Added E-Jerk
This commit is contained in:
Erik van der Zalm
parent
4deeffbc88
commit
e056bf8081
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@ -171,6 +171,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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//
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#define DEFAULT_XYJERK 20.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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#define DEFAULT_EJERK 5.0 // (mm/sec)
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//===========================================================================
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//=============================Additional Features===========================
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@ -191,7 +192,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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//#define ULTRA_LCD //general lcd support, also 16x2
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//#define SDSUPPORT // Enable SD Card Support in Hardware Console
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//#define ULTIPANEL
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#define ULTIPANEL
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#ifdef ULTIPANEL
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#define NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
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// the default values are used whenever there is a change to the data, to prevent
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#define EEPROM_VERSION "V04"
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#define EEPROM_VERSION "V05"
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inline void EEPROM_StoreSettings()
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{
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@ -56,6 +56,7 @@ inline void EEPROM_StoreSettings()
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EEPROM_writeAnything(i,minsegmenttime);
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EEPROM_writeAnything(i,max_xy_jerk);
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EEPROM_writeAnything(i,max_z_jerk);
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EEPROM_writeAnything(i,max_e_jerk);
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#ifdef PIDTEMP
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EEPROM_writeAnything(i,Kp);
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EEPROM_writeAnything(i,Ki);
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@ -116,6 +117,7 @@ inline void EEPROM_printSettings()
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SERIAL_ECHOPAIR(" B" ,minsegmenttime );
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SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
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SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
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SERIAL_ECHOPAIR(" E" ,max_e_jerk);
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SERIAL_ECHOLN("");
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#ifdef PIDTEMP
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SERIAL_ECHO_START;
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@ -150,6 +152,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
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EEPROM_readAnything(i,minsegmenttime);
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EEPROM_readAnything(i,max_xy_jerk);
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EEPROM_readAnything(i,max_z_jerk);
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EEPROM_readAnything(i,max_e_jerk);
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#ifndef PIDTEMP
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float Kp,Ki,Kd;
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#endif
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@ -179,6 +182,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
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mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
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max_xy_jerk=DEFAULT_XYJERK;
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max_z_jerk=DEFAULT_ZJERK;
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max_e_jerk=DEFAULT_EJERK;
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SERIAL_ECHO_START;
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SERIAL_ECHOLN("Using Default settings:");
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}
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@ -97,7 +97,7 @@
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
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// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
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// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
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// M206 - set additional homeing offset
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// M220 S<factor in percent>- set speed factor override percentage
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// M221 S<factor in percent>- set extrude factor override percentage
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@ -1116,6 +1116,7 @@ void process_commands()
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if(code_seen('B')) minsegmenttime = code_value() ;
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if(code_seen('X')) max_xy_jerk = code_value() ;
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if(code_seen('Z')) max_z_jerk = code_value() ;
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if(code_seen('E')) max_e_jerk = code_value() ;
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}
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break;
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case 206: // M206 additional homeing offset
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@ -74,6 +74,7 @@ float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT A
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float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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float max_z_jerk;
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float max_e_jerk;
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float mintravelfeedrate;
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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@ -531,6 +532,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
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if (block->steps_e == 0) {
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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else {
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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#ifdef SLOWDOWN
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@ -555,12 +563,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
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if (block->steps_e == 0) {
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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else {
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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/*
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// segment time im micro seconds
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@ -705,7 +707,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
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vmax_junction = max_z_jerk/2;
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vmax_junction = min(vmax_junction, block->nominal_speed);
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if(abs(current_speed[E_AXIS]) > max_e_jerk/2)
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vmax_junction = min(vmax_junction, max_z_jerk/2);
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if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
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float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
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if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
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@ -717,6 +721,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
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vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
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}
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if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
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vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
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}
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}
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block->max_entry_speed = vmax_junction;
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@ -88,6 +88,7 @@ extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DE
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extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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extern float max_z_jerk;
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extern float max_e_jerk;
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extern float mintravelfeedrate;
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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