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add correction of sofware error #9

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add correction of sofware error #9

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48 changes: 32 additions & 16 deletions src/AccelStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,24 +44,28 @@ boolean AccelStepper::runSpeed()
if (!_stepInterval)
return false;

unsigned long time = micros();
if (time - _lastStepTime >= _stepInterval)
unsigned long r_elsp= micros() - this->_lastStepTime; // software delay

if (this->_stepInterval <= r_elsp - this->_integralError)
{
if (_direction == DIRECTION_CW)
{
// Clockwise
_currentPos += 1;
}
else
{
// Anticlockwise
_currentPos -= 1;
}
step(_currentPos);
if (_direction == DIRECTION_CW)
{
// Clockwise
_currentPos += 1;
}
else
{
// Anticlockwise
_currentPos -= 1;
}
step(_currentPos);


this->_lastStepTime = micros();

_lastStepTime = time; // Caution: does not account for costs in step()
this->_integralError += this->_stepInterval- r_elsp ; //software error integreted

return true;
return true;
}
else
{
Expand Down Expand Up @@ -92,6 +96,7 @@ void AccelStepper::setCurrentPosition(long position)
_n = 0;
_stepInterval = 0;
_speed = 0.0;
this->_integralError = 0;
}

void AccelStepper::computeNewSpeed()
Expand Down Expand Up @@ -200,6 +205,7 @@ AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_
_minPulseWidth = 1;
_enablePin = 0xff;
_lastStepTime = 0;
this->_integralError =0;
_pin[0] = pin1;
_pin[1] = pin2;
_pin[2] = pin3;
Expand Down Expand Up @@ -241,6 +247,7 @@ AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
_pin[3] = 0;
_forward = forward;
_backward = backward;
this->_integralError =0;

// NEW
_n = 0;
Expand Down Expand Up @@ -306,8 +313,12 @@ void AccelStepper::setSpeed(float speed)
{
_stepInterval = fabs(1000000.0 / speed);
_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;

this->_integralError = 0;
}
_speed = speed;


}

float AccelStepper::speed()
Expand Down Expand Up @@ -611,9 +622,12 @@ void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3In

// Blocks until the target position is reached and stopped
void AccelStepper::runToPosition()
{
{
this->_integralError = 0;
while (run())
YIELD; // Let system housekeeping occur

this->_integralError = 0 ;
}

boolean AccelStepper::runSpeedToPosition()
Expand Down Expand Up @@ -643,6 +657,8 @@ void AccelStepper::stop()
move(stepsToStop);
else
move(-stepsToStop);

this->_integralError = 0 ;
}
}

Expand Down
4 changes: 4 additions & 0 deletions src/AccelStepper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -621,6 +621,7 @@ class AccelStepper
private:
/// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
/// bipolar, and 4 pins is a unipolar.

uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType

/// Arduino pin number assignments for the 2 or 4 pins required to interface to the
Expand Down Expand Up @@ -656,6 +657,9 @@ class AccelStepper

/// The last step time in microseconds
unsigned long _lastStepTime;

/// the integral error correction
unsigned long _integralError;

/// The minimum allowed pulse width in microseconds
unsigned int _minPulseWidth;
Expand Down