path: root/trunk/users/erik/FiveD_GCode_Interpreter/eriks_differences.txt

Index: process_g_code.pde
===================================================================
--- process_g_code.pde	(revision 3145)
+++ process_g_code.pde	(working copy)
@@ -214,6 +214,19 @@
 	{
 		last_gcode_g = gc.G;	/* remember this for future instructions */
 		fp = where_i_am;
+#ifdef MODIFIER_PIN
+                modifier = analogRead(MODIFIER_PIN); // Erik
+if(((modifier - modifier_old) > 3) || ((modifier - modifier_old) < -3))  
+{
+  Serial.print("Modifier: ");
+  Serial.println(modifier);
+  modifier_old = modifier;
+}
+#endif
+                // Debug Erik:
+                //Serial.print("Modifier: ");
+                //Serial.println(modifier/512);
+                
 		if (abs_mode)
 		{
 			if (gc.seen & GCODE_X)
@@ -223,7 +236,28 @@
 			if (gc.seen & GCODE_Z)
 				fp.z = gc.Z;
 			if (gc.seen & GCODE_E)
-				fp.e = gc.E;
+#ifdef MODIFIER_PIN
+if(gc.E<0) 
+{
+  Serial.print("Reversing: ");
+  Serial.print(gc.E);
+  Serial.print(", extr pos bef: ");
+  Serial.print(fp.e);
+  fp.e += gc.E*(modifier/512); // Erik
+  Serial.print(", extr pos after: ");
+  Serial.println(fp.e);
+} else
+{
+  fp.e += gc.E*(modifier/512); // Erik
+  Serial.print("fp.e is: ");
+  Serial.println(fp.e);
+}
+                                // Erik: Make forced incremental
+#else
+				fp.e += gc.E; // Erik
+//                                fp.e += gc.E; //ERIK: normaal niet aditive!
+
+#endif
 		}
 		else
 		{
@@ -234,13 +268,20 @@
 			if (gc.seen & GCODE_Z)
 				fp.z += gc.Z;
 			if (gc.seen & GCODE_E)
-				fp.e += gc.E;
+#ifndef MODIFIER_PIN
+                                fp.e += gc.E;
+#else
+  fp.e += gc.E*(modifier/512); // Erik
+#endif
 		}
 
 		// Get feedrate if supplied - feedrates are always absolute???
 		if ( gc.seen & GCODE_F )
-			fp.f = gc.F;
-               
+//#ifdef MODIFIER_PIN
+			fp.f = gc.F*(modifier_speed/512); // ERIK
+////#else
+//			fp.f = gc.F;
+//#endif               
                 // Process the buffered move commands first
                 // If we get one, return immediately
 
Index: FiveD_GCode_Interpreter.pde
===================================================================
--- FiveD_GCode_Interpreter.pde	(revision 3145)
+++ FiveD_GCode_Interpreter.pde	(working copy)
@@ -18,7 +18,6 @@
 #include "cartesian_dda.h"
 
 // Inline interrupt control functions
-
 inline void enableTimerInterrupt() 
 {
    TIMSK1 |= (1<<OCIE1A);
@@ -38,7 +37,6 @@
 {
   TCNT2 = 0;
 }
-
 char debugstring[COMMAND_SIZE];
 
 // Maintain a list of extruders...
@@ -68,7 +66,6 @@
 
 
 // Our interrupt function
-
 SIGNAL(SIG_OUTPUT_COMPARE1A)
 {
   disableTimerInterrupt();
@@ -81,9 +78,18 @@
   enableTimerInterrupt();
 }
 
+//ERIK
+#ifdef MODIFIER_PIN
+double modifier = 500.0;
+double modifier_old = 1.0;
+#endif
+double modifier_speed = 512.0; //ERIK
+
 void setup()
 {
+  
   disableTimerInterrupt();
+  // This screws with PWM :(
   setupTimerInterrupt();
   debugstring[0] = 0;
   extruder_in_use = 0;
@@ -105,12 +111,39 @@
   where_i_am.e = 0.0;
   where_i_am.f = SLOW_XY_FEEDRATE;
   
-  Serial.begin(19200);
+  Serial.begin(57600);
   Serial.println("start");
   setTimer(DEFAULT_TICK);
   enableTimerInterrupt();
+  
+  // ERIK:
+#ifdef MODIFIER_PIN
+  pinMode(MODIFIER_PIN,INPUT);
+#endif
+
 }
 
+byte softPWMduty = 0;
+byte softPWMcount = 0;
+int PWMstate = HIGH;
+static void softPWM()
+{
+    if(softPWMduty == softPWMcount)
+    {
+      PWMstate = LOW;
+    }
+    digitalWrite(12,PWMstate);
+    
+    if(softPWMcount<254)
+      softPWMcount++;
+    else
+    { 
+      PWMstate = HIGH;
+      softPWMcount=0;
+    }
+}
+
+
 void loop()
 {
 	manage_all_extruders();
@@ -177,7 +210,6 @@
 //******************************************************************************************
 
 // Interrupt functions
-
 void setupTimerInterrupt()
 {
 	//clear the registers
@@ -199,7 +231,7 @@
 	TCCR1A &= ~(1<<COM1B0);
 
 	//start off with a slow frequency.
-	setTimerResolution(4);
+	setTimerResolution(5);
 	setTimerCeiling(65535);
 }
 
Index: cartesian_dda.pde
===================================================================
--- cartesian_dda.pde	(revision 3145)
+++ cartesian_dda.pde	(working copy)
@@ -188,6 +188,10 @@
    
   do
   {
+    // ERIK NEW:
+    softPWM();
+    
+
 		x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
 		y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
 		z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
@@ -335,6 +339,7 @@
 #else
 	digitalWrite(Z_DIR_PIN, z_direction);
 #endif
+delayMicroseconds(110);//ERIK: FIXME Dit kost misschien te veel tijd maar nu voldoen we wel aan de specs van de driver IC.        
         if(e_direction)
           ext->set_direction(1);
         else
@@ -343,7 +348,6 @@
     //turn on steppers to start moving =)
     
 	enable_steppers();
-        
        // extcount = 0;
 
         setTimer(DEFAULT_TICK);
@@ -391,11 +395,15 @@
 {
 #ifdef SANGUINO
   if(delta_steps.x)
-    digitalWrite(X_ENABLE_PIN, ENABLE_ON);
+    digitalWrite(X_ENABLE_PIN, LOW);// ERIK: dit is een inverted boardje.
   if(delta_steps.y)    
-    digitalWrite(Y_ENABLE_PIN, ENABLE_ON);
+    digitalWrite(Y_ENABLE_PIN, LOW);// ERIK dit zelfbouw board luistert niet, maar toch...
   if(delta_steps.z)
+//#ifdef MOTHERBOARD_ERIK2
+//    digitalWrite(Z_ENABLE_PIN, ENABLE_ON);
+//#else
     digitalWrite(Z_ENABLE_PIN, ENABLE_ON);
+//#endif
   if(delta_steps.e)
     ext->enableStep();   
 #endif  
@@ -407,8 +415,9 @@
 {
 #ifdef SANGUINO 
 	//disable our steppers
-	digitalWrite(X_ENABLE_PIN, !ENABLE_ON);
-	digitalWrite(Y_ENABLE_PIN, !ENABLE_ON);
+        // ERIK: let op: X_ENABLE_PIN == Y_ENABLE_PIN
+	//digitalWrite(X_ENABLE_PIN, ENABLE_ON);// ERIK: dit is een inverted board
+	//digitalWrite(Y_ENABLE_PIN, ENABLE_ON);// ERIK: dit is een inverted board, luistert alleen niet naar enable..
 	digitalWrite(Z_ENABLE_PIN, !ENABLE_ON);
 
         // Disabling the extrude stepper causes the backpressure to
Index: extruder.pde
===================================================================
--- extruder.pde	(revision 3145)
+++ extruder.pde	(working copy)
@@ -1,4 +1,3 @@
-
 #include "parameters.h"
 #include "pins.h"
 #include "ThermistorTable.h"
@@ -24,20 +23,21 @@
 	//setup our pins
 	pinMode(motor_dir_pin, OUTPUT);
 	pinMode(motor_speed_pin, OUTPUT);
-	pinMode(heater_pin, OUTPUT);
+	//NOT NEEDED: pinMode(heater_pin, OUTPUT);
 
 	pinMode(temp_pin, INPUT);
-	pinMode(valve_dir_pin, OUTPUT); 
-        pinMode(valve_en_pin, OUTPUT);
+	//pinMode(valve_dir_pin, OUTPUT); 
+        //pinMode(valve_en_pin, OUTPUT);
 
 	//initialize values
 	digitalWrite(motor_dir_pin, EXTRUDER_FORWARD);
-	
-	analogWrite(heater_pin, 0);
-	analogWrite(motor_speed_pin, 0);
-	digitalWrite(valve_dir_pin, false);
-	digitalWrite(valve_en_pin, 0);
+	analogWrite(heater_pin, 64);
+	//digitalWrite(heater_pin, LOW);//ERIK: changed to digital, LOW
+	digitalWrite(motor_speed_pin, 0);// ERIK: changed to digital
+	//digitalWrite(valve_dir_pin, false);
+	///digitalWrite(valve_en_pin, 0);
 
+
 // The step enable pin and the fan pin are the same...
 // We can have one, or the other, but not both
 
@@ -51,12 +51,26 @@
           analogWrite(fan_pin, 0);
         }
 
-        //these our the default values for the extruder.
+// From makerbot branch:
+#if TEMP_PID
+  temp_iState = 0;
+  temp_dState = 0;
+  temp_pGain = TEMP_PID_PGAIN;
+  temp_iGain = TEMP_PID_IGAIN;
+  temp_dGain = TEMP_PID_DGAIN;
+  
+  temp_pid_update_windup();
+#endif
+
+  temp_control_enabled = true;
+  current_temperature = 0;
+  target_temperature = 100; // target_celcius
+  max_temperature = 0; // max_celcius
+
+  //these our the default values for the extruder.
         e_speed = 0;
-        target_celsius = 0;
-        max_celsius = 0;
-        heater_low = 64;
-        heater_high = 255;
+        byte heater_low = 64;
+        byte heater_high = 255;
         heater_current = 0;
         valve_open = false;
         
@@ -69,7 +83,7 @@
         e_direction = EXTRUDER_FORWARD;
         
         //default to cool
-        set_temperature(target_celsius);
+        set_temperature(target_temperature);
 }
 
 
@@ -77,7 +91,7 @@
 {  
   count = 0;
   oldT = get_temperature();
-  while (get_temperature() < target_celsius - HALF_DEAD_ZONE)
+  while (get_temperature() < target_temperature - HALF_DEAD_ZONE)
   {
 	manage_all_extruders();
         count++;
@@ -95,32 +109,8 @@
   return 0;
 }
 
-/*
-byte extruder::wait_till_cool()
-{  
-  count = 0;
-  oldT = get_temperature();
-  while (get_temperature() > target_celsius + HALF_DEAD_ZONE)
-  {
-	manage_all_extruders();
-        count++;
-        if(count > 20)
-        {
-            newT = get_temperature();
-            if(newT < oldT)
-               oldT = newT;
-            else
-                return 1;
-            count = 0;
-        }
-	delay(1000);
-  }
-  return 0;
-}
-*/
 
 
-
 void extruder::valve_set(bool open, int millis)
 {
         wait_for_temperature();
@@ -134,11 +124,11 @@
 
 void extruder::set_temperature(int temp)
 {
-	target_celsius = temp;
-	max_celsius = (temp*11)/10;
+	target_temperature = temp;
+	max_temperature = (temp*11)/10;
 
         // If we've turned the heat off, we might as well disable the extrude stepper
-        if(target_celsius < 1)
+        if(target_temperature < 0)
           ex[extruder_in_use]->disableStep(); 
 }
 
@@ -199,82 +189,140 @@
 	return raw;
 }
 
+
+#if TEMP_PID
+int extruder::temp_update(int dt)
+{
+  int output;
+  int error;
+  float pTerm, iTerm, dTerm;
+  
+  if (temp_control_enabled) {
+    error = target_temperature - current_temperature;
+    
+    pTerm = temp_pGain * error;
+    
+    temp_iState += error;
+    temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
+    iTerm = temp_iGain * temp_iState;
+    
+    dTerm = temp_dGain * (current_temperature - temp_dState);
+    temp_dState = current_temperature;
+    
+    output = pTerm + iTerm - dTerm;
+    output = constrain(output, 0, 255);
+  } else {
+    output = 0;
+  }
+  return output;
+}
+ 
+void extruder::temp_pid_update_windup()
+{
+  temp_iState_min = -TEMP_PID_INTEGRAL_DRIVE_MAX/temp_iGain;
+  temp_iState_max = TEMP_PID_INTEGRAL_DRIVE_MAX/temp_iGain;
+}
+
+#else
+
+int extruder::temp_update(int dt)
+{
+  int output;
+  
+  if (temp_control_enabled) {
+    //put the heater into high mode if we're not at our target.
+    if (current_temperature < target_temperature)
+      output = heater_high;
+    //put the heater on low if we're at our target.
+    else if (current_temperature < max_temperature)
+      output = heater_low;
+    //turn the heater off if we're above our max.
+    else
+      output = 0;
+  } else {
+    output = 0;
+  }
+  return output;
+}
+#endif /* TEMP_PID */
+
+
+/*void extruder::manage()
+{
+ //int output = random(255);
+// analogWrite(12,128);
+ // 
+ //digitalWrite(12,(output > 64)?HIGH:LOW);
+ //Serial.print("!");
+ //delay(200);
+}
+*/
 /*!
+Manages motor and heater based on measured temperature:
+o If temp is too low, don't start the motor
+o Adjust the heater power to keep the temperature at the target
+*/
+// NEW
+void extruder::manage()
+{
+  int output, dt;
+  unsigned long time;
+
+  //make sure we know what our temp is.
+  current_temperature = get_temperature();
+    
+  // ignoring millis rollover for now
+  time = millis();
+  dt = time - temp_prev_time;
+
+  if (dt > TEMP_UPDATE_INTERVAL)
+  {
+    temp_prev_time = time;
+    output = temp_update(dt);
+    //digitalWrite(DEBUG_PIN, (output > 0)?HIGH:LOW);
+//    analogWrite(12, output);
+//    delay(200);
+    digitalWrite(heater_pin, (output > 128)?HIGH:LOW);
+    softPWMduty = output;
+//    softPWM(); // deze moet gewoon aan of uit...
+  }
+}
+
+
+/*!
   Manages extruder functions to keep temps, speeds etc
   at the set levels.  Should be called only by manage_all_extruders(),
   which should be called in all non-trivial loops.
   o If temp is too low, don't start the motor
   o Adjust the heater power to keep the temperature at the target
  */
+// OLD
+/*
 void extruder::manage()
 {
 	//make sure we know what our temp is.
 	int current_celsius = get_temperature();
-        byte newheat = 0;
+        int newheat = 0;
   
         //put the heater into high mode if we're not at our target.
         if (current_celsius < target_celsius)
-                newheat = heater_high;
+                newheat = 255;
         //put the heater on low if we're at our target.
         else if (current_celsius < max_celsius)
-                newheat = heater_low;
+                newheat = 64;
         
         // Only update heat if it changed
         if (heater_current != newheat) {
                 heater_current = newheat;
-                analogWrite(heater_pin, heater_current);
+//                analogWrite(heater_pin, newheat); // STandard 
+                analogWrite(12, newheat); // STandard 
+//                digitalWrite(heater_pin, heater_current);//ERIK
         }
 }
 
+*/
 
-#if 0
-void extruder::set_speed(float sp)
-{
-  // DC motor?
-    if(step_en_pin < 0)
-    {
-      e_speed = (byte)sp;
-      if(e_speed > 0)
-          wait_for_temperature();
-      analogWrite(motor_speed_pin, e_speed);
-      return;
-    }
-      
-    // No - stepper
-  disableTimerInterrupt();
-  
-  if(sp <= 1.0e-4)
-  {
-    disableStep();
-    e_speed = 0; // Just use this as a flag
-    return;
-  } else
-  {
-    wait_for_temperature();
-    enableStep();
-    e_speed = 1;
-  }
-    
-  extrude_step_count = 0;
-  
-  float milliseconds_per_step = 60000.0/(E_STEPS_PER_MM*sp);
-  long thousand_ticks_per_step = 4*(long)(milliseconds_per_step);
-  setupTimerInterrupt();
-  setTimer(thousand_ticks_per_step);
-  enableTimerInterrupt();
-}
 
-void extruder::interrupt()
-{
-    if(!e_speed)
-      return;
-    extrude_step_count++;
-    if(extrude_step_count > 1000)
-    {
-      step();
-      extrude_step_count = 0;
-    }
-}
+// NOT USED
 
-#endif
 
Index: ThermistorTable.h
===================================================================
--- ThermistorTable.h	(revision 3145)
+++ ThermistorTable.h	(working copy)
@@ -4,8 +4,6 @@
 // Uncomment the next line if you are using a thermistor; leave it if you have a thermocouple
 //#define USE_THERMISTOR
 
-// How many temperature samples to take for an average.  each sample takes about 100 usecs.
-#define TEMPERATURE_SAMPLES 3
 
 // How accurately do we maintain the temperature?
 #define HALF_DEAD_ZONE 5