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printer_controller_trajectory_planning [2016/08/04 16:00] – created Traumflug | printer_controller_trajectory_planning [2016/08/04 21:59] – [Second Order Trajectory Planning] Traumflug | ||
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Moving stepper motors at a certain velocity means to send out pulses after certain delays. A computationally very cheap approach is to simply subtract some value from the previous delay to achieve higher speeds. However, this means non-constant acceleration. Still it's a lot better than no acceleration at all. | Moving stepper motors at a certain velocity means to send out pulses after certain delays. A computationally very cheap approach is to simply subtract some value from the previous delay to achieve higher speeds. However, this means non-constant acceleration. Still it's a lot better than no acceleration at all. | ||
- | AFAIK, [[https:// | + | AFAIK, [[https:// |
=== Constant Acceleration Calculation Step by Step === | === Constant Acceleration Calculation Step by Step === | ||
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=== Step Based Acceleration Updates at Discrete Time Intervals === | === Step Based Acceleration Updates at Discrete Time Intervals === | ||
- | Instead of doing this computationally intensive acceleration calculation after every step, it's done every other microsecond | + | Instead of doing this computationally intensive acceleration calculation after every step, it's done every other millisecond |
This is what Teacup firmware uses when compiled with ACCELERATION_REPRAP. Achievable step rate on an 16\_MHz ATmega is some 40'000 steps per second. Faster hardware, like an ARM Cortex-M4 has been demonstrated to exceed 500' | This is what Teacup firmware uses when compiled with ACCELERATION_REPRAP. Achievable step rate on an 16\_MHz ATmega is some 40'000 steps per second. Faster hardware, like an ARM Cortex-M4 has been demonstrated to exceed 500' |
printer_controller_trajectory_planning.txt · Last modified: 2018/05/27 16:10 (external edit)