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authormanuel <manuel@mausz.at>2021-01-16 21:47:38 +0100
committermanuel <manuel@mausz.at>2021-01-16 21:47:38 +0100
commitd3dd8913bdf41e38bbc75b1f5dbe7159650ba80b (patch)
tree6f37bbd847f10785cd56eed6ae03ac78447a6330 /linz
parentdeb1a919401b89a0da7dcfec9ecb88b17dc30b28 (diff)
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glasslathe: update acceleration curve
Diffstat (limited to 'linz')
-rw-r--r--linz/glasslathe/motor_start.tmc7
-rw-r--r--linz/glasslathe/motor_start_rev.tmc8
-rw-r--r--linz/glasslathe/scurve/calc.cpp25
-rw-r--r--linz/glasslathe/scurve/chart.js1646
-rw-r--r--linz/glasslathe/src/main.cpp20
5 files changed, 137 insertions, 1569 deletions
diff --git a/linz/glasslathe/motor_start.tmc b/linz/glasslathe/motor_start.tmc
new file mode 100644
index 0000000..ce6113d
--- /dev/null
+++ b/linz/glasslathe/motor_start.tmc
@@ -0,0 +1,7 @@
1SAP 6 , 0 , 255 // Set run current
2SAP 7 , 0 , 8 // Set standby current
3SAP 254 , 0 , 1 // Activate step / direction mode
4SAP 140 , 0 , 4 // 16 microsteps
5SAP 160 , 0 , 1 // Activate step interpolation (only works with 16 microsteps)
6SAP 161 , 0 , 1 // Activate double step
7STOP // End of this program
diff --git a/linz/glasslathe/motor_start_rev.tmc b/linz/glasslathe/motor_start_rev.tmc
new file mode 100644
index 0000000..c3fcf65
--- /dev/null
+++ b/linz/glasslathe/motor_start_rev.tmc
@@ -0,0 +1,8 @@
1SAP 6 , 0 , 255 // Set run current
2SAP 7 , 0 , 8 // Set standby current
3SAP 254 , 0 , 1 // Activate step / direction mode
4SAP 251 , 0 , 1 // Reverse shaft
5SAP 140 , 0 , 4 // 16 microsteps
6SAP 160 , 0 , 1 // Activate step interpolation (only works with 16 microsteps)
7SAP 161 , 0 , 1 // Activate double step
8STOP // End of this program
diff --git a/linz/glasslathe/scurve/calc.cpp b/linz/glasslathe/scurve/calc.cpp
index 1371577..8797e86 100644
--- a/linz/glasslathe/scurve/calc.cpp
+++ b/linz/glasslathe/scurve/calc.cpp
@@ -12,7 +12,7 @@ const int frequency_max = 6000;
12int newPotValue; 12int newPotValue;
13bool timer_enabled = false; 13bool timer_enabled = false;
14 14
15int x = 0; 15unsigned long x = 0;
16bool loop() 16bool loop()
17{ 17{
18 const int step_delay = 300; 18 const int step_delay = 300;
@@ -23,7 +23,7 @@ bool loop()
23 timer_enabled = true; 23 timer_enabled = true;
24 fprintf(stderr, "enable motor\n"); 24 fprintf(stderr, "enable motor\n");
25 x += step_delay; 25 x += step_delay;
26 printf("[%d, %d],\n", x, 0); 26 printf("[%lu, %d],\n", x, 0);
27 } 27 }
28 28
29 /*int step = (current.potValue < 20) ? 1 29 /*int step = (current.potValue < 20) ? 1
@@ -32,12 +32,12 @@ bool loop()
32 : (current.potValue < 400) ? 5 32 : (current.potValue < 400) ? 5
33 : (current.potValue < 500) ? 10 33 : (current.potValue < 500) ? 10
34 : 20;*/ 34 : 20;*/
35 int step = (current.frequency > 5000) ? 1 35 int step = (current.frequency > 5000) ? 100
36 : (current.frequency > 4500) ? 2 36 : (current.frequency > 4000) ? 100
37 : (current.frequency > 4000) ? 5 37 : (current.frequency > 3000) ? 150
38 : (current.frequency > 3000) ? 10 38 : (current.frequency > 2000) ? 150
39 : (current.frequency > 1000) ? 25 39 : (current.frequency > 1000) ? 120
40 : 50; 40 : 200;
41 int frequency = (current.direction == target.direction) ? target.frequency : 0; 41 int frequency = (current.direction == target.direction) ? target.frequency : 0;
42 step = std::min(abs(frequency - current.frequency), step); 42 step = std::min(abs(frequency - current.frequency), step);
43 if (frequency < current.frequency) 43 if (frequency < current.frequency)
@@ -45,7 +45,7 @@ bool loop()
45 current.frequency += step; 45 current.frequency += step;
46 46
47 x += step_delay; 47 x += step_delay;
48 printf("[%d, %d],\n", x, current.frequency); 48 printf("[%lu, %d],\n", x, current.frequency);
49 49
50 if (current.frequency == 0 && current.direction != target.direction) 50 if (current.frequency == 0 && current.direction != target.direction)
51 { 51 {
@@ -53,7 +53,7 @@ bool loop()
53 current.direction = target.direction; 53 current.direction = target.direction;
54 fprintf(stderr, "disable motor. changed direction to %d\n", current.direction); 54 fprintf(stderr, "disable motor. changed direction to %d\n", current.direction);
55 x += step_delay; 55 x += step_delay;
56 printf("[%d, %d],\n", x, 0); 56 printf("[%lu, %d],\n", x, 0);
57 } 57 }
58 } 58 }
59 else if (timer_enabled && target.potValue == 0) 59 else if (timer_enabled && target.potValue == 0)
@@ -61,7 +61,7 @@ bool loop()
61 timer_enabled = false; 61 timer_enabled = false;
62 fprintf(stderr, "disable motor\n"); 62 fprintf(stderr, "disable motor\n");
63 x += step_delay; 63 x += step_delay;
64 printf("[%d, %d],\n", x, 0); 64 printf("[%lu, %d],\n", x, 0);
65 } 65 }
66 else 66 else
67 return false; 67 return false;
@@ -74,5 +74,8 @@ int main(int argc, char *argv[])
74 target.frequency = frequency_max; 74 target.frequency = frequency_max;
75 target.potValue = 1023; 75 target.potValue = 1023;
76 while(loop()); 76 while(loop());
77 target.frequency = 0;
78 target.potValue = 0;
79 while(loop());
77 return 0; 80 return 0;
78} 81}
diff --git a/linz/glasslathe/scurve/chart.js b/linz/glasslathe/scurve/chart.js
index 70259af..58f07c5 100644
--- a/linz/glasslathe/scurve/chart.js
+++ b/linz/glasslathe/scurve/chart.js
@@ -2,6 +2,12 @@ Highcharts.chart('container', {
2 chart: { 2 chart: {
3 }, 3 },
4 xAxis: { 4 xAxis: {
5 labels: {
6 formatter: function () {
7 //return this.value;
8 return Highcharts.numberFormat(this.value / 1000, 2);
9 }
10 },
5 title: { 11 title: {
6 text: 'time' 12 text: 'time'
7 } 13 }
@@ -29,1552 +35,102 @@ Highcharts.chart('container', {
29 series: [{ 35 series: [{
30 name: "Winter 2014-2015", 36 name: "Winter 2014-2015",
31 data: [ 37 data: [
38
32[300, 0], 39[300, 0],
33[600, 50], 40[600, 200],
34[900, 100], 41[900, 400],
35[1200, 150], 42[1200, 600],
36[1500, 200], 43[1500, 800],
37[1800, 250], 44[1800, 1000],
38[2100, 300], 45[2100, 1200],
39[2400, 350], 46[2400, 1320],
40[2700, 400], 47[2700, 1440],
41[3000, 450], 48[3000, 1560],
42[3300, 500], 49[3300, 1680],
43[3600, 550], 50[3600, 1800],
44[3900, 600], 51[3900, 1920],
45[4200, 650], 52[4200, 2040],
46[4500, 700], 53[4500, 2190],
47[4800, 750], 54[4800, 2340],
48[5100, 800], 55[5100, 2490],
49[5400, 850], 56[5400, 2640],
50[5700, 900], 57[5700, 2790],
51[6000, 950], 58[6000, 2940],
52[6300, 1000], 59[6300, 3090],
53[6600, 1050], 60[6600, 3240],
54[6900, 1075], 61[6900, 3390],
55[7200, 1100], 62[7200, 3540],
56[7500, 1125], 63[7500, 3690],
57[7800, 1150], 64[7800, 3840],
58[8100, 1175], 65[8100, 3990],
59[8400, 1200], 66[8400, 4140],
60[8700, 1225], 67[8700, 4240],
61[9000, 1250], 68[9000, 4340],
62[9300, 1275], 69[9300, 4440],
63[9600, 1300], 70[9600, 4540],
64[9900, 1325], 71[9900, 4640],
65[10200, 1350], 72[10200, 4740],
66[10500, 1375], 73[10500, 4840],
67[10800, 1400], 74[10800, 4940],
68[11100, 1425], 75[11100, 5040],
69[11400, 1450], 76[11400, 5140],
70[11700, 1475], 77[11700, 5240],
71[12000, 1500], 78[12000, 5340],
72[12300, 1525], 79[12300, 5440],
73[12600, 1550], 80[12600, 5540],
74[12900, 1575], 81[12900, 5640],
75[13200, 1600], 82[13200, 5740],
76[13500, 1625], 83[13500, 5840],
77[13800, 1650], 84[13800, 5940],
78[14100, 1675], 85[14100, 6000],
79[14400, 1700], 86[14400, 5900],
80[14700, 1725], 87[14700, 5800],
81[15000, 1750], 88[15000, 5700],
82[15300, 1775], 89[15300, 5600],
83[15600, 1800], 90[15600, 5500],
84[15900, 1825], 91[15900, 5400],
85[16200, 1850], 92[16200, 5300],
86[16500, 1875], 93[16500, 5200],
87[16800, 1900], 94[16800, 5100],
88[17100, 1925], 95[17100, 5000],
89[17400, 1950], 96[17400, 4900],
90[17700, 1975], 97[17700, 4800],
91[18000, 2000], 98[18000, 4700],
92[18300, 2025], 99[18300, 4600],
93[18600, 2050], 100[18600, 4500],
94[18900, 2075], 101[18900, 4400],
95[19200, 2100], 102[19200, 4300],
96[19500, 2125], 103[19500, 4200],
97[19800, 2150], 104[19800, 4100],
98[20100, 2175], 105[20100, 4000],
99[20400, 2200], 106[20400, 3850],
100[20700, 2225], 107[20700, 3700],
101[21000, 2250], 108[21000, 3550],
102[21300, 2275], 109[21300, 3400],
103[21600, 2300], 110[21600, 3250],
104[21900, 2325], 111[21900, 3100],
105[22200, 2350], 112[22200, 2950],
106[22500, 2375], 113[22500, 2800],
107[22800, 2400], 114[22800, 2650],
108[23100, 2425], 115[23100, 2500],
109[23400, 2450], 116[23400, 2350],
110[23700, 2475], 117[23700, 2200],
111[24000, 2500], 118[24000, 2050],
112[24300, 2525], 119[24300, 1900],
113[24600, 2550], 120[24600, 1780],
114[24900, 2575], 121[24900, 1660],
115[25200, 2600], 122[25200, 1540],
116[25500, 2625], 123[25500, 1420],
117[25800, 2650], 124[25800, 1300],
118[26100, 2675], 125[26100, 1180],
119[26400, 2700], 126[26400, 1060],
120[26700, 2725], 127[26700, 940],
121[27000, 2750], 128[27000, 740],
122[27300, 2775], 129[27300, 540],
123[27600, 2800], 130[27600, 340],
124[27900, 2825], 131[27900, 140],
125[28200, 2850], 132[28200, 0],
126[28500, 2875], 133
127[28800, 2900],
128[29100, 2925],
129[29400, 2950],
130[29700, 2975],
131[30000, 3000],
132[30300, 3025],
133[30600, 3035],
134[30900, 3045],
135[31200, 3055],
136[31500, 3065],
137[31800, 3075],
138[32100, 3085],
139[32400, 3095],
140[32700, 3105],
141[33000, 3115],
142[33300, 3125],
143[33600, 3135],
144[33900, 3145],
145[34200, 3155],
146[34500, 3165],
147[34800, 3175],
148[35100, 3185],
149[35400, 3195],
150[35700, 3205],
151[36000, 3215],
152[36300, 3225],
153[36600, 3235],
154[36900, 3245],
155[37200, 3255],
156[37500, 3265],
157[37800, 3275],
158[38100, 3285],
159[38400, 3295],
160[38700, 3305],
161[39000, 3315],
162[39300, 3325],
163[39600, 3335],
164[39900, 3345],
165[40200, 3355],
166[40500, 3365],
167[40800, 3375],
168[41100, 3385],
169[41400, 3395],
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171[42000, 3415],
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175[43200, 3455],
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177[43800, 3475],
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179[44400, 3495],
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183[45600, 3535],
184[45900, 3545],
185[46200, 3555],
186[46500, 3565],
187[46800, 3575],
188[47100, 3585],
189[47400, 3595],
190[47700, 3605],
191[48000, 3615],
192[48300, 3625],
193[48600, 3635],
194[48900, 3645],
195[49200, 3655],
196[49500, 3665],
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198[50100, 3685],
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1275[373200, 5698],
1276[373500, 5699],
1277[373800, 5700],
1278[374100, 5701],
1279[374400, 5702],
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1281[375000, 5704],
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1283[375600, 5706],
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1355[397200, 5778],
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1357[397800, 5780],
1358[398100, 5781],
1359[398400, 5782],
1360[398700, 5783],
1361[399000, 5784],
1362[399300, 5785],
1363[399600, 5786],
1364[399900, 5787],
1365[400200, 5788],
1366[400500, 5789],
1367[400800, 5790],
1368[401100, 5791],
1369[401400, 5792],
1370[401700, 5793],
1371[402000, 5794],
1372[402300, 5795],
1373[402600, 5796],
1374[402900, 5797],
1375[403200, 5798],
1376[403500, 5799],
1377[403800, 5800],
1378[404100, 5801],
1379[404400, 5802],
1380[404700, 5803],
1381[405000, 5804],
1382[405300, 5805],
1383[405600, 5806],
1384[405900, 5807],
1385[406200, 5808],
1386[406500, 5809],
1387[406800, 5810],
1388[407100, 5811],
1389[407400, 5812],
1390[407700, 5813],
1391[408000, 5814],
1392[408300, 5815],
1393[408600, 5816],
1394[408900, 5817],
1395[409200, 5818],
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1397[409800, 5820],
1398[410100, 5821],
1399[410400, 5822],
1400[410700, 5823],
1401[411000, 5824],
1402[411300, 5825],
1403[411600, 5826],
1404[411900, 5827],
1405[412200, 5828],
1406[412500, 5829],
1407[412800, 5830],
1408[413100, 5831],
1409[413400, 5832],
1410[413700, 5833],
1411[414000, 5834],
1412[414300, 5835],
1413[414600, 5836],
1414[414900, 5837],
1415[415200, 5838],
1416[415500, 5839],
1417[415800, 5840],
1418[416100, 5841],
1419[416400, 5842],
1420[416700, 5843],
1421[417000, 5844],
1422[417300, 5845],
1423[417600, 5846],
1424[417900, 5847],
1425[418200, 5848],
1426[418500, 5849],
1427[418800, 5850],
1428[419100, 5851],
1429[419400, 5852],
1430[419700, 5853],
1431[420000, 5854],
1432[420300, 5855],
1433[420600, 5856],
1434[420900, 5857],
1435[421200, 5858],
1436[421500, 5859],
1437[421800, 5860],
1438[422100, 5861],
1439[422400, 5862],
1440[422700, 5863],
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1442[423300, 5865],
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1445[424200, 5868],
1446[424500, 5869],
1447[424800, 5870],
1448[425100, 5871],
1449[425400, 5872],
1450[425700, 5873],
1451[426000, 5874],
1452[426300, 5875],
1453[426600, 5876],
1454[426900, 5877],
1455[427200, 5878],
1456[427500, 5879],
1457[427800, 5880],
1458[428100, 5881],
1459[428400, 5882],
1460[428700, 5883],
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1463[429600, 5886],
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1465[430200, 5888],
1466[430500, 5889],
1467[430800, 5890],
1468[431100, 5891],
1469[431400, 5892],
1470[431700, 5893],
1471[432000, 5894],
1472[432300, 5895],
1473[432600, 5896],
1474[432900, 5897],
1475[433200, 5898],
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1477[433800, 5900],
1478[434100, 5901],
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1480[434700, 5903],
1481[435000, 5904],
1482[435300, 5905],
1483[435600, 5906],
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1485[436200, 5908],
1486[436500, 5909],
1487[436800, 5910],
1488[437100, 5911],
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1491[438000, 5914],
1492[438300, 5915],
1493[438600, 5916],
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1496[439500, 5919],
1497[439800, 5920],
1498[440100, 5921],
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1500[440700, 5923],
1501[441000, 5924],
1502[441300, 5925],
1503[441600, 5926],
1504[441900, 5927],
1505[442200, 5928],
1506[442500, 5929],
1507[442800, 5930],
1508[443100, 5931],
1509[443400, 5932],
1510[443700, 5933],
1511[444000, 5934],
1512[444300, 5935],
1513[444600, 5936],
1514[444900, 5937],
1515[445200, 5938],
1516[445500, 5939],
1517[445800, 5940],
1518[446100, 5941],
1519[446400, 5942],
1520[446700, 5943],
1521[447000, 5944],
1522[447300, 5945],
1523[447600, 5946],
1524[447900, 5947],
1525[448200, 5948],
1526[448500, 5949],
1527[448800, 5950],
1528[449100, 5951],
1529[449400, 5952],
1530[449700, 5953],
1531[450000, 5954],
1532[450300, 5955],
1533[450600, 5956],
1534[450900, 5957],
1535[451200, 5958],
1536[451500, 5959],
1537[451800, 5960],
1538[452100, 5961],
1539[452400, 5962],
1540[452700, 5963],
1541[453000, 5964],
1542[453300, 5965],
1543[453600, 5966],
1544[453900, 5967],
1545[454200, 5968],
1546[454500, 5969],
1547[454800, 5970],
1548[455100, 5971],
1549[455400, 5972],
1550[455700, 5973],
1551[456000, 5974],
1552[456300, 5975],
1553[456600, 5976],
1554[456900, 5977],
1555[457200, 5978],
1556[457500, 5979],
1557[457800, 5980],
1558[458100, 5981],
1559[458400, 5982],
1560[458700, 5983],
1561[459000, 5984],
1562[459300, 5985],
1563[459600, 5986],
1564[459900, 5987],
1565[460200, 5988],
1566[460500, 5989],
1567[460800, 5990],
1568[461100, 5991],
1569[461400, 5992],
1570[461700, 5993],
1571[462000, 5994],
1572[462300, 5995],
1573[462600, 5996],
1574[462900, 5997],
1575[463200, 5998],
1576[463500, 5999],
1577[463800, 6000]
1578 ] 134 ]
1579 }], 135 }],
1580 136
diff --git a/linz/glasslathe/src/main.cpp b/linz/glasslathe/src/main.cpp
index ee1e8d4..801d02e 100644
--- a/linz/glasslathe/src/main.cpp
+++ b/linz/glasslathe/src/main.cpp
@@ -80,7 +80,7 @@ void loop()
80 Serial.println(target.frequency, DEC); 80 Serial.println(target.frequency, DEC);
81 } 81 }
82 82
83 const int step_delay = 300; 83 const int step_delay = 200;
84 if (current.frequency != target.frequency || current.direction != target.direction) 84 if (current.frequency != target.frequency || current.direction != target.direction)
85 { 85 {
86 if (!timer_enabled && target.frequency != 0) 86 if (!timer_enabled && target.frequency != 0)
@@ -91,18 +91,12 @@ void loop()
91 delay(step_delay); 91 delay(step_delay);
92 } 92 }
93 93
94 /*int step = (current.potValue < 20) ? 1 94 int step = (current.frequency > 5000) ? 100
95 : (current.potValue < 100) ? 2 95 : (current.frequency > 4000) ? 100
96 : (current.potValue < 300) ? 3 96 : (current.frequency > 3000) ? 150
97 : (current.potValue < 400) ? 5 97 : (current.frequency > 2000) ? 150
98 : (current.potValue < 500) ? 10 98 : (current.frequency > 1000) ? 120
99 : 20;*/ 99 : 200;
100 int step = (current.frequency > 5000) ? 1
101 : (current.frequency > 4500) ? 2
102 : (current.frequency > 4000) ? 5
103 : (current.frequency > 3000) ? 10
104 : (current.frequency > 1000) ? 25
105 : 50;
106 int frequency = (current.direction == target.direction) ? target.frequency : 0; 100 int frequency = (current.direction == target.direction) ? target.frequency : 0;
107 step = min(abs(frequency - current.frequency), step); 101 step = min(abs(frequency - current.frequency), step);
108 if (frequency < current.frequency) 102 if (frequency < current.frequency)
generated by cgit v1.2.3 (git 2.25.1) at 2026-01-11 20:41:25 +0000