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Diagonal acceleration

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espr14 2020-12-21 15:32:09 +01:00
parent 27ff6b0057
commit 9a59369c77
1 changed files with 29 additions and 7 deletions
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36
Firmware/xyzcal.cpp
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@ -455,7 +455,8 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
uint16_t current_delay_us = MAX_DELAY; ///< defines current speed
xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
int16_t start_z;
int16_t last_top_z;
// int16_t last_top_z;
uint16_t steps_to_go;
for (uint8_t r = 0; r < 32; r++){ ///< Y axis
xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
@ -475,7 +476,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
current_delay_us = MAX_DELAY;
for (start_z = z; z < (max_z + start_z) / 2; ++z){
if (!_PINDA){
last_top_z = z;
// last_top_z = z;
break;
}
accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
@ -487,7 +488,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
++z;
}
last_top_z = z;
// last_top_z = z;
}
/// slow down to stop
while (current_delay_us < MAX_DELAY){
@ -508,7 +509,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
}
/// slow down
if(!_PINDA){
uint16_t steps_to_go = MAX(0, z - min_z);
steps_to_go = MAX(0, z - min_z);
while (!_PINDA && z > min_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
--z;
@ -531,9 +532,30 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
}
/// move to the next point
xyzcal_lineXYZ_to(((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx, _Y, (last_top_z + z) / 2, delay_us, 0);
z = _Z;
/// move to the next point and move Z up diagonally
current_delay_us = MAX_DELAY;
// const int8_t dir = (d & 1) ? -1 : 1;
const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
const int16_t length_x = ABS(end_x - _X);
const int16_t half_x = length_x / 2;
int16_t x = 0;
sm4_set_dir(Z_AXIS, Z_PLUS);
/// speed up
for (x = 0; x <= half_x; ++x, ++z){
accelerate(X_AXIS_MASK | Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
}
/// slow down
steps_to_go = length_x - x;
for (; x < length_x; ++x, ++z){
go_and_stop(X_AXIS_MASK | Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
}
count_position[0] = end_x;
count_position[2] = z;
// xyzcal_lineXYZ_to(((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx, _Y, (last_top_z + z) / 2, delay_us, 0);
// z = _Z;
}
}
// DBG(_n("\n\n"));