|
|
@@ -417,11 +417,11 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
|
|
|
uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
|
|
|
if (steps > s){
|
|
|
/// go steady
|
|
|
- sm4_do_step(axis)
|
|
|
+ sm4_do_step(axis);
|
|
|
delayMicroseconds(delay_us);
|
|
|
} else {
|
|
|
/// decelerate
|
|
|
- accelerate(axis, -dec, &delay_us, min_delay_us);
|
|
|
+ accelerate(axis, -dec, delay_us, delay_us);
|
|
|
}
|
|
|
--steps;
|
|
|
}
|
|
|
@@ -454,7 +454,6 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
|
|
|
uint16_t line_buffer[32];
|
|
|
uint16_t current_delay_us = MAX_DELAY; ///< defines current speed
|
|
|
xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
|
|
|
- uint16_t min_decel_z;
|
|
|
int16_t start_z;
|
|
|
int16_t last_top_z;
|
|
|
|
|
|
@@ -467,6 +466,9 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
|
|
|
sm4_set_dir(X_AXIS, d);
|
|
|
for (uint8_t c = 0; c < 32; c++){ ///< X axis
|
|
|
|
|
|
+ z_trig = min_z;
|
|
|
+ last_top_z = max_z;
|
|
|
+
|
|
|
/// move up to un-trigger (surpress hysteresis)
|
|
|
sm4_set_dir(Z_AXIS, Z_PLUS);
|
|
|
/// speed up from stop, go half the way
|
espr14