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Dynamic feedrate on SCARA, converting target mm/s to deg/s

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This commit is contained in:
Scott Lahteine 2017-03-28 16:37:11 -05:00
parent d8724bb546
commit 0a23a1bb3b
1 changed files with 46 additions and 13 deletions
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59
Marlin/Marlin_main.cpp
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@ -9793,34 +9793,43 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// gives the number of segments
uint16_t segments = delta_segments_per_second * seconds;
// For SCARA minimum segment size is 0.5mm
// For SCARA minimum segment size is 0.25mm
#if IS_SCARA
NOMORE(segments, cartesian_mm * 2);
NOMORE(segments, cartesian_mm * 4);
#endif
// At least one segment is required
NOLESS(segments, 1);
// The approximate length of each segment
float segment_distance[XYZE] = {
difference[X_AXIS] / segments,
difference[Y_AXIS] / segments,
difference[Z_AXIS] / segments,
difference[E_AXIS] / segments
};
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
#if IS_SCARA
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
feed_factor = inv_segment_length * _feedrate_mm_s;
float oldA = stepper.get_axis_position_degrees(A_AXIS),
oldB = stepper.get_axis_position_degrees(B_AXIS);
#endif
// Get the logical current position as starting point
float logical[XYZE];
COPY(logical, current_position);
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
LOOP_XYZE(i) logical[i] += segment_distance[i];
@ -9829,13 +9838,37 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#else
inverse_kinematics(logical);
#endif
ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
#if IS_SCARA
// For SCARA scale the feed rate from mm/s to degrees/s
// Use ratio between the length of the move and the larger angle change
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
oldA = delta[A_AXIS];
oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
#endif
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
#if IS_SCARA
// For SCARA scale the feed rate from mm/s to degrees/s
// With segments > 1 length is 1 segment, otherwise total length
inverse_kinematics(ltarget);
ADJUST_DELTA(logical);
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
#else
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
#endif
return true;
}