Add Delta kinematic optimization options
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Scott Lahteine
parent
8e31640229
commit
3913e04ac7
@ -7789,34 +7789,38 @@ void ok_to_send() {
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* - Use a fast-inverse-sqrt function and add the reciprocal.
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* (see above)
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*/
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void inverse_kinematics(const float logical[XYZ]) {
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const float cartesian[XYZ] = {
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RAW_X_POSITION(logical[X_AXIS]),
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RAW_Y_POSITION(logical[Y_AXIS]),
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RAW_Z_POSITION(logical[Z_AXIS])
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};
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// Macro to obtain the Z position of an individual tower
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#define DELTA_Z(T) cartesian[Z_AXIS] + _SQRT( \
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#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
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delta_diagonal_rod_2_tower_##T - HYPOT2( \
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delta_tower##T##_x - cartesian[X_AXIS], \
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delta_tower##T##_y - cartesian[Y_AXIS] \
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delta_tower##T##_x - raw[X_AXIS], \
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delta_tower##T##_y - raw[Y_AXIS] \
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) \
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)
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delta[A_AXIS] = DELTA_Z(1);
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delta[B_AXIS] = DELTA_Z(2);
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delta[C_AXIS] = DELTA_Z(3);
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#define DELTA_LOGICAL_IK() do { \
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const float raw[XYZ] = { \
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RAW_X_POSITION(logical[X_AXIS]), \
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RAW_Y_POSITION(logical[Y_AXIS]), \
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RAW_Z_POSITION(logical[Z_AXIS]) \
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}; \
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delta[A_AXIS] = DELTA_Z(1); \
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delta[B_AXIS] = DELTA_Z(2); \
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delta[C_AXIS] = DELTA_Z(3); \
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} while(0)
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/*
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SERIAL_ECHOPAIR("cartesian X:", cartesian[X_AXIS]);
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SERIAL_ECHOPAIR(" Y:", cartesian[Y_AXIS]);
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SERIAL_ECHOLNPAIR(" Z:", cartesian[Z_AXIS]);
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SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]);
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SERIAL_ECHOPAIR(" B:", delta[B_AXIS]);
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SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);
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//*/
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#define DELTA_DEBUG() do { \
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SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
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SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
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SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
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SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
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SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
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SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
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} while(0)
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void inverse_kinematics(const float logical[XYZ]) {
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DELTA_LOGICAL_IK();
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// DELTA_DEBUG();
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}
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/**
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@ -8090,19 +8094,87 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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// SERIAL_ECHOPAIR(" seconds=", seconds);
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// SERIAL_ECHOLNPAIR(" segments=", segments);
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// Set the target to the current position to start
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// Send all the segments to the planner
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#if ENABLED(DELTA) && ENABLED(USE_RAW_KINEMATICS)
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#define DELTA_E raw[E_AXIS]
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#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) raw[i] += ADDEND;
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#define DELTA_IK() do { \
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delta[A_AXIS] = DELTA_Z(1); \
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delta[B_AXIS] = DELTA_Z(2); \
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delta[C_AXIS] = DELTA_Z(3); \
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} while(0)
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// Get the raw current position as starting point
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float raw[ABC] = {
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RAW_CURRENT_POSITION(X_AXIS),
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RAW_CURRENT_POSITION(Y_AXIS),
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RAW_CURRENT_POSITION(Z_AXIS)
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};
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#else
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#define DELTA_E logical[E_AXIS]
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#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
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#if ENABLED(DELTA)
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#define DELTA_IK() DELTA_LOGICAL_IK()
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#else
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#define DELTA_IK() inverse_kinematics(logical)
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#endif
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// Get the logical current position as starting point
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LOOP_XYZE(i) logical[i] = current_position[i];
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// Send all the segments to the planner
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for (uint16_t s = 0; s < segments; s++) {
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LOOP_XYZE(i) logical[i] += segment_distance[i];
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inverse_kinematics(logical);
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#endif
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//DEBUG_POS("prepare_kinematic_move_to", logical);
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//DEBUG_POS("prepare_kinematic_move_to", delta);
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#if ENABLED(USE_DELTA_IK_INTERPOLATION)
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// Get the starting delta for interpolation
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if (segments >= 2) inverse_kinematics(logical);
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for (uint16_t s = segments + 1; --s;) {
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if (s > 1) {
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// Save the previous delta for interpolation
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float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
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// Get the delta 2 segments ahead (rather than the next)
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DELTA_NEXT(segment_distance[i] + segment_distance[i]);
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DELTA_IK();
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// Move to the interpolated delta position first
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planner.buffer_line(
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(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
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(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
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(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
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logical[E_AXIS], _feedrate_mm_s, active_extruder
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);
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// Do an extra decrement of the loop
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--s;
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}
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else {
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// Get the last segment delta (only when segments is odd)
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DELTA_NEXT(segment_distance[i])
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DELTA_IK();
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}
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// Move to the non-interpolated position
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_E, _feedrate_mm_s, active_extruder);
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}
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#else
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// For non-interpolated delta calculate every segment
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for (uint16_t s = segments + 1; --s;) {
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DELTA_NEXT(segment_distance[i])
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DELTA_IK();
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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#endif
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return true;
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}
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