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✨ MarkForged YX kinematics (#23163)

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This commit is contained in:
John Robertson
2021-11-23 21:24:24 +00:00
committed by Scott Lahteine
parent 018c7b1cf4
commit 0e60c8b7e0
13 changed files with 93 additions and 77 deletions
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101
Marlin/src/module/planner.cpp
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@ -1743,7 +1743,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
else
axis_steps = stepper.position(axis);
#elif ENABLED(MARKFORGED_XY)
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
// Requesting one of the joined axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
@ -1917,30 +1917,43 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Compute direction bit-mask for this block
axis_bits_t dm = 0;
#if CORE_IS_XY
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
#elif CORE_IS_XZ
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif CORE_IS_YZ
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_HEAD); // Save the toolhead's true direction in Y
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#endif
#if IS_CORE
#if CORE_IS_XY
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
#elif CORE_IS_XZ
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif CORE_IS_YZ
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_HEAD); // Save the toolhead's true direction in Y
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#endif
#if LINEAR_AXES >= 4
if (di < 0) SBI(dm, I_AXIS);
#endif
#if LINEAR_AXES >= 5
if (dj < 0) SBI(dm, J_AXIS);
#endif
#if LINEAR_AXES >= 6
if (dk < 0) SBI(dm, K_AXIS);
#endif
#elif ENABLED(MARKFORGED_XY)
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
#elif ENABLED(MARKFORGED_YX)
if (da < 0) SBI(dm, A_AXIS); // Motor A direction
if (db + da < 0) SBI(dm, B_AXIS); // Motor B direction
#else
LINEAR_AXIS_CODE(
if (da < 0) SBI(dm, X_AXIS),
@ -1952,21 +1965,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
);
#endif
#if IS_CORE
#if LINEAR_AXES >= 4
if (di < 0) SBI(dm, I_AXIS);
#endif
#if LINEAR_AXES >= 5
if (dj < 0) SBI(dm, J_AXIS);
#endif
#if LINEAR_AXES >= 6
if (dk < 0) SBI(dm, K_AXIS);
#endif
#endif
TERN_(HAS_EXTRUDERS, if (de < 0) SBI(dm, E_AXIS));
#if HAS_EXTRUDERS
if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder];
const uint32_t esteps = ABS(esteps_float) + 0.5f;
#else
@ -1996,6 +1996,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + dc), ABS(db - dc), ABS(di), ABS(dj), ABS(dk)));
#elif ENABLED(MARKFORGED_XY)
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif ENABLED(MARKFORGED_YX)
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + da), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif IS_SCARA
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#else
@ -2012,15 +2014,18 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
struct DistanceMM : abce_float_t {
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
struct { float x, y, z; } head;
#endif
} steps_dist_mm;
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
#endif
#if IS_CORE
#if CORE_IS_XY
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
steps_dist_mm.a = (da + db) * mm_per_step[A_AXIS];
steps_dist_mm.b = CORESIGN(da - db) * mm_per_step[B_AXIS];
#elif CORE_IS_XZ
@ -2046,11 +2051,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
steps_dist_mm.k = dk * mm_per_step[K_AXIS];
#endif
#elif ENABLED(MARKFORGED_XY)
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS];
#elif ENABLED(MARKFORGED_YX)
steps_dist_mm.a = da * mm_per_step[A_AXIS];
steps_dist_mm.b = (db - da) * mm_per_step[B_AXIS];
#else
LINEAR_AXIS_CODE(
steps_dist_mm.a = da * mm_per_step[A_AXIS],
@ -2082,7 +2087,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->millimeters = millimeters;
else {
block->millimeters = SQRT(
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
LINEAR_AXIS_GANG(
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
@ -2161,7 +2166,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
// Enable active axes
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
if (block->steps.a || block->steps.b) {
stepper.enable_axis(X_AXIS);
stepper.enable_axis(Y_AXIS);
@ -2191,7 +2196,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (block->steps.k) stepper.enable_axis(K_AXIS)
);
#endif
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
#if LINEAR_AXES >= 4
if (block->steps.i) stepper.enable_axis(I_AXIS);
#endif
@ -2549,7 +2554,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* => normalize the complete junction vector.
* Elsewise, when needed JD will factor-in the E component
*/
if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
if (ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) || esteps > 0)
normalize_junction_vector(unit_vec); // Normalize with XYZE components
else
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))