For the shaped axes, it scales the effect of calling Stepper::pulse_phase_isr() and records and replays these calls. ![]() This solution treats calls to Stepper::pulse_phase_isr() as the input signal. So it could be a time sequence of accelerations, as in the example above, or of velocities or of axis positions or even of stepper pulses. The input signal could be anything that scales linearly. ![]() ![]() The value of x would be related to a resonant frequency of the physical printer. For example if an acceleration of 1000mm/s^2 started at time t, input shaping might change that to 500mm/s^2 at time t and then a boost of another 500mm/s^2 at time t + x. Input shaping involves scaling a input control signal and overlaying it with one or more scaled and time-shifted "echoes" of itself to produce an output signal that damps oscillations. I think there should really be two "pulses" one before and one after the logic for non-shaped axes for better alignment between the shaped and non-shaped axes.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |