From d3dd8913bdf41e38bbc75b1f5dbe7159650ba80b Mon Sep 17 00:00:00 2001
From: manuel <manuel@mausz.at>
Date: Sat, 16 Jan 2021 21:47:38 +0100
Subject: glasslathe: update acceleration curve

---
 linz/glasslathe/motor_start.tmc     |    7 +
 linz/glasslathe/motor_start_rev.tmc |    8 +
 linz/glasslathe/scurve/calc.cpp     |   25 +-
 linz/glasslathe/scurve/chart.js     | 1646 +++--------------------------------
 linz/glasslathe/src/main.cpp        |   20 +-
 5 files changed, 137 insertions(+), 1569 deletions(-)
 create mode 100644 linz/glasslathe/motor_start.tmc
 create mode 100644 linz/glasslathe/motor_start_rev.tmc

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 @@
+SAP 6 , 0 , 255   // Set run current
+SAP 7 , 0 , 8     // Set standby current
+SAP 254 , 0 , 1   // Activate step / direction mode
+SAP 140 , 0 , 4   // 16 microsteps
+SAP 160 , 0 , 1   // Activate step interpolation (only works with 16 microsteps)
+SAP 161 , 0 , 1   // Activate double step
+STOP              // 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 @@
+SAP 6 , 0 , 255   // Set run current
+SAP 7 , 0 , 8     // Set standby current
+SAP 254 , 0 , 1   // Activate step / direction mode
+SAP 251 , 0 , 1   // Reverse shaft
+SAP 140 , 0 , 4   // 16 microsteps
+SAP 160 , 0 , 1   // Activate step interpolation (only works with 16 microsteps)
+SAP 161 , 0 , 1   // Activate double step
+STOP              // 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;
 int newPotValue;
 bool timer_enabled = false;
 
-int x = 0;
+unsigned long x = 0;
 bool loop()
 {
   const int step_delay = 300;
@@ -23,7 +23,7 @@ bool loop()
       timer_enabled = true;
       fprintf(stderr, "enable motor\n");
       x += step_delay;
-      printf("[%d, %d],\n", x, 0);
+      printf("[%lu, %d],\n", x, 0);
     }
 
     /*int step = (current.potValue < 20) ? 1
@@ -32,12 +32,12 @@ bool loop()
       : (current.potValue < 400) ? 5
       : (current.potValue < 500) ? 10
       : 20;*/
-    int step = (current.frequency > 5000) ? 1
-      : (current.frequency > 4500) ? 2
-      : (current.frequency > 4000) ? 5
-      : (current.frequency > 3000) ? 10
-      : (current.frequency > 1000) ? 25
-      : 50;
+    int step = (current.frequency > 5000) ? 100
+      : (current.frequency > 4000) ? 100
+      : (current.frequency > 3000) ? 150
+      : (current.frequency > 2000) ? 150
+      : (current.frequency > 1000) ? 120
+      : 200;
     int frequency = (current.direction == target.direction) ? target.frequency : 0;
     step = std::min(abs(frequency - current.frequency), step);
     if (frequency < current.frequency)
@@ -45,7 +45,7 @@ bool loop()
     current.frequency += step;
 
     x += step_delay;
-    printf("[%d, %d],\n", x, current.frequency);
+    printf("[%lu, %d],\n", x, current.frequency);
 
     if (current.frequency == 0 && current.direction != target.direction)
     {
@@ -53,7 +53,7 @@ bool loop()
       current.direction = target.direction;
       fprintf(stderr, "disable motor. changed direction to %d\n", current.direction);
       x += step_delay;
-      printf("[%d, %d],\n", x, 0);
+      printf("[%lu, %d],\n", x, 0);
     }
   }
   else if (timer_enabled && target.potValue == 0)
@@ -61,7 +61,7 @@ bool loop()
     timer_enabled = false;
     fprintf(stderr, "disable motor\n");
     x += step_delay;
-    printf("[%d, %d],\n", x, 0);
+    printf("[%lu, %d],\n", x, 0);
   }
   else
     return false;
@@ -74,5 +74,8 @@ int main(int argc, char *argv[])
   target.frequency = frequency_max;
   target.potValue = 1023;
   while(loop());
+  target.frequency = 0;
+  target.potValue = 0;
+  while(loop());
   return 0;
 }
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', {
     chart: {
     },
     xAxis: {
+        labels: {
+            formatter: function () {
+                //return this.value;
+                return Highcharts.numberFormat(this.value / 1000, 2);
+            }
+        },
         title: {
             text: 'time'
         }
@@ -29,1552 +35,102 @@ Highcharts.chart('container', {
     series: [{
         name: "Winter 2014-2015",
         data: [
+
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-[463800, 6000]
+[600, 200],
+[900, 400],
+[1200, 600],
+[1500, 800],
+[1800, 1000],
+[2100, 1200],
+[2400, 1320],
+[2700, 1440],
+[3000, 1560],
+[3300, 1680],
+[3600, 1800],
+[3900, 1920],
+[4200, 2040],
+[4500, 2190],
+[4800, 2340],
+[5100, 2490],
+[5400, 2640],
+[5700, 2790],
+[6000, 2940],
+[6300, 3090],
+[6600, 3240],
+[6900, 3390],
+[7200, 3540],
+[7500, 3690],
+[7800, 3840],
+[8100, 3990],
+[8400, 4140],
+[8700, 4240],
+[9000, 4340],
+[9300, 4440],
+[9600, 4540],
+[9900, 4640],
+[10200, 4740],
+[10500, 4840],
+[10800, 4940],
+[11100, 5040],
+[11400, 5140],
+[11700, 5240],
+[12000, 5340],
+[12300, 5440],
+[12600, 5540],
+[12900, 5640],
+[13200, 5740],
+[13500, 5840],
+[13800, 5940],
+[14100, 6000],
+[14400, 5900],
+[14700, 5800],
+[15000, 5700],
+[15300, 5600],
+[15600, 5500],
+[15900, 5400],
+[16200, 5300],
+[16500, 5200],
+[16800, 5100],
+[17100, 5000],
+[17400, 4900],
+[17700, 4800],
+[18000, 4700],
+[18300, 4600],
+[18600, 4500],
+[18900, 4400],
+[19200, 4300],
+[19500, 4200],
+[19800, 4100],
+[20100, 4000],
+[20400, 3850],
+[20700, 3700],
+[21000, 3550],
+[21300, 3400],
+[21600, 3250],
+[21900, 3100],
+[22200, 2950],
+[22500, 2800],
+[22800, 2650],
+[23100, 2500],
+[23400, 2350],
+[23700, 2200],
+[24000, 2050],
+[24300, 1900],
+[24600, 1780],
+[24900, 1660],
+[25200, 1540],
+[25500, 1420],
+[25800, 1300],
+[26100, 1180],
+[26400, 1060],
+[26700, 940],
+[27000, 740],
+[27300, 540],
+[27600, 340],
+[27900, 140],
+[28200, 0],
+
         ]
     }],
 
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()
     Serial.println(target.frequency, DEC);
   }
 
-  const int step_delay = 300;
+  const int step_delay = 200;
   if (current.frequency != target.frequency || current.direction != target.direction)
   {
     if (!timer_enabled && target.frequency != 0)
@@ -91,18 +91,12 @@ void loop()
       delay(step_delay);
     }
 
-    /*int step = (current.potValue < 20) ? 1
-      : (current.potValue < 100) ? 2
-      : (current.potValue < 300) ? 3
-      : (current.potValue < 400) ? 5
-      : (current.potValue < 500) ? 10
-      : 20;*/
-    int step = (current.frequency > 5000) ? 1
-      : (current.frequency > 4500) ? 2
-      : (current.frequency > 4000) ? 5
-      : (current.frequency > 3000) ? 10
-      : (current.frequency > 1000) ? 25
-      : 50;
+    int step = (current.frequency > 5000) ? 100
+      : (current.frequency > 4000) ? 100
+      : (current.frequency > 3000) ? 150
+      : (current.frequency > 2000) ? 150
+      : (current.frequency > 1000) ? 120
+      : 200;
     int frequency = (current.direction == target.direction) ? target.frequency : 0;
     step = min(abs(frequency - current.frequency), step);
     if (frequency < current.frequency)
-- 
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