Unwanted artifacts from unclean merge of bed-pid tree

Marlin/Marlin.pde

@@ -1399,11 +1399,11 @@ void process_commands()
         updatePID();
         SERIAL_PROTOCOL(MSG_OK);
 		SERIAL_PROTOCOL(" p:");
-        SERIAL_PROTOCOL(Kp);
+        SERIAL_PROTOCOL(bedKp);
         SERIAL_PROTOCOL(" i:");
-        SERIAL_PROTOCOL(Ki/PID_dT);
+        SERIAL_PROTOCOL(bedKi/PID_dT);
         SERIAL_PROTOCOL(" d:");
-        SERIAL_PROTOCOL(Kd*PID_dT);
+        SERIAL_PROTOCOL(bedKd*PID_dT);
         SERIAL_PROTOCOLLN("");
       }
       break;

README.md

@@ -1,22 +1,222 @@
 WARNING: 
 --------
-This is an experimental modification to allow PID on your bed heater.
+THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0
 
-This will run at the same frequency as the main PID loop.  Make sure you heater FET or SSR can do this. I use a fotek SSR-10DA and it's fine
+The configuration is now split in two files
+Configuration.h for the normal settings
+Configuration_adv.h for the advanced settings
 
-add something like this to you configuration (pulling this branch will get you this
+Gen7T is not supported.
 
-~~~~~~~~~~~~~~~~~~~~
-#define PIDTEMPBED
+Quick Information
+===================
+This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
 
-//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, argressive factor of .15 (vs .1, 1, 10)
-    #define  DEFAULT_bedKp 10.00
-    #define  DEFAULT_bedKi .023
-    #define  DEFAULT_bedKd 305.4
-~~~~~~~~~~~~~~~~~~~~
+Derived from Sprinter and Grbl by Erik van der Zalm.
+Sprinters lead developers are Kliment and caru.
+Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl
+A fork by bkubicek for the Ultimaker was merged, and further development was aided by him.
+Some features have been added by:
+Lampmaker, Bradley Feldman, and others...
 
 
-Autotune works for the bed.  Give it an "M303 E-1 C8 S90" to run autotune on the bed at 90 degrees for 8 cycles.
+Features:
+
+*   Interrupt based movement with real linear acceleration
+*   High steprate
+*   Look ahead (Keep the speed high when possible. High cornering speed)
+*   Interrupt based temperature protection
+*   preliminary support for Matthew Roberts advance algorithm 
+    For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+*   Full endstop support
+*   SD Card support
+*   SD Card folders (works in pronterface)
+*   SD Card autostart support
+*   LCD support (ideally 20x4) 
+*   LCD menu system for autonomous SD card printing, controlled by an click-encoder. 
+*   EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables
+*   many small but handy things originating from bkubicek's fork.
+*   Arc support
+*   Temperature oversampling
+*   Dynamic Temperature setpointing aka "AutoTemp"
+*   Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin
+*   Endstop trigger reporting to the host software.
+*   Updated sdcardlib
+*   Heater power reporting. Useful for PID monitoring.
+*   PID tuning
+*   CoreXY kinematics (www.corexy.com/theory.html)
+
+The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments.
+
+
+Differences and additions to the already good Sprinter firmware:
+================================================================
+
+*Look-ahead:*
+
+Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, 
+lookahead will only decelerate and accelerate to a velocity, 
+so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity.
+This is only possible, if some future moves are already processed, hence the name. 
+It leads to less over-deposition at corners, especially at flat angles.
+
+*Arc support:*
+
+Slic3r can find curves that, although broken into segments, were ment to describe an arc.
+Marlin is able to print those arcs. The advantage is the firmware can choose the resolution,
+and can perform the arc with nearly constant velocity, resulting in a nice finish. 
+Also, less serial communication is needed.
+
+*Temperature Oversampling:*
+
+To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged.
+
+*AutoTemp:*
+
+If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly.
+Usually, higher speed requires higher temperature.
+This can now be performed by the AutoTemp function
+By calling M109 S<mintemp> T<maxtemp> F<factor> you enter the autotemp mode.
+
+You can leave it by calling M109 without any F.
+If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec].
+The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax.
+If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change.
+Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode.
+
+*EEPROM:*
+
+If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM.
+After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says.
+
+*LCD Menu:*
+
+If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures,
+accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff.
+One working hardware is documented here: http://www.thingiverse.com/thing:12663 
+Also, with just a 20x4 or 16x2 display, useful data is shown.
+
+*SD card folders:*
+
+If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g".
+You can write to file in a subfolder by specifying a similar text using small letters in the path.
+Also, backup copies of various operating systems are hidden, as well as files not ending with ".g".
+
+*SD card folders:*
+
+If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu.
+First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction.
+
+*Endstop trigger reporting:*
+
+If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port.
+This is useful, because the user gets a warning message.
+However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration.
+
+*Coding paradigm:*
+
+Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables.
+This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization.
+We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future.
+A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory.
+In the serial communication, a #define based level of abstraction was enforced, so that it is clear that
+some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol,
+necessary for backwards compatibility.
+
+*Interrupt based temperature measurements:*
+
+An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures.
+This leads to less blocking in the heater management routine.
+
+
+Non-standard M-Codes, different to an old version of sprinter:
+==============================================================
+Movement:
+
+*   G2  - CW ARC
+*   G3  - CCW ARC
+
+General:
+
+*   M17  - Enable/Power all stepper motors. Compatibility to ReplicatorG.
+*   M18  - Disable all stepper motors; same as M84.Compatibility to ReplicatorG.
+*   M30  - Print time since last M109 or SD card start to serial
+*   M42  - Change pin status via gcode
+*   M80  - Turn on Power Supply
+*   M81  - Turn off Power Supply
+*   M114 - Output current position to serial port 
+*   M119 - Output Endstop status to serial port
+
+Movement variables:
+
+*   M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+*   M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+*   M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+*   M206 - set home offsets.  This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
+*   M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
+*   M221 - set the extrude multiplying S:factor in percent
+*   M400 - Finish all buffered moves.
+
+Temperature variables:
+*   M301 - Set PID parameters P I and D
+*   M302 - Allow cold extrudes
+*   M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+
+Advance:
+
+*   M200 - Set filament diameter for advance
+*   M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+
+EEPROM:
+
+*   M500 - stores paramters in EEPROM. This parameters are stored:  axis_steps_per_unit,  max_feedrate, max_acceleration  ,acceleration,retract_acceleration,
+  minimumfeedrate,mintravelfeedrate,minsegmenttime,  jerk velocities, PID
+*   M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
+*   M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+*   M503 - print the current settings (from memory not from eeprom)
+
+MISC:
+
+*   M240 - Trigger a camera to take a photograph
+*   M999 - Restart after being stopped by error
+
+Configuring and compilation:
+============================
+
+Install the arduino software IDE/toolset v22
+   http://www.arduino.cc/en/Main/Software
+
+For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment.
+  copy Marlin\sanguino <arduino home>\hardware\Sanguino
+
+Install Ultimaker's RepG 25 build
+    http://software.ultimaker.com
+For SD handling and as better substitute (apart from stl manipulation) download
+the very nice Kliment's printrun/pronterface  https://github.com/kliment/Printrun
+
+Copy the Ultimaker Marlin firmware
+   https://github.com/ErikZalm/Marlin/tree/Marlin_v1
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Arduino Mega 2560    or your microcontroller
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Click the Verify/Compile button
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+Start Ultimaker's Custom RepG 25
+Make sure Show Experimental Profiles is enabled in Preferences
+Select Sprinter as the Driver
+
+Press the Connect button.
+
+KNOWN ISSUES: RepG will display:  Unknown: marlin x.y.z
+
+That's ok.  Enjoy Silky Smooth Printing.