IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/
-
-
-
#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
void getHighESpeed()
{
static float oldt=0;
- if(!autotemp_enabled)
+ if(!autotemp_enabled){
return;
- if(degTargetHotend0()+2<autotemp_min) //probably temperature set to zero.
+ }
+ if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
return; //do nothing
+ }
- float high=0;
+ float high=0.0;
uint8_t block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
- float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
- //se; units steps/sec;
- if(se>high)
- {
- high=se;
+ if((block_buffer[block_index].steps_x != 0) ||
+ (block_buffer[block_index].steps_y != 0) ||
+ (block_buffer[block_index].steps_z != 0)) {
+ float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+ //se; mm/sec;
+ if(se>high)
+ {
+ high=se;
+ }
}
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
}
}
oldt=t;
setTargetHotend0(t);
-// SERIAL_ECHO_START;
-// SERIAL_ECHOPAIR("highe",high);
-// SERIAL_ECHOPAIR(" t",t);
-// SERIAL_ECHOLN("");
}
#endif
analogWrite(FAN_PIN,tail_fan_speed);
}
#endif
+ #ifdef AUTOTEMP
+ getHighESpeed();
+ #endif
}
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
- if (block->step_event_count <=dropsegments) { return; };
+ if (block->step_event_count <= dropsegments) { return; };
block->fan_speed = FanSpeed;
// Enable all
if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
-
if (block->steps_e == 0) {
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
}
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
- // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
- int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
- #ifdef SLOWDOWN
- if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
- #endif
-
float delta_mm[4];
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
- block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
- block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
-
+ int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+
+ // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+ #ifdef OLD_SLOWDOWN
+ if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
+ #endif
-/*
+ #ifdef SLOWDOWN
// segment time im micro seconds
- long segment_time = lround(1000000.0/inverse_second);
- 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.
- segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
+ unsigned long segment_time = lround(1000000.0/inverse_second);
+ if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
+ if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
+ inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
}
}
- else {
- if (segment_time<minsegmenttime) segment_time=minsegmenttime;
- }
+ #endif
// END OF SLOW DOWN SECTION
-*/
+
+ block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
+ block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
- // Calculate speed in mm/sec for each axis
+ // Calculate and limit speed in mm/sec for each axis
float current_speed[4];
- for(int i=0; i < 4; i++) {
- current_speed[i] = delta_mm[i] * inverse_second;
- }
-
- // Limit speed per axis
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++) {
+ current_speed[i] = delta_mm[i] * inverse_second;
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
}
// Correct the speed
if( speed_factor < 1.0) {
-// Serial.print("speed factor : "); Serial.println(speed_factor);
- for(int i=0; i < 4; i++) {
- if(abs(current_speed[i]) > max_feedrate[i])
- speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
- /*
- if(speed_factor < 0.1) {
- Serial.print("speed factor : "); Serial.println(speed_factor);
- Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
- }
- */
- }
for(unsigned char i=0; i < 4; i++) {
current_speed[i] *= speed_factor;
}
*/
#endif // ADVANCE
-
-
-
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
MINIMUM_PLANNER_SPEED/block->nominal_speed);
memcpy(position, target, sizeof(target)); // position[] = target[]
planner_recalculate();
- #ifdef AUTOTEMP
- getHighESpeed();
- #endif
+
st_wake_up();
}
~ianmdlvl / marlin.git / blobdiff