#include "libs/Pin.h"
#include "libs/StepperMotor.h"
#include "wait_api.h" // mbed.h lib
+#include "Robot.h"
+#include "Stepper.h"
+#include "Config.h"
+#include "SlowTicker.h"
+#include "Planner.h"
+#include "checksumm.h"
+#include "utils.h"
+#include "ConfigValue.h"
#define ALPHA_AXIS 0
#define BETA_AXIS 1
void Endstops::on_module_loaded()
{
// Do not do anything if not enabled
- if ( this->kernel->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
+ if ( THEKERNEL->config->value( endstops_module_enable_checksum )->by_default(true)->as_bool() == false ) {
return;
}
this->register_for_event(ON_GCODE_RECEIVED);
// Take StepperMotor objects from Robot and keep them here
- this->steppers[0] = this->kernel->robot->alpha_stepper_motor;
- this->steppers[1] = this->kernel->robot->beta_stepper_motor;
- this->steppers[2] = this->kernel->robot->gamma_stepper_motor;
+ this->steppers[0] = THEKERNEL->robot->alpha_stepper_motor;
+ this->steppers[1] = THEKERNEL->robot->beta_stepper_motor;
+ this->steppers[2] = THEKERNEL->robot->gamma_stepper_motor;
+ THEKERNEL->slow_ticker->attach( THEKERNEL->stepper->acceleration_ticks_per_second , this, &Endstops::acceleration_tick );
// Settings
this->on_config_reload(this);
-
}
// Get config
void Endstops::on_config_reload(void *argument)
{
- this->pins[0].from_string( this->kernel->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[1].from_string( this->kernel->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[2].from_string( this->kernel->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[3].from_string( this->kernel->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[4].from_string( this->kernel->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
- this->pins[5].from_string( this->kernel->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[2].from_string( THEKERNEL->config->value(gamma_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[3].from_string( THEKERNEL->config->value(alpha_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[4].from_string( THEKERNEL->config->value(beta_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
+ this->pins[5].from_string( THEKERNEL->config->value(gamma_max_endstop_checksum )->by_default("nc" )->as_string())->as_input();
// we need to know steps per mm for M206, also use them for all settings
- this->steps_per_mm[0] = this->kernel->config->value(alpha_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[1] = this->kernel->config->value(beta_steps_per_mm_checksum )->as_number();
- this->steps_per_mm[2] = this->kernel->config->value(gamma_steps_per_mm_checksum )->as_number();
-
- this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number();
- this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number();
- this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number();
- this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number();
- this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number();
- this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number();
+ this->steps_per_mm[0] = THEKERNEL->config->value(alpha_steps_per_mm_checksum )->as_number();
+ this->steps_per_mm[1] = THEKERNEL->config->value(beta_steps_per_mm_checksum )->as_number();
+ this->steps_per_mm[2] = THEKERNEL->config->value(gamma_steps_per_mm_checksum )->as_number();
+
+ //These are the old ones in steps still here for backwards compatibility
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_checksum )->by_default(4000 )->as_number();
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_checksum )->by_default(4000 )->as_number();
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_checksum )->by_default(6400 )->as_number();
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_checksum )->by_default(2000 )->as_number();
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_checksum )->by_default(2000 )->as_number();
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_checksum )->by_default(3200 )->as_number();
+ this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_checksum )->by_default(400 )->as_number();
+ this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_checksum )->by_default(400 )->as_number();
+ this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_checksum )->by_default(1600 )->as_number();
// newer mm based config values override the old ones, convert to steps/mm and steps, defaults to what was set in the older config settings above
- this->fast_rates[0] = this->kernel->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->fast_rates[1] = this->kernel->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->fast_rates[2] = this->kernel->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->slow_rates[0] = this->kernel->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->slow_rates[1] = this->kernel->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->slow_rates[2] = this->kernel->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->retract_steps[0] = this->kernel->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_steps[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
- this->retract_steps[1] = this->kernel->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_steps[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
- this->retract_steps[2] = this->kernel->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_steps[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
+ this->fast_rates[0] = THEKERNEL->config->value(alpha_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
+ this->fast_rates[1] = THEKERNEL->config->value(beta_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
+ this->fast_rates[2] = THEKERNEL->config->value(gamma_fast_homing_rate_mm_checksum )->by_default(this->fast_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
+ this->slow_rates[0] = THEKERNEL->config->value(alpha_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
+ this->slow_rates[1] = THEKERNEL->config->value(beta_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
+ this->slow_rates[2] = THEKERNEL->config->value(gamma_slow_homing_rate_mm_checksum )->by_default(this->slow_rates[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
+ this->retract_steps[0] = THEKERNEL->config->value(alpha_homing_retract_mm_checksum )->by_default(this->retract_steps[0] / steps_per_mm[0])->as_number() * steps_per_mm[0];
+ this->retract_steps[1] = THEKERNEL->config->value(beta_homing_retract_mm_checksum )->by_default(this->retract_steps[1] / steps_per_mm[1])->as_number() * steps_per_mm[1];
+ this->retract_steps[2] = THEKERNEL->config->value(gamma_homing_retract_mm_checksum )->by_default(this->retract_steps[2] / steps_per_mm[2])->as_number() * steps_per_mm[2];
- this->debounce_count = this->kernel->config->value(endstop_debounce_count_checksum )->by_default(0)->as_number();
+ this->debounce_count = THEKERNEL->config->value(endstop_debounce_count_checksum )->by_default(0)->as_number();
// get homing direction and convert to boolean where true is home to min, and false is home to max
- int home_dir = get_checksum(this->kernel->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ int home_dir = get_checksum(THEKERNEL->config->value(alpha_homing_direction_checksum)->by_default("home_to_min")->as_string());
this->home_direction[0] = home_dir != home_to_max_checksum;
- home_dir = get_checksum(this->kernel->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ home_dir = get_checksum(THEKERNEL->config->value(beta_homing_direction_checksum)->by_default("home_to_min")->as_string());
this->home_direction[1] = home_dir != home_to_max_checksum;
- home_dir = get_checksum(this->kernel->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
+ home_dir = get_checksum(THEKERNEL->config->value(gamma_homing_direction_checksum)->by_default("home_to_min")->as_string());
this->home_direction[2] = home_dir != home_to_max_checksum;
- this->homing_position[0] = this->home_direction[0] ? this->kernel->config->value(alpha_min_checksum)->by_default(0)->as_number() : this->kernel->config->value(alpha_max_checksum)->by_default(200)->as_number();
- this->homing_position[1] = this->home_direction[1] ? this->kernel->config->value(beta_min_checksum )->by_default(0)->as_number() : this->kernel->config->value(beta_max_checksum )->by_default(200)->as_number();;
- this->homing_position[2] = this->home_direction[2] ? this->kernel->config->value(gamma_min_checksum)->by_default(0)->as_number() : this->kernel->config->value(gamma_max_checksum)->by_default(200)->as_number();;
+ this->homing_position[0] = this->home_direction[0] ? THEKERNEL->config->value(alpha_min_checksum)->by_default(0)->as_number() : THEKERNEL->config->value(alpha_max_checksum)->by_default(200)->as_number();
+ this->homing_position[1] = this->home_direction[1] ? THEKERNEL->config->value(beta_min_checksum )->by_default(0)->as_number() : THEKERNEL->config->value(beta_max_checksum )->by_default(200)->as_number();;
+ this->homing_position[2] = this->home_direction[2] ? THEKERNEL->config->value(gamma_min_checksum)->by_default(0)->as_number() : THEKERNEL->config->value(gamma_max_checksum)->by_default(200)->as_number();;
- this->is_corexy = this->kernel->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
- this->is_delta = this->kernel->config->value(delta_homing_checksum)->by_default(false)->as_bool();
+ this->is_corexy = THEKERNEL->config->value(corexy_homing_checksum)->by_default(false)->as_bool();
+ this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool();
// endstop trim used by deltas to do soft adjusting, in mm, convert to steps, and negate depending on homing direction
// eg on a delta homing to max, a negative trim value will move the carriage down, and a positive will move it up
int dirx = (this->home_direction[0] ? 1 : -1);
int diry = (this->home_direction[1] ? 1 : -1);
int dirz = (this->home_direction[2] ? 1 : -1);
- this->trim[0] = this->kernel->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
- this->trim[1] = this->kernel->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
- this->trim[2] = this->kernel->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
+ this->trim[0] = THEKERNEL->config->value(alpha_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[0] * dirx;
+ this->trim[1] = THEKERNEL->config->value(beta_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[1] * diry;
+ this->trim[2] = THEKERNEL->config->value(gamma_trim_checksum )->by_default(0 )->as_number() * steps_per_mm[2] * dirz;
}
void Endstops::wait_for_homed(char axes_to_move)
unsigned int debounce[3] = {0, 0, 0};
while (running) {
running = false;
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
if ( this->pins[c - 'X' + (this->home_direction[c - 'X'] ? 0 : 3)].get() ) {
this->status = MOVING_TO_ORIGIN_FAST;
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->steppers[c - 'X']->set_speed(this->fast_rates[c - 'X']);
+ this->feed_rate[c - 'X']= this->fast_rates[c - 'X'];
+ this->steppers[c - 'X']->set_speed(0);
this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
}
}
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
inverted_dir = !this->home_direction[c - 'X'];
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
+ this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
+ this->steppers[c - 'X']->set_speed(0);
this->steppers[c - 'X']->move(inverted_dir, this->retract_steps[c - 'X']);
}
}
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
while ( this->steppers[c - 'X']->moving ) {
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
}
}
}
this->status = MOVING_TO_ORIGIN_SLOW;
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
+ this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
+ this->steppers[c - 'X']->set_speed(0);
this->steppers[c - 'X']->move(this->home_direction[c - 'X'], 10000000);
}
}
inverted_dir = !this->home_direction[c - 'X'];
// move up or down depending on sign of trim
if (this->trim[c - 'X'] < 0) inverted_dir = !inverted_dir;
- this->steppers[c - 'X']->set_speed(this->slow_rates[c - 'X']);
- this->steppers[c - 'X']->move(inverted_dir, this->trim[c - 'X']);
+ this->feed_rate[c - 'X']= this->slow_rates[c - 'X'];
+ this->steppers[c - 'X']->set_speed(0);
+ this->steppers[c - 'X']->move(inverted_dir, abs(this->trim[c - 'X']));
}
}
// Wait for moves to be done
for ( char c = 'X'; c <= 'Z'; c++ ) {
if ( ( axes_to_move >> ( c - 'X' ) ) & 1 ) {
- //this->kernel->streams->printf("axis %c \r\n", c );
+ //THEKERNEL->streams->printf("axis %c \r\n", c );
while ( this->steppers[c - 'X']->moving ) {
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
}
}
}
unsigned int debounce[3] = {0, 0, 0};
while (running) {
running = false;
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
if ( this->pins[axis + (this->home_direction[axis] ? 0 : 3)].get() ) {
if ( debounce[axis] < debounce_count ) {
debounce[axis] ++;
}
}
-void Endstops::corexy_home(int home_axis, bool dirx, bool diry, double fast_rate, double slow_rate, unsigned int retract_steps)
+void Endstops::corexy_home(int home_axis, bool dirx, bool diry, float fast_rate, float slow_rate, unsigned int retract_steps)
{
this->status = MOVING_TO_ORIGIN_FAST;
- this->steppers[X_AXIS]->set_speed(fast_rate);
+ this->feed_rate[X_AXIS]= fast_rate;
+ this->steppers[X_AXIS]->set_speed(0);
this->steppers[X_AXIS]->move(dirx, 10000000);
- this->steppers[Y_AXIS]->set_speed(fast_rate);
+ this->feed_rate[Y_AXIS]= fast_rate;
+ this->steppers[Y_AXIS]->set_speed(0);
this->steppers[Y_AXIS]->move(diry, 10000000);
// wait for primary axis
// Move back a small distance
this->status = MOVING_BACK;
- this->steppers[X_AXIS]->set_speed(slow_rate);
+ this->feed_rate[X_AXIS]= slow_rate;
+ this->steppers[X_AXIS]->set_speed(0);
this->steppers[X_AXIS]->move(!dirx, retract_steps);
- this->steppers[Y_AXIS]->set_speed(slow_rate);
+ this->feed_rate[Y_AXIS]= slow_rate;
+ this->steppers[Y_AXIS]->set_speed(0);
this->steppers[Y_AXIS]->move(!diry, retract_steps);
// wait until done
while ( this->steppers[X_AXIS]->moving || this->steppers[Y_AXIS]->moving) {
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
}
// Start moving the axes to the origin slowly
this->status = MOVING_TO_ORIGIN_SLOW;
- this->steppers[X_AXIS]->set_speed(slow_rate);
+ this->feed_rate[X_AXIS]= slow_rate;
+ this->steppers[X_AXIS]->set_speed(0);
this->steppers[X_AXIS]->move(dirx, 10000000);
- this->steppers[Y_AXIS]->set_speed(slow_rate);
+ this->feed_rate[Y_AXIS]= slow_rate;
+ this->steppers[Y_AXIS]->set_speed(0);
this->steppers[Y_AXIS]->move(diry, 10000000);
// wait for primary axis
// this homing works for HBots/CoreXY
void Endstops::do_homing_corexy(char axes_to_move)
{
- // TODO should really make order configurable, and selectr whether to allow XY to home at the same time, diagonally
+ // TODO should really make order configurable, and select whether to allow XY to home at the same time, diagonally
// To move XY at the same time only one motor needs to turn, determine which motor and which direction based on min or max directions
- // allow to move until an endstop triggers, then stop that motor.
+ // allow to move until an endstop triggers, then stop that motor. Speed up when moving diagonally to match X or Y speed
// continue moving in the direction not yet triggered (which means two motors turning) until endstop hit
if((axes_to_move & 0x03) == 0x03) { // both X and Y need Homing
// then move both X and Y until one hits the endstop
this->status = MOVING_TO_ORIGIN_FAST;
- this->steppers[motor]->set_speed(this->fast_rates[motor]);
+ this->feed_rate[motor]= this->fast_rates[motor]*1.4142;
+ this->steppers[motor]->set_speed(0); // need to allow for more ground covered when moving diagonally
this->steppers[motor]->move(dir, 10000000);
// wait until either X or Y hits the endstop
bool running= true;
while (running) {
- this->kernel->call_event(ON_IDLE);
+ THEKERNEL->call_event(ON_IDLE);
for(int m=X_AXIS;m<=Y_AXIS;m++) {
if(this->pins[m + (this->home_direction[m] ? 0 : 3)].get()) {
// turn off motor
// G28 is received, we have homing to do
// First wait for the queue to be empty
- this->kernel->conveyor->wait_for_empty_queue();
+ THEKERNEL->conveyor->wait_for_empty_queue();
// Do we move select axes or all of them
char axes_to_move = 0;
}
// Enable the motors
- this->kernel->stepper->turn_enable_pins_on();
+ THEKERNEL->stepper->turn_enable_pins_on();
// do the actual homing
if (is_corexy)
// Zero the ax(i/e)s position, add in the home offset
for ( int c = 0; c <= 2; c++ ) {
if ( (axes_to_move >> c) & 1 ) {
- this->kernel->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
+ THEKERNEL->robot->reset_axis_position(this->homing_position[c] + this->home_offset[c], c);
}
}
}
const char *my = this->home_direction[1] ? "min" : "max";
const char *mz = this->home_direction[2] ? "min" : "max";
- gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d\n", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ gcode->stream->printf("X %s:%d Y %s:%d Z %s:%d", mx, this->pins[px].get(), my, this->pins[py].get(), mz, this->pins[pz].get());
+ gcode->add_nl= true;
gcode->mark_as_taken();
}
break;
case 503: // print settings
gcode->stream->printf(";Home offset (mm):\nM206 X%1.2f Y%1.2f Z%1.2f\n", home_offset[0], home_offset[1], home_offset[2]);
if (is_delta) {
- double mm[3];
+ float mm[3];
trim2mm(mm);
gcode->stream->printf(";Trim (mm):\nM666 X%1.2f Y%1.2f Z%1.2f\n", mm[0], mm[1], mm[2]);
gcode->stream->printf(";Max Z\nM665 Z%1.2f\n", this->homing_position[2]);
case 665: { // M665 - set max gamma/z height
gcode->mark_as_taken();
- double gamma_max = this->homing_position[2];
+ float gamma_max = this->homing_position[2];
if (gcode->has_letter('Z')) {
this->homing_position[2] = gamma_max = gcode->get_value('Z');
}
break;
- case 666: { // M666 - set trim for each axis in mm
- double mm[3];
+ case 666: { // M666 - set trim for each axis in mm, NB negative mm and positive steps trim is down
+ float mm[3];
trim2mm(mm);
if (gcode->has_letter('X')) mm[0] = gcode->get_value('X');
}
}
-void Endstops::trim2mm(double *mm)
+void Endstops::trim2mm(float *mm)
{
int dirx = (this->home_direction[0] ? 1 : -1);
int diry = (this->home_direction[1] ? 1 : -1);
mm[2] = this->trim[2] / this->steps_per_mm[2] * dirz;
}
+#define max(a,b) (((a) > (b)) ? (a) : (b))
+// Called periodically to change the speed to match acceleration
+uint32_t Endstops::acceleration_tick(uint32_t dummy)
+{
+ if(this->status == NOT_HOMING) return(0); // nothing to do
+
+ // foreach stepper that is moving
+ for ( int c = X_AXIS; c <= Z_AXIS; c++ ) {
+ if( !this->steppers[c]->moving ) continue;
+
+ uint32_t current_rate = this->steppers[c]->steps_per_second;
+ uint32_t target_rate = int(floor(this->feed_rate[c]));
+
+ if( current_rate < target_rate ){
+ uint32_t rate_increase = int(floor((THEKERNEL->planner->acceleration/THEKERNEL->stepper->acceleration_ticks_per_second)*this->steps_per_mm[c]));
+ current_rate = min( target_rate, current_rate + rate_increase );
+ }
+ if( current_rate > target_rate ){ current_rate = target_rate; }
+
+ // steps per second
+ this->steppers[c]->set_speed(max(current_rate, THEKERNEL->stepper->minimum_steps_per_second));
+ }
+
+ return 0;
+}
HCoop / clinton / Smoothieware.git / blobdiff