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Some fixes in planner

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This commit is contained in:
Erik van der Zalm 2011-11-14 23:57:34 +01:00
parent 95126c09c0
commit 5fd41ae872
3 changed files with 24 additions and 23 deletions
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20
Marlin/Configuration.h
View file

@ -115,9 +115,13 @@
#ifdef PID_PID #ifdef PID_PID
//PID according to Ziegler-Nichols method //PID according to Ziegler-Nichols method
#define DEFAULT_Kp (0.6*PID_CRITIAL_GAIN) // #define DEFAULT_Kp (0.6*PID_CRITIAL_GAIN)
#define DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT) // #define DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
#define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT) // #define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)
#define DEFAULT_Kp 22.2
#define DEFAULT_Ki (1.25*PID_dT)
#define DEFAULT_Kd (99/PID_dT)
#endif #endif
#ifdef PID_PI #ifdef PID_PI
@ -197,20 +201,20 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
#define AXIS_RELATIVE_MODES {false, false, false, false} #define AXIS_RELATIVE_MODES {false, false, false, false}
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) #define MAX_STEP_FREQUENCY 40000L // Max step frequency for Ultimaker (5000 pps / half step)
// default settings // default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker #define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,760*1.1} // default steps per unit for ultimaker
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67} //#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67}
#define DEFAULT_MAX_FEEDRATE {500, 500, 10, 500000} // (mm/min) #define DEFAULT_MAX_FEEDRATE {500, 500, 5, 200000} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. #define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts #define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
#define DEFAULT_MINIMUMFEEDRATE 0 // minimum feedrate #define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0 #define DEFAULT_MINTRAVELFEEDRATE 0.0
// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff. // minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this #define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this

7
Marlin/planner.cpp
View file

@ -490,7 +490,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
square(delta_mm[Z_AXIS])); square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
@ -518,8 +518,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif #endif
/* /*
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) { if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount); segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
@ -531,6 +529,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// END OF SLOW DOWN SECTION // END OF SLOW DOWN SECTION
*/ */
// Calculate speed in mm/sec for each axis // Calculate speed in mm/sec for each axis
float current_speed[4]; float current_speed[4];
for(int i=0; i < 4; i++) { for(int i=0; i < 4; i++) {
@ -545,7 +544,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
} }
// Max segement time in us. // Max segement time in us.
#ifdef XY_FREQUENCY_LIMIT #ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT) #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
@ -575,7 +573,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME); if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
#endif #endif
// Correct the speed // Correct the speed
if( speed_factor < 1.0) { if( speed_factor < 1.0) {
// Serial.print("speed factor : "); Serial.println(speed_factor); // Serial.print("speed factor : "); Serial.println(speed_factor);

16
Marlin/stepper.cpp
View file

@ -227,11 +227,11 @@ inline unsigned short calc_timer(unsigned short step_rate) {
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = step_rate >> 2; step_rate = (step_rate >> 2)&0x3fff;
step_loops = 4; step_loops = 4;
} }
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = step_rate >> 1; step_rate = (step_rate >> 1)&0x7fff;
step_loops = 2; step_loops = 2;
} }
else { else {
@ -253,7 +253,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address); timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
} }
//if(timer < 100) timer = 100; if(timer < 100) timer = 100; //(20kHz this should never happen)
return timer; return timer;
} }
@ -340,7 +340,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed); // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
@ -352,7 +352,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){ if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
endstops_triggered(step_events_completed); // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
@ -365,7 +365,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed); // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
@ -377,7 +377,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
endstops_triggered(step_events_completed); // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
@ -402,7 +402,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){ if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
endstops_triggered(step_events_completed); // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif