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✨ FT_MOTION

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MarlinFirmware/Marlin##25394

not ft
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Scott Lahteine 2023-04-05 12:30:18 -05:00
parent 7fa8b7f124
commit bf6cb6f202
309 changed files with 14523 additions and 309 deletions
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48
config/examples/Geeetech/M201/Configuration_adv.h
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@ -1086,7 +1086,51 @@
#endif
// @section motion
// @section motion control
/**
* Fixed-time-based Motion Control -- EXPERIMENTAL
* Enable/disable and set parameters with G-code M493.
*/
//#define FT_MOTION
#if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers.
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers.
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false).
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain.
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers.
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers.
/**
* Advanced configuration
*/
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation;
// half the window size for Ulendo FBS.
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update.
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency.
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
#endif
/**
* Input Shaping -- EXPERIMENTAL
@ -1125,6 +1169,8 @@
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
#endif
// @section motion
#define AXIS_RELATIVE_MODES { false, false, false, false }
// Add a Duplicate option for well-separated conjoined nozzles