Added slowdown
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@ -18,6 +18,9 @@
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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
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#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
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// If defined the movements slow down when the look ahead buffer is only half full
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#define SLOWDOWN
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// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
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// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
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//// The following define selects which electronics board you have. Please choose the one that matches your setup
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//// The following define selects which electronics board you have. Please choose the one that matches your setup
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@ -210,7 +213,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
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#define DEFAULT_MINTRAVELFEEDRATE 0
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#define DEFAULT_MINTRAVELFEEDRATE 0
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000
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#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this
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#define DEFAULT_XYJERK 30.0 // (mm/sec)
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#define DEFAULT_XYJERK 30.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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@ -269,7 +272,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
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#define ULTIPANEL
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#define ULTIPANEL
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#ifdef 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 NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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#define SDSUPPORT
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#define ULTRA_LCD
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#define ULTRA_LCD
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#define LCD_WIDTH 20
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#define LCD_WIDTH 20
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@ -499,8 +499,10 @@ 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_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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block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
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// unsigned long microseconds;
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// segment time im micro seconds
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#if 0
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long segment_time = lround(1000000.0/inverse_second);
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if (block->steps_e == 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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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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}
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@ -508,22 +510,26 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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}
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microseconds = lround((block->millimeters/feed_rate)*1000000);
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#ifdef SLOWDOWN
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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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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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// reduces/removes corner blobs as the machine won't come to a full stop.
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate / ((BLOCK_BUFFER_SIZE * 0.5)/moves_queued);
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#endif
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/*
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if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
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if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
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if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount);
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segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
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}
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}
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}
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}
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else {
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else {
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if (microseconds<minsegmenttime) microseconds=minsegmenttime;
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if (segment_time<minsegmenttime) segment_time=minsegmenttime;
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}
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}
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// END OF SLOW DOWN SECTION
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// END OF SLOW DOWN SECTION
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#endif
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*/
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// Calculate speed in mm/sec for each axis
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// Calculate speed in mm/sec for each axis
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float current_speed[4];
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float current_speed[4];
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@ -546,7 +552,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Check and limit the xy direction change frequency
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// Check and limit the xy direction change frequency
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unsigned char direction_change = block->direction_bits ^ old_direction_bits;
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unsigned char direction_change = block->direction_bits ^ old_direction_bits;
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old_direction_bits = block->direction_bits;
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old_direction_bits = block->direction_bits;
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long segment_time = lround(1000000.0/inverse_second);
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if((direction_change & (1<<X_AXIS)) == 0) {
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if((direction_change & (1<<X_AXIS)) == 0) {
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x_segment_time[0] += segment_time;
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x_segment_time[0] += segment_time;
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}
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}
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