Today is the day, that in my youth, we could let off sky rockets, bangers, etc. Now, for my kids, it's only the etc. First rockets were banned, then bangers.
Anyway, before I go and play pyromeister with the kids, this is where I'm up to:
96 servo increments, representing approx 55 degrees movement. (improved resolution)
Each main interrupt, the interrupt:
- Updates the 5 x servos.
- Updates the 5 x PWM channels, 0% to 99.75%
- Checks the steppers: only one is step-updated in any interrupt, 31 interrupts are then serviced before the next motor is checked and so on.
This will be my next target for change, I want to use the granularity of the missed cycles to allow for smooth acceleration and deceleration. Ideally, this needs to be mass adjusted for each axis seperately, and possibly with an allowance for increased weight of additive build, decreased weight of subtractive build, during progress, if full optimisation is needed.
During a long g-code move, it's expected that there will be no acceleration or deceleration for the midsection of the move, here's where I'm going to have to look at some different algorithms. Stopping is achieved by an axis current position equaling a set target location, but I will need to decide somehow, what granularity to use, in creating intermediate locations between start and finish. If the next position is too close to the current one then I would expect slow stepper movement, and if it's far, then I would expect fast movement. I need to try to avoid pixelation type granularity as much as possible, while doing an accurate line, curve etc.