Added setting for controlling Z-axis feedrate from current XY feedrate,

changed up/down control to accelerated/decelerated continuous motion. Ref. issue #24.

Author: terjeio

thc.c

@@ -68,6 +68,7 @@ typedef enum {
 typedef struct {
  int32_t id;
  bool thc_disabled;
+ float feed_factor;
  union {
  float params[6];
  struct {
@@ -105,11 +106,11 @@ typedef struct {
  float arc_voltage_offset;
  float arc_height_per_volt;
  float arc_ok_low_voltage;
- float arc_high_low_voltage;
+ float arc_ok_high_voltage;
  uint8_t arc_retries;
  thc_options_t option;
- uint8_t unused1;
- uint8_t unused2;
+ uint8_t feed_factor;
+ uint8_t unused2; // thc cutoff feedrate %?
  plasma_mode_t mode;
  pid_values_t pid;
  uint8_t port_arc_voltage;
@@ -788,10 +789,13 @@ static void state_idle (void)
  }
  }
 
- if(plasma.option.sync_pos && state_get() == STATE_IDLE) {
+ if(st2_motor_running(z_motor))
+ st2_motor_stop(z_motor);
 
- if(mode != Plasma_ModeUpDown)
- step_count =(uint32_t)st2_get_position(z_motor);
+ else if(plasma.option.sync_pos && state_get() == STATE_IDLE) {
+
+// if(mode != Plasma_ModeUpDown)
+ step_count = (uint32_t)st2_get_position(z_motor);
 
  if(step_count && state_get() == STATE_IDLE) {
  sys.position[Z_AXIS] += step_count;
@@ -808,18 +812,23 @@ static void state_thc_delay (void)
 
  if(!(thc.enabled = !(job.thc_disabled || mode == Plasma_ModeArcOK)))
  stateHandler = state_arc_monitor;
- else if(mode == Plasma_ModeUpDown) {
- step_count = 0;
- stateHandler = state_thc_adjust;
- } else {
- pidf_reset(&pid);
+
+ else {
+
+ job.feed_factor = (float)plasma.feed_factor / 100.0f;
  st2_set_position(z_motor, 0LL);
- if(!isnanf(job.cut_voltage))
- set_target_voltage(job.cut_voltage);
- else
- set_target_voltage(parc_voltage.get_value(&parc_voltage) * plasma.arc_voltage_scale - plasma.arc_voltage_offset);
- stateHandler = state_vad_lock;
- stateHandler();
+
+ if(mode == Plasma_ModeUpDown)
+ stateHandler = state_thc_adjust;
+ else {
+ pidf_reset(&pid);
+ if(!isnanf(job.cut_voltage))
+ set_target_voltage(job.cut_voltage);
+ else
+ set_target_voltage(parc_voltage.get_value(&parc_voltage) * plasma.arc_voltage_scale - plasma.arc_voltage_offset);
+ stateHandler = state_vad_lock;
+ stateHandler();
+ }
  }
  }
 }
@@ -833,17 +842,18 @@ static void state_arc_monitor (void)
 static void state_thc_adjust (void)
 {
  if((thc.arc_ok = arc_ok.get_value(&arc_ok) == 1.0f)) {
+
  if(updown_enabled) {
+
  thc.up = thc.report_up = cutter_up.get_value(&cutter_up) == 1.0f;
  thc.down = thc.report_down = cutter_down.get_value(&cutter_down) == 1.0f;
- if(thc.up != thc.down) {
- if(thc.up) {
- step_count++;
- hal.stepper.output_step((axes_signals_t){Z_AXIS_BIT}, (axes_signals_t){0});
- } else {
- step_count--;
- hal.stepper.output_step((axes_signals_t){Z_AXIS_BIT}, (axes_signals_t){Z_AXIS_BIT});
- }
+
+ if(st2_motor_running(z_motor)) {
+ if(thc.up == thc.down)
+ st2_motor_stop(z_motor);
+ } else if(thc.up != thc.down) {
+ float feedrate = st_get_realtime_rate();
+ st2_motor_move(z_motor, thc.up ? 1.0f : -1.0f, min(feedrate, settings.axis[Z_AXIS].max_rate) * job.feed_factor, Stepper2_InfiniteSteps);
  }
  }
  } else
@@ -891,7 +901,9 @@ static void state_thc_pid (void)
  strcat(buf, ftoa(err, 1));
  report_message(buf, Message_Info);
 */
- st2_motor_move(z_motor, -err * plasma.arc_height_per_volt, settings.axis[Z_AXIS].max_rate, Stepper2_mm);
+ float feedrate = st_get_realtime_rate();
+
+ st2_motor_move(z_motor, err * plasma.arc_height_per_volt, min(feedrate, settings.axis[Z_AXIS].max_rate) * job.feed_factor, Stepper2_mm);
  }
  }
  }
@@ -1146,6 +1158,7 @@ static bool is_setting_available (const setting_detail_t *setting, uint_fast16_t
  break;
 
  case Setting_THC_VADThreshold:
+ case Setting_THC_FeedFactor:
  ok = init_ok;
  break;
 
@@ -1231,13 +1244,14 @@ PROGMEM static const setting_detail_t plasma_settings[] = {
  { Setting_Arc_VoltageScale, Group_Plasma, "Plasma Arc voltage scale", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_voltage_scale, NULL, is_setting_available },
  { Setting_Arc_VoltageOffset, Group_Plasma, "Plasma Arc voltage offset", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_voltage_offset, NULL, is_setting_available },
  { Setting_Arc_HeightPerVolt, Group_Plasma, "Plasma Arc height per volt", "mm", Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_height_per_volt, NULL, is_setting_available },
- { Setting_Arc_OkHighVoltage, Group_Plasma, "Plasma Arc ok high volts", "V", Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_high_low_voltage, NULL, is_setting_available },
+ { Setting_Arc_OkHighVoltage, Group_Plasma, "Plasma Arc ok high volts", "V", Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_ok_high_voltage, NULL, is_setting_available },
  { Setting_Arc_OkLowVoltage, Group_Plasma, "Plasma Arc ok low volts", "V", Format_Decimal, "###0.000", NULL, NULL, Setting_NonCore, &plasma.arc_ok_low_voltage, NULL, is_setting_available },
  { Setting_Arc_VoltagePort, Group_AuxPorts, "Arc voltage port", NULL, Format_Decimal, "-#0", "-1", max_aport, Setting_NonCoreFn, set_port, get_port, is_setting_available, { .reboot_required = On } },
  { Setting_Arc_OkPort, Group_AuxPorts, "Arc ok port", NULL, Format_Decimal, "-#0", "-1", max_dport, Setting_NonCoreFn, set_port, get_port, NULL, { .reboot_required = On } },
  { Setting_THC_CutterDownPort, Group_AuxPorts, "Cutter down port", NULL, Format_Decimal, "-#0", "-1", max_dport, Setting_NonCoreFn, set_port, get_port, is_setting_available, { .reboot_required = On } },
  { Setting_THC_CutterUpPort, Group_AuxPorts, "Cutter up port", NULL, Format_Decimal, "-#0", "-1", max_dport, Setting_NonCoreFn, set_port, get_port, is_setting_available, { .reboot_required = On } },
  { Setting_THC_Options, Group_Plasma, "Plasma options", NULL, Format_Bitfield, "Virtual ports,Sync Z position", NULL, NULL, Setting_NonCore, &plasma.option.flags, NULL, NULL, { .reboot_required = On } },
+ { Setting_THC_FeedFactor, Group_Plasma, "Plasma Z feed factor", "percent", Format_Int8, "##0", "1", "100", Setting_NonCore, &plasma.feed_factor, NULL, is_setting_available },
 };
 
 PROGMEM static const setting_descr_t plasma_settings_descr[] = {
@@ -1265,7 +1279,9 @@ PROGMEM static const setting_descr_t plasma_settings_descr[] = {
  { Setting_Arc_OkPort, "Aux port number to use for arc ok signal. Set to -1 to disable." },
  { Setting_THC_CutterDownPort, "Aux port number to use for cutter down signal. Set to -1 to disable." },
  { Setting_THC_CutterUpPort, "Aux port number to use for cutter up signal. Set to -1 to disable." },
- { Setting_THC_Options, "" }
+ { Setting_THC_Options, "" },
+ { Setting_THC_FeedFactor, "Z-axis feedrate to use for height corrections as a percentage of the actual XY feedrate." },
+
 };
 
 static void plasma_settings_save (void)
@@ -1291,8 +1307,9 @@ static void plasma_settings_restore (void)
  plasma.arc_voltage_scale = 1.0f;
  plasma.arc_voltage_offset = 0.0f;
  plasma.arc_height_per_volt = 0.1f;
- plasma.arc_high_low_voltage = 150.0;
+ plasma.arc_ok_high_voltage = 150.0;
  plasma.arc_ok_low_voltage = 100.0f;
+ plasma.feed_factor = 5;
  plasma.pid.p_gain = 1.0f;
  plasma.pid.i_gain = 0.0f;
  plasma.pid.d_gain = 0.0f;
@@ -1360,6 +1377,9 @@ static void plasma_settings_load (void)
 
  updown_enabled = mode == Plasma_ModeUpDown;
 
+ if(plasma.feed_factor == 0 || plasma.feed_factor > 100)
+ plasma.feed_factor = 5;
+
  settings_changed = hal.settings_changed;
  hal.settings_changed = plasma_setup;
 
@@ -1404,7 +1424,7 @@ static void onReportOptions (bool newopt)
  *s1++ = ')';
  *s1 = '\0';
 
- report_plugin(buf, "0.23");
+ report_plugin(buf, "0.24");
 
  } else if(mode != Plasma_ModeOff)
  hal.stream.write(",THC");