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printer_controller_trajectory_planning [2016/08/04 16:06] – [Second Order Trajectory Planning] Traumflugprinter_controller_trajectory_planning [2016/08/04 21:59] – [Second Order Trajectory Planning] Traumflug
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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 (or at some other time interval), only. The calculation is still done based on motor steps, so it's positionally still perfectly accurate. Velocities obviously suffer in precision somewhat, but at 500 velocity updates per second that's not noticeable.+Instead of doing this computationally intensive acceleration calculation after every step, it's done every other millisecond (or at some other time interval), only. The calculation is still done based on motor steps, so it's positionally still perfectly accurate. Velocities obviously suffer in precision somewhat, but at 500 velocity updates per second that's not noticeable.
  
 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 500'000 steps per second. 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 500'000 steps per second.
printer_controller_trajectory_planning.txt · Last modified: 2018/05/27 16:10 (external edit)