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Acceleration config for each axis separately #294

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Acceleration config for each axis separately #294

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5 changes: 4 additions & 1 deletion config/printer.mendel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 1000
#define ACCELERATION_X 1000
#define ACCELERATION_Y 1000
#define ACCELERATION_Z 1000
#define ACCELERATION_E 1000

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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5 changes: 4 additions & 1 deletion config/printer.mendel90.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 2000
#define ACCELERATION_X 2000
#define ACCELERATION_Y 2000
#define ACCELERATION_Z 2000
#define ACCELERATION_E 2000

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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5 changes: 4 additions & 1 deletion config/printer.pcbscriber.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 100
#define ACCELERATION_X 100
#define ACCELERATION_Y 100
#define ACCELERATION_Z 100
#define ACCELERATION_E 100

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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5 changes: 4 additions & 1 deletion config/printer.tronxy.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 1000
#define ACCELERATION_X 1000
#define ACCELERATION_Y 1000
#define ACCELERATION_Z 1000
#define ACCELERATION_E 1000

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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5 changes: 4 additions & 1 deletion config/printer.wolfstrap.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 100
#define ACCELERATION_X 100
#define ACCELERATION_Y 100
#define ACCELERATION_Z 100
#define ACCELERATION_E 100

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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28 changes: 18 additions & 10 deletions configtool/accelerationpage.py
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Expand Up @@ -12,12 +12,17 @@ def __init__(self, parent, nb, idPg, font):

self.accTypeKeys = ['ACCELERATION_REPRAP', 'ACCELERATION_RAMPING',
'ACCELERATION_TEMPORAL']
self.accKeys = ['ACCELERATION_X', 'ACCELERATION_Y', 'ACCELERATION_Z',
'ACCELERATION_E']
self.jerkKeys = ['MAX_JERK_X', 'MAX_JERK_Y', 'MAX_JERK_Z', 'MAX_JERK_E']

self.labels = {'ACCELERATION_REPRAP': "RepRap",
'ACCELERATION_RAMPING': "Ramping",
'ACCELERATION_TEMPORAL': "Temporal",
'ACCELERATION': "Acceleration:",
'ACCELERATION_X': "X:",
'ACCELERATION_Y': "Y:",
'ACCELERATION_Z': "Z:",
'ACCELERATION_E': "E:",
'LOOKAHEAD': "Look Ahead",
'MAX_JERK_X': "X:", 'MAX_JERK_Y': "Y:", 'MAX_JERK_Z': "Z:",
'MAX_JERK_E': "E:"}
Expand All @@ -44,17 +49,17 @@ def __init__(self, parent, nb, idPg, font):
sbox.AddSpacer((5, 5))
sz.Add(sbox, pos = (1, 1))

b = wx.StaticBox(self, wx.ID_ANY, "Ramping Parameters")
b = wx.StaticBox(self, wx.ID_ANY, "Ramping Acceleration Parameters")
b.SetFont(font)
sbox = wx.StaticBoxSizer(b, wx.VERTICAL)
sbox.AddSpacer((5, 5))

k = 'ACCELERATION'
tc = self.addTextCtrl(k, 80, self.onTextCtrlFloat)
self.textControls[k].Enable(False)

sbox.Add(tc)
sbox.AddSpacer((5, 5))
for k in self.accKeys:
tc = self.addTextCtrl(k, 80, self.onTextCtrlFloat)
self.textControls[k].Enable(False)
sbox.Add(tc)
sbox.AddSpacer((5, 5))

k = 'LOOKAHEAD'
cb = self.addCheckBox(k, self.onCheckBox)
Expand Down Expand Up @@ -96,20 +101,23 @@ def onAccTypeSelect(self, evt):
ena = False

self.checkBoxes['LOOKAHEAD'].Enable(ena)
self.textControls['ACCELERATION'].Enable(ena)
for k in self.accKeys:
self.textControls[k].Enable(ena)
evt.Skip()

def insertValues(self, cfgValues):
Page.insertValues(self, cfgValues)

self.checkBoxes['LOOKAHEAD'].Enable(False)
self.textControls['ACCELERATION'].Enable(False)
for k in self.accKeys:
self.textControls[k].Enable(False)
for tag in self.accTypeKeys:
if tag in cfgValues.keys() and cfgValues[tag]:
self.radioButtons[tag].SetValue(True)
if tag == 'ACCELERATION_RAMPING':
self.checkBoxes['LOOKAHEAD'].Enable(True)
self.textControls['ACCELERATION'].Enable(True)
for k in self.accKeys:
self.textControls[k].Enable(True)

def getValues(self):
result = Page.getValues(self)
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5 changes: 4 additions & 1 deletion configtool/printer.generic.h
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,10 @@
Units: mm/s^2
Useful range: 1 to 10'000
*/
#define ACCELERATION 100
#define ACCELERATION_X 100
#define ACCELERATION_Y 100
#define ACCELERATION_Z 100
#define ACCELERATION_E 100

/** \def LOOKAHEAD
Define this to enable look-ahead during *ramping* acceleration to smoothly
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8 changes: 4 additions & 4 deletions dda.c
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Expand Up @@ -63,10 +63,10 @@ static const axes_uint32_t PROGMEM maximum_feedrate_P = {
/// \brief Initialization constant for the ramping algorithm. Timer cycles for
/// first step interval.
static const axes_uint32_t PROGMEM c0_P = {
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_X * ACCELERATION / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_Y * ACCELERATION / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_Z * ACCELERATION / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_E * ACCELERATION / 2000.))
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_X * ACCELERATION_X / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_Y * ACCELERATION_Y / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_Z * ACCELERATION_Z / 2000.)),
(uint32_t)((double)F_CPU / sqrt((double)STEPS_PER_M_E * ACCELERATION_E / 2000.))
};
#endif

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8 changes: 4 additions & 4 deletions dda_maths.c
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Expand Up @@ -273,10 +273,10 @@ const uint8_t msbloc (uint32_t v) {
Pre-calculated constant values for acceleration ramp calculations.
*/
static const axes_uint32_t PROGMEM acc_ramp_div_P = {
(uint32_t)((7200000.0f * ACCELERATION) / STEPS_PER_M_X),
(uint32_t)((7200000.0f * ACCELERATION) / STEPS_PER_M_Y),
(uint32_t)((7200000.0f * ACCELERATION) / STEPS_PER_M_Z),
(uint32_t)((7200000.0f * ACCELERATION) / STEPS_PER_M_E)
(uint32_t)((7200000.0f * ACCELERATION_X) / STEPS_PER_M_X),
(uint32_t)((7200000.0f * ACCELERATION_Y) / STEPS_PER_M_Y),
(uint32_t)((7200000.0f * ACCELERATION_Z) / STEPS_PER_M_Z),
(uint32_t)((7200000.0f * ACCELERATION_E) / STEPS_PER_M_E)
};

/*! Acceleration ramp length in steps.
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6 changes: 3 additions & 3 deletions home.c
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Expand Up @@ -42,15 +42,15 @@
// units: / 1000 for um -> mm; * 60 for mm/s -> mm/min
#ifdef ENDSTOP_CLEARANCE_X
#define SEARCH_FAST_X (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_X / 1000.))
sqrt((double)2 * ACCELERATION_X * ENDSTOP_CLEARANCE_X / 1000.))
#endif
#ifdef ENDSTOP_CLEARANCE_Y
#define SEARCH_FAST_Y (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_Y / 1000.))
sqrt((double)2 * ACCELERATION_Y * ENDSTOP_CLEARANCE_Y / 1000.))
#endif
#ifdef ENDSTOP_CLEARANCE_Z
#define SEARCH_FAST_Z (uint32_t)((double)60. * \
sqrt((double)2 * ACCELERATION * ENDSTOP_CLEARANCE_Z / 1000.))
sqrt((double)2 * ACCELERATION_Z * ENDSTOP_CLEARANCE_Z / 1000.))
#endif

static const uint32_t PROGMEM fast_feedrate_P[3] = {
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7 changes: 5 additions & 2 deletions research/alg2.c
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Expand Up @@ -12,7 +12,10 @@
#include <stdlib.h>
#include <stdio.h>

#define ACCELERATION 10 // mm/s^2
#define ACCELERATION_X 10 // mm/s^2
#define ACCELERATION_Y 10 // mm/s^2
#define ACCELERATION_Z 10 // mm/s^2
#define ACCELERATION_E 10 // mm/s^2


typedef struct {
Expand Down Expand Up @@ -148,4 +151,4 @@ main() {
move(t3, 1);

return 0;
}
}
5 changes: 4 additions & 1 deletion testcases/config.h.Profiling
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Expand Up @@ -208,7 +208,10 @@
how fast to accelerate when using ACCELERATION_RAMPING.
given in mm/s^2, decimal allowed, useful range 1. to 10'000. Start with 10. for milling (high precision) or 1000. for printing
*/
#define ACCELERATION 50.
#define ACCELERATION_X 50.
#define ACCELERATION_Y 50.
#define ACCELERATION_Z 50.
#define ACCELERATION_E 50.

/** \def ACCELERATION_TEMPORAL
temporal step algorithm
Expand Down