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⚡️ Optimize G2-G3 Arcs (#24366)

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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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32
Marlin/src/module/motion.cpp
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@ -1041,19 +1041,18 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
NOLESS(segments, 1U);
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments;
const float inv_segments = 1.0f / float(segments);
const xyze_float_t segment_distance = diff * inv_segments;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
#endif
// Add hints to help optimize the move
PlannerHints hints(cartesian_mm * inv_segments);
TERN_(SCARA_FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
/*
SERIAL_ECHOPGM("mm=", cartesian_mm);
SERIAL_ECHOPGM(" seconds=", seconds);
SERIAL_ECHOPGM(" segments=", segments);
SERIAL_ECHOPGM(" segment_mm=", cartesian_segment_mm);
SERIAL_ECHOPGM(" segment_mm=", hints.millimeters);
SERIAL_EOL();
//*/
@ -1065,11 +1064,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
while (--segments) {
segment_idle(next_idle_ms);
raw += segment_distance;
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints))
break;
}
// Ensure last segment arrives at target location.
planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints);
return false; // caller will update current_position
}
@ -1108,17 +1108,16 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
NOLESS(segments, 1U);
// The approximate length of each segment
const float inv_segments = 1.0f / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments;
const float inv_segments = 1.0f / float(segments);
const xyze_float_t segment_distance = diff * inv_segments;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm;
#endif
// Add hints to help optimize the move
PlannerHints hints(cartesian_mm * inv_segments);
TERN_(SCARA_FEEDRATE_SCALING, hints.inv_duration = scaled_fr_mm_s / hints.millimeters);
//SERIAL_ECHOPGM("mm=", cartesian_mm);
//SERIAL_ECHOLNPGM(" segments=", segments);
//SERIAL_ECHOLNPGM(" segment_mm=", cartesian_segment_mm);
//SERIAL_ECHOLNPGM(" segment_mm=", hints.millimeters);
// Get the raw current position as starting point
xyze_pos_t raw = current_position;
@ -1128,12 +1127,13 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
while (--segments) {
segment_idle(next_idle_ms);
raw += segment_distance;
if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break;
if (!planner.buffer_line(raw, fr_mm_s, active_extruder, hints))
break;
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration));
planner.buffer_line(destination, fr_mm_s, active_extruder, hints);
}
#endif // SEGMENT_LEVELED_MOVES && !AUTO_BED_LEVELING_UBL