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Stepper driver: Add overshoot

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- prevent hard stops (no decel ramp) when target changes while
  decelerating already (overshoot and move back)

- optimize/adjust stepper-test mode, add macro for test with single switch

Note: tested the current state, works quite well. very rarely crashes
probably dude to race conditions in isr?
This commit is contained in:
jonny_l480 2023-04-28 12:41:06 +02:00
parent f8b9e6c862
commit d206b53194
3 changed files with 31 additions and 16 deletions
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2
main/config.hpp
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@ -94,7 +94,7 @@ extern "C" {
#define STEPPER_SPEED_DEFAULT 20 //mm/s
#define STEPPER_SPEED_MIN 4 //mm/s - speed threshold at which stepper immediately starts/stops
#define STEPPER_ACCEL_INC 3 //steps/s increment per cycle
#define STEPPER_DECEL_INC 8 //steps/s decrement per cycle
#define STEPPER_DECEL_INC 7 //steps/s decrement per cycle
//options affecting movement are currently defined in guide-stepper.cpp

31
main/guide-stepper.cpp
View File

@ -153,6 +153,7 @@ void task_stepper_test(void *pvParameter)
SW_CUT.handle();
SW_AUTO_CUT.handle();
#ifdef ONE_BUTTON_TEST //test with "reset-button" only
//cycle through test commands with one button
if (SW_RESET.risingEdge) {
switch (state){
@ -178,21 +179,27 @@ void task_stepper_test(void *pvParameter)
break;
}
}
#else //test with all buttons
if (SW_RESET.risingEdge) {
buzzer.beep(1, 500, 100);
stepper_setTargetPosMm(0);
}
// if (SW_PRESET1.risingEdge) {
// buzzer.beep(2, 300, 100);
// stepperSw_setTargetSteps(1000);
// }
// if (SW_PRESET2.risingEdge) {
// buzzer.beep(1, 500, 100);
// stepperSw_setTargetSteps(10000);
// }
// if (SW_PRESET3.risingEdge) {
// buzzer.beep(1, 100, 100);
// stepperSw_setTargetSteps(30000);
// }
if (SW_PRESET1.risingEdge) {
buzzer.beep(1, 200, 100);
stepper_setTargetPosMm(50);
}
if (SW_PRESET2.risingEdge) {
buzzer.beep(2, 200, 100);
stepper_setTargetPosMm(75);
}
if (SW_PRESET3.risingEdge) {
buzzer.beep(3, 200, 100);
stepper_setTargetPosMm(100);
}
#endif
}
}
#endif //end SIMULATE_ENCODER

10
main/stepper.cpp
View File

@ -239,8 +239,16 @@ bool timer_isr(void *arg) {
//FIXME noticed crash: division by 0 when min speed > target speed
uint64_t stepsDecelRemaining = (speedNow - speedMin) / decel_increment;
//DECELERATE
//prevent hard stop (faster stop than decel ramp)
//Idea: when target gets lowered while decelerating,
// move further than target to not exceed decel ramp (overshoot),
// then change dir and move back to actual target pos
if (stepsToGo < stepsDecelRemaining/2){ //significantly less steps planned to comply with decel ramp
stepsToGo = stepsDecelRemaining; //set to required steps
}
if (stepsToGo <= stepsDecelRemaining) {
//FIXME if stepsToGo gets updated (lowered) close to target while close to target, the stepper may stop too fast -> implement possibility to 'overshoot and reverse'?
if ((speedNow - speedMin) > decel_increment) {
speedNow -= decel_increment;
} else {