bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Skew Correction for UBL

Browse Source 
Also remove unused grid slicing function when using UBL segmented.
This commit is contained in:
Scott Lahteine
2017-12-09 07:50:55 -06:00
parent 3d796d8040
commit 3255712343
4 changed files with 53 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Marlin/src/feature/bedlevel/ubl/ubl.h
View File

@ -321,8 +321,8 @@ class unified_bed_leveling {
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
}
static bool prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate);
static void line_to_destination_cartesian(const float &fr, const uint8_t e);
static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
#define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
#define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))

47
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View File

@ -47,18 +47,16 @@
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
const float start[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
},
end[XYZE] = {
destination[X_AXIS],
destination[Y_AXIS],
destination[Z_AXIS],
destination[E_AXIS]
};
#if ENABLED(SKEW_CORRECTION)
// For skew correction just adjust the destination point and we're done
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
#else
const float (&start)[XYZE] = current_position,
(&end)[XYZE] = destination;
#endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
@ -66,10 +64,10 @@
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
@ -416,12 +414,19 @@
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
#if ENABLED(SKEW_CORRECTION)
float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
#else
const float (&raw)[XYZE] = in_raw;
#endif
#if ENABLED(DELTA) // apply delta inverse_kinematics
DELTA_RAW_IK();
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
@ -434,11 +439,11 @@
scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
#else // CARTESIAN
planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
#endif
}
@ -461,7 +466,7 @@
* Returns true if did NOT move, false if moved (requires current_position update).
*/
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate