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//init our variables
long max_delta;
long x_counter;
long y_counter;
long z_counter;
bool x_can_step;
bool y_can_step;
bool z_can_step;
int milli_delay;
void init_steppers()
{
//init our points.
current_units.x = 0.0;
current_units.y = 0.0;
current_units.z = 0.0;
target_units.x = 0.0;
target_units.y = 0.0;
target_units.z = 0.0;
pinMode(X_STEP_PIN, OUTPUT);
pinMode(X_DIR_PIN, OUTPUT);
pinMode(X_ENABLE_PIN, OUTPUT);
pinMode(X_MIN_PIN, INPUT);
pinMode(X_MAX_PIN, INPUT);
pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Y_DIR_PIN, OUTPUT);
pinMode(Y_ENABLE_PIN, OUTPUT);
pinMode(Y_MIN_PIN, INPUT);
pinMode(Y_MAX_PIN, INPUT);
pinMode(Z_STEP_PIN, OUTPUT);
pinMode(Z_DIR_PIN, OUTPUT);
pinMode(Z_ENABLE_PIN, OUTPUT);
pinMode(Z_MIN_PIN, INPUT);
pinMode(Z_MAX_PIN, INPUT);
//figure our stuff.
calculate_deltas();
}
void dda_move(long micro_delay)
{
//enable our steppers
digitalWrite(X_ENABLE_PIN, HIGH);
digitalWrite(Y_ENABLE_PIN, HIGH);
digitalWrite(Z_ENABLE_PIN, HIGH);
//figure out our deltas
max_delta = max(delta_steps.x, delta_steps.y);
max_delta = max(delta_steps.z, max_delta);
//init stuff.
long x_counter = -max_delta/2;
long y_counter = -max_delta/2;
long z_counter = -max_delta/2;
//our step flags
bool x_can_step = 0;
bool y_can_step = 0;
bool z_can_step = 0;
if (micro_delay >= 16383)
milli_delay = micro_delay / 1000;
else
milli_delay = 0;
/*
Serial.print("max:");
Serial.println(max_delta, DEC);
Serial.print("xd:");
Serial.println(delta_steps.x, DEC);
Serial.print("yd:");
Serial.println(delta_steps.y, DEC);
Serial.print("zd:");
Serial.println(delta_steps.z, DEC);
Serial.print("msec:");
Serial.println(millis, DEC);
Serial.print("usec:");
Serial.println(micro_delay, DEC);
*/
//do our DDA line!
do
{
x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
if (x_can_step)
{
x_counter += delta_steps.x;
if (x_counter > 0)
{
do_step(X_STEP_PIN);
x_counter -= max_delta;
if (x_direction)
current_steps.x++;
else
current_steps.x--;
}
}
if (y_can_step)
{
y_counter += delta_steps.y;
if (y_counter > 0)
{
do_step(Y_STEP_PIN);
y_counter -= max_delta;
if (y_direction)
current_steps.y++;
else
current_steps.y--;
}
}
if (z_can_step)
{
z_counter += delta_steps.z;
if (z_counter > 0)
{
do_step(Z_STEP_PIN);
z_counter -= max_delta;
if (z_direction)
current_steps.z++;
else
current_steps.z--;
}
}
extruder_manage_temperature();
//wait for next step.
if (milli_delay > 0)
delay(milli_delay);
else
delayMicroseconds(micro_delay);
}
while (x_can_step || y_can_step || z_can_step);
//set our points to be the same
current_units.x = target_units.x;
current_units.y = target_units.y;
current_units.z = target_units.z;
calculate_deltas();
}
bool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)
{
//stop us if we're on target
if (target == current)
return false;
//stop us if we're at home and still going
else if (read_switch(min_pin) && !direction)
return false;
//stop us if we're at max and still going
else if (read_switch(max_pin) && direction)
return false;
//default to being able to step
return true;
}
void do_step(byte step_pin)
{
digitalWrite(step_pin, HIGH);
delayMicroseconds(5);
digitalWrite(step_pin, LOW);
}
bool read_switch(byte pin)
{
//dual read as crude debounce
if ( SENSORS_INVERTING )
return !digitalRead(pin) && !digitalRead(pin);
else
return digitalRead(pin) && digitalRead(pin);
}
void set_target(float x, float y, float z)
{
target.x = x;
target.y = y;
target.z = z;
calculate_deltas();
}
void set_position(float x, float y, float z)
{
current.x = x;
current.y = y;
current.z = z;
calculate_deltas();
}
void calculate_deltas()
{
//figure our deltas.
delta.x = abs(target.x - current.x);
delta.y = abs(target.y - current.y);
delta.z = abs(target.z - current.z);
//what is our direction
x_direction = (target_units.x >= current_units.x);
y_direction = (target_units.y >= current_units.y);
z_direction = (target_units.z >= current_units.z);
//set our direction pins as well
digitalWrite(X_DIR_PIN, x_direction);
digitalWrite(Y_DIR_PIN, y_direction);
digitalWrite(Z_DIR_PIN, z_direction);
}
void disable_steppers()
{
//enable our steppers
digitalWrite(X_ENABLE_PIN, LOW);
digitalWrite(Y_ENABLE_PIN, LOW);
digitalWrite(Z_ENABLE_PIN, LOW);
}
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