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⚡️ Optimize G2-G3 Arcs (#24366)

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This commit is contained in:
tombrazier
2022-07-08 20:41:39 +01:00
committed by Scott Lahteine
parent 79a332b57e
commit 0c78a6f657
8 changed files with 310 additions and 255 deletions
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26
Marlin/src/gcode/motion/G2_G3.cpp
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@ -214,9 +214,12 @@ void plan_arc(
const uint16_t segments = nominal_segment_mm > (MAX_ARC_SEGMENT_MM) ? CEIL(flat_mm / (MAX_ARC_SEGMENT_MM)) :
nominal_segment_mm < (MIN_ARC_SEGMENT_MM) ? _MAX(1, FLOOR(flat_mm / (MIN_ARC_SEGMENT_MM))) :
nominal_segments;
const float segment_mm = flat_mm / segments;
// Add hints to help optimize the move
PlannerHints hints;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
hints.inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
#endif
/**
@ -288,6 +291,16 @@ void plan_arc(
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
// An arc can always complete within limits from a speed which...
// a) is <= any configured maximum speed,
// b) does not require centripetal force greater than any configured maximum acceleration,
// c) allows the print head to stop in the remining length of the curve within all configured maximum accelerations.
// The last has to be calculated every time through the loop.
const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius);
float arc_mm_remaining = flat_mm;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.task();
@ -342,7 +355,13 @@ void plan_arc(
planner.apply_leveling(raw);
#endif
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)))
// calculate safe speed for stopping by the end of the arc
arc_mm_remaining -= segment_mm;
hints.curve_radius = i > 1 ? radius : 0;
hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining);
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints))
break;
}
}
@ -363,7 +382,8 @@ void plan_arc(
planner.apply_leveling(raw);
#endif
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
hints.curve_radius = 0;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
#if ENABLED(AUTO_BED_LEVELING_UBL)
ARC_LIJKUVW_CODE(