffid.hunter@gmail.com>
Date: Tue, 2 Feb 2010 23:51:08 +1100
Subject: [PATCH] time to save, acceleration seems to be temporarily broken,
 will have to debug later

---
 mendel/dda.c     | 9 +++------
 mendel/dda.h     | 2 +-
 mendel/machine.h | 9 ++++-----
 mendel/mendel.c  | 4 ++--
 4 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/mendel/dda.c b/mendel/dda.c
index 434b7e0..a52b331 100644
--- a/mendel/dda.c
+++ b/mendel/dda.c
@@ -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) &&
diff --git a/mendel/dda.h b/mendel/dda.h
index b1124c6..fd4a705 100644
--- a/mendel/dda.h
+++ b/mendel/dda.h
@@ -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;
 
diff --git a/mendel/machine.h b/mendel/machine.h
index 2285f1e..8fe6202 100644
--- a/mendel/machine.h
+++ b/mendel/machine.h
@@ -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
diff --git a/mendel/mendel.c b/mendel/mendel.c
index 283c85d..eedbc61 100644
--- a/mendel/mendel.c
+++ b/mendel/mendel.c
@@ -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');