Sprinter (was Klimentkip/caruKlip) with acceleration

Quote
Sublimes Sprinter Config File
#ifndef PARAMETERS_H
#define PARAMETERS_H

// NO RS485/EXTRUDER CONTROLLER SUPPORT
// PLEASE VERIFY PIN ASSIGNMENTS FOR YOUR CONFIGURATION!!!!!!!
#define MOTHERBOARD 3 // ATMEGA168 = 0, SANGUINO = 1, MOTHERBOARD = 2, MEGA/RAMPS = 3, ATMEGA328 = 4, Gen6 = 5, Sanguinololu = 6

//*************************************************************************************************************************************

//Calibration variables

//*************************************************************************************************************************************

// calculate these values appropriate for your machine
// for threaded rods, this is (steps motor per turn) / (pitch of the thread)
// for belts, this is (steps per motor turn) / (number of gear teeth) / (belt module)
// half-stepping doubles the number, quarter stepping requires * 4, etc.
#define MICROSTEPPING_X 16.0
#define MICROSTEPPING_Y 16.0
#define MICROSTEPPING_Z 16.0
#define MICROSTEPPING_E 4.0

#define STEPS_PER_MM_X (5.023*MICROSTEPPING_X)
#define STEPS_PER_MM_Y (5.023*MICROSTEPPING_Y)
#define STEPS_PER_MM_Z (416.699*MICROSTEPPING_Z)
#define STEPS_PER_MM_E (2.759*MICROSTEPPING_E)

#define MAXIMUM_FEEDRATE 200000
#define MAXIMUM_FEEDRATE_Z 120

#define MAX_LENGTH_X 220
#define MAX_LENGTH_Y 220
#define MAX_LENGTH_Z 100

//*************************************************************************************************************************************

// acceleration settings

//*************************************************************************************************************************************

//Comment this to disable ramp acceleration
#define RAMP_ACCELERATION 1

#define MIN_FEEDRATE 35 // the minimum feedrate
#define MAX_PRINT_ACCEL 750 // Max acceleration in mm/s^2 for printing moves
#define MAX_TRAVEL_ACCEL 1500 // Max acceleration in mm/s^2 for travel moves

//Uncomment this to enable exponential acceleration
//#define EXP_ACCELERATION 1

#define EXP_UNITS_PRINT 10 // the units between minimum and G1 move feedrate
#define EXP_UNITS_TRAVEL 10 // used for travel moves
#define EXP_MIN_FEEDRATE 35 // the minimum feedrate
#define EXP_MIN_CONSTANT 2 // the minimum units of an accelerated move that must be done at constant speed
// Note that if the move is shorter than this value, acceleration won't be perfomed,
// but will be done at the minimum between min_units_per_seconds and move feedrate speeds.


//*************************************************************************************************************************************

// temperature settings

//*************************************************************************************************************************************

// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!

//PID settings:
//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
//#define PIDTEMP 1
#ifdef PIDTEMP
#define PID_MAX 255 // limits current to nozzle
#define PID_INTEGRAL_DRIVE_MAX 220
#define PID_PGAIN 180 //100 is 1.0
#define PID_IGAIN 2 //100 is 1.0
#define PID_DGAIN 100 //100 is 1.0
#endif

//How often should the heater check for new temp readings, in milliseconds
#define HEATER_CHECK_INTERVAL 50
#define BED_CHECK_INTERVAL 5000

// Select one of these only to define how the nozzle temp is read.
#define HEATER_USES_THERMISTOR
//#define HEATER_USES_AD595
//#define HEATER_USES_MAX6675

// Select one of these only to define how the bed temp is read.
#define BED_USES_THERMISTOR
//#define BED_USES_AD595

//Thermistor settings:

//Uncomment for 100k thermistor
//#include "ThermistorTable_100k.h"
//#include "BedThermistorTable_100k.h"

//Uncomment for 200k thermistor
//#include "ThermistorTable_200k.h"
//#include "BedThermistorTable_200k.h"

//Identical thermistors on heater and bed - use this if you have no heated bed or if the thermistors are the same on both:
#include "ThermistorTable_200k.h"
//#include "ThermistorTable_100k.h"
//#include "ThermistorTable_mendelparts.h"
#define BNUMTEMPS NUMTEMPS
#define bedtemptable temptable

//Experimental temperature smoothing - only uncomment this if your temp readings are noisy
//#define SMOOTHING 1
//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm

//Experimental watchdog and minimal temp
//The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
//If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds
//The minimal temperature defines the temperature below which the heater will not be enabled
//#define MINTEMP

//Experimental max temp
//When temperature exceeds max temp, your bot will halt.
//This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
//You should use MINTEMP for thermistor short/failure protection.
//#define MAXTEMP 275

//*************************************************************************************************************************************

// miscellaneous settings

//*************************************************************************************************************************************

//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
const bool X_ENABLE_ON = 0;
const bool Y_ENABLE_ON = 0;
const bool Z_ENABLE_ON = 0;
const bool E_ENABLE_ON = 0;

//Disables axis when it's not being used.
const bool DISABLE_X = false;
const bool DISABLE_Y = false;
const bool DISABLE_Z = true;
const bool DISABLE_E = false;

const bool INVERT_X_DIR = false;
const bool INVERT_Y_DIR = false;
const bool INVERT_Z_DIR = true;
const bool INVERT_E_DIR = false;

// Sets direction of endstops when homing; 1=MAX, -1=MIN
const int X_HOME_DIR = -1;
const int Y_HOME_DIR = -1;
const int Z_HOME_DIR = -1;

//Endstop Settings
#define ENDSTOPPULLUPS 1
const bool ENDSTOPS_INVERTING = false;
const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below.
const int X_MAX_LENGTH = MAX_LENGTH_X;
const int Y_MAX_LENGTH = MAX_LENGTH_Y;
const int Z_MAX_LENGTH = MAX_LENGTH_Z;

#define BAUDRATE 115200

//Comment out to disable SD support
#define SDSUPPORT 1

//Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
// If you enable this, make sure STEP_DELAY_RATIO is disabled.
#define STEP_DELAY_MICROS 1

//Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this
//If you enable this, make sure STEP_DELAY_MICROS is disabled.
//#define STEP_DELAY_RATIO 0.25


//*************************************************************************************************************************************

// do not edit below this line unless you know what you are doing

//*************************************************************************************************************************************

float x_steps_per_unit = STEPS_PER_MM_X;
float y_steps_per_unit = STEPS_PER_MM_Y;
float z_steps_per_unit = STEPS_PER_MM_Z;
float e_steps_per_unit = STEPS_PER_MM_E;
float max_feedrate = MAXIMUM_FEEDRATE;
float max_z_feedrate = MAXIMUM_FEEDRATE_Z;

#ifdef RAMP_ACCELERATION
float min_units_per_second = MIN_FEEDRATE;
long max_acceleration_units_per_sq_second = MAX_PRINT_ACCEL;
long max_travel_acceleration_units_per_sq_second = MAX_TRAVEL_ACCEL;
#endif

#ifdef EXP_ACCELERATION
float full_velocity_units = EXP_UNITS_PRINT;
float travel_move_full_velocity_units = EXP_UNITS_TRAVEL;
float min_units_per_second = EXP_MIN_FEEDRATE;
float min_constant_speed_units = EXP_MIN_CONSTANT;
#endif


#endif

Quote
Triffid_Hunter
I wonder why it's even trying to work out move times if the distance is zero? If teacup detects a zero distance move with a feedrate, it simply updates the stored feedrate and moves on, without queueing anything.