improve handling of flush queue in extruder

[clinton/Smoothieware.git] / src / modules / robot / Stepper.cpp

diff --git a/src/modules/robot/Stepper.cpp b/src/modules/robot/Stepper.cpp
index 264bb41..c9aa130 100644 (file)
--- a/src/modules/robot/Stepper.cpp
+++ b/src/modules/robot/Stepper.cpp
@@ -71,7 +71,7 @@ void Stepper::on_config_reload(void *argument)
 {
 
     this->acceleration_ticks_per_second =  THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100   )->as_number();
-    this->minimum_steps_per_second      =  THEKERNEL->config->value(minimum_steps_per_minute_checksum     )->by_default(3000  )->as_number() / 60.0F;
+    this->minimum_steps_per_second      =  THEKERNEL->config->value(minimum_steps_per_minute_checksum     )->by_default(120  )->as_number() / 60.0F;
 
     // Steppers start off by default
     this->turn_enable_pins_off();
@@ -171,13 +171,13 @@ void Stepper::on_block_begin(void *argument)
 
     // Setup : instruct stepper motors to move
     if( block->steps[ALPHA_STEPPER] > 0 ) {
-        THEKERNEL->robot->alpha_stepper_motor->move( block->direction_bits[ALPHA_STEPPER], block->steps[ALPHA_STEPPER] );
+        THEKERNEL->robot->alpha_stepper_motor->move( block->direction_bits[ALPHA_STEPPER], block->steps[ALPHA_STEPPER]);
     }
     if( block->steps[BETA_STEPPER ] > 0 ) {
-        THEKERNEL->robot->beta_stepper_motor->move(  block->direction_bits[BETA_STEPPER], block->steps[BETA_STEPPER ] );
+        THEKERNEL->robot->beta_stepper_motor->move(  block->direction_bits[BETA_STEPPER], block->steps[BETA_STEPPER ]);
     }
     if( block->steps[GAMMA_STEPPER] > 0 ) {
-        THEKERNEL->robot->gamma_stepper_motor->move( block->direction_bits[GAMMA_STEPPER], block->steps[GAMMA_STEPPER] );
+        THEKERNEL->robot->gamma_stepper_motor->move( block->direction_bits[GAMMA_STEPPER], block->steps[GAMMA_STEPPER]);
     }
 
     this->current_block = block;
@@ -248,16 +248,16 @@ uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy )
                 trapezoid_adjusted_rate -= current_block->rate_delta;
 
             } else if (trapezoid_adjusted_rate == current_block->rate_delta * 0.5F) {
-                for (auto i : THEKERNEL->robot->actuators)
-                    i->move(i->direction, 0);
-                if (current_block)
-                    current_block->release();
+                for (auto i : THEKERNEL->robot->actuators) i->move(i->direction, 0); // stop motors
+                if (current_block) current_block->release();
+                THEKERNEL->call_event(ON_SPEED_CHANGE, 0); // tell others we stopped
                 return 0;
+
             } else {
                 trapezoid_adjusted_rate = current_block->rate_delta * 0.5F;
             }
 
-        } else if(current_steps_completed <= this->current_block->accelerate_until + 1) {
+        } else if(current_steps_completed <= this->current_block->accelerate_until+1) {
             // If we are accelerating
             // Increase speed
             this->trapezoid_adjusted_rate += this->current_block->rate_delta;
@@ -297,7 +297,6 @@ inline void Stepper::trapezoid_generator_reset()
 {
     this->trapezoid_adjusted_rate = this->current_block->initial_rate;
     this->force_speed_update = true;
-    this->trapezoid_tick_cycle_counter = 0;
 }
 
 // Update the speed for all steppers