thebears/marlin_skr
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Added slowdown

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This commit is contained in:
Erik van der Zalm
2011-11-14 20:04:29 +01:00
parent 331e82dcd3
commit 95126c09c0
2 changed files with 24 additions and 15 deletions
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32
Marlin/planner.cpp
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@@ -499,31 +499,37 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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
// unsigned long microseconds;
#if 0
// segment time im micro seconds
long segment_time = lround(1000000.0/inverse_second);
if (block->steps_e == 0) {
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
}
else {
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
microseconds = lround((block->millimeters/feed_rate)*1000000);
#ifdef SLOWDOWN
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
// reduces/removes corner blobs as the machine won't come to a full stop.
int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate / ((BLOCK_BUFFER_SIZE * 0.5)/moves_queued);
#endif
/*
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount);
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);
}
}
else {
if (microseconds<minsegmenttime) microseconds=minsegmenttime;
if (segment_time<minsegmenttime) segment_time=minsegmenttime;
}
// END OF SLOW DOWN SECTION
#endif
// END OF SLOW DOWN SECTION
*/
// Calculate speed in mm/sec for each axis
float current_speed[4];
@@ -546,7 +552,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// Check and limit the xy direction change frequency
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
long segment_time = lround(1000000.0/inverse_second);
if((direction_change & (1<<X_AXIS)) == 0) {
x_segment_time[0] += segment_time;
}