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Fix Horizontal and Vertical UBL optimization bug. (#6540)

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* Fix Horizontal and Vertical optimization bug.

And drastically reduce the debug code foot print....

* Yeah Baby!

The debug print is going A - OK !
This commit is contained in:
Roxy-3D 2017-05-01 23:52:33 -05:00 committed by GitHub
parent 8f895d5e01
commit 41e63bbb7c
1 changed files with 33 additions and 118 deletions
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151
Marlin/ubl_motion.cpp
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@ -1,3 +1,4 @@
/** /**
* Marlin 3D Printer Firmware * Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
@ -167,26 +168,6 @@
float z0 = z1 + (z2 - z1) * yratio; float z0 = z1 + (z2 - z1) * yratio;
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
* that the correct value is being passed to planner.buffer_line()
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction(end[X_AXIS], end[Y_AXIS]);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination(PSTR("FINAL_MOVE: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" end[X_AXIS]=", end[X_AXIS]);
SERIAL_ECHOPAIR(" end[Y_AXIS]=", end[Y_AXIS]);
SERIAL_ECHOPAIR(" z0=", z0);
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
SERIAL_ECHOPAIR(" err=",fabs(z_optimized - z0));
SERIAL_EOL;
}
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]); z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/** /**
@ -218,8 +199,8 @@
const float dx = end[X_AXIS] - start[X_AXIS], const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS]; dy = end[Y_AXIS] - start[Y_AXIS];
const int left_flag = dx < 0.0 ? 1 : 0, const int left_flag = dx < 0.0 ? 1.0 : 0.0,
down_flag = dy < 0.0 ? 1 : 0; down_flag = dy < 0.0 ? 1.0 : 0.0;
const float adx = left_flag ? -dx : dx, const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy; ady = down_flag ? -dy : dy;
@ -250,9 +231,8 @@
const float m = dy / dx, const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS]; c = start[Y_AXIS] - m * start[X_AXIS];
const bool inf_normalized_flag = isinf(e_normalized_dist), const bool inf_normalized_flag=isinf(e_normalized_dist),
inf_m_flag = isinf(m); inf_m_flag=isinf(m);
/** /**
* This block handles vertical lines. These are lines that stay within the same * This block handles vertical lines. These are lines that stay within the same
* X Cell column. They do not need to be perfectly vertical. They just can * X Cell column. They do not need to be perfectly vertical. They just can
@ -273,26 +253,6 @@
float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi); float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
* that the correct value is being passed to planner.buffer_line()
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination(PSTR("VERTICAL z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" x=", x);
SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
SERIAL_ECHOPAIR(" z0=", z0);
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]); z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/** /**
@ -314,13 +274,23 @@
*/ */
if (y != start[Y_AXIS]) { if (y != start[Y_AXIS]) {
if (!inf_normalized_flag) { if (!inf_normalized_flag) {
on_axis_distance = y - start[Y_AXIS]; // we don't need to check if the extruder position
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a vertical move // on_axis_distance = y - start[Y_AXIS];
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = start[E_AXIS]; e_position = end[E_AXIS];
z_position = start[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder); planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
@ -354,30 +324,10 @@
while (current_xi != cell_dest_xi + left_flag) { while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi; current_xi += dxi;
const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi]))), const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&(ubl.mesh_index_to_xpos[current_xi]))),
y = m * next_mesh_line_x + c; // Calculate X at the next Y mesh line y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi); float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
* that the correct value is being passed to planner.buffer_line()
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination(PSTR("HORIZONTAL z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" z0=", z0);
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]); z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/** /**
@ -399,13 +349,19 @@
*/ */
if (x != start[X_AXIS]) { if (x != start[X_AXIS]) {
if (!inf_normalized_flag) { if (!inf_normalized_flag) {
on_axis_distance = x - start[X_AXIS]; // we don't need to check if the extruder position
// on_axis_distance = x - start[X_AXIS];
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
// on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = start[E_AXIS]; e_position = end[E_AXIS];
z_position = start[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder); planner.buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
@ -453,27 +409,6 @@
// //
float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi); float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
* that the correct value is being passed to planner.buffer_line()
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction(x, next_mesh_line_y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination(PSTR("General_1: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN "); {
SERIAL_ECHOPAIR(" x=", x);
}
SERIAL_ECHOPAIR(" next_mesh_line_y=", next_mesh_line_y);
SERIAL_ECHOPAIR(" z0=", z0);
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]); z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/** /**
@ -491,8 +426,8 @@
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = start[E_AXIS]; e_position = end[E_AXIS];
z_position = start[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder); planner.buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
current_yi += dyi; current_yi += dyi;
@ -504,26 +439,6 @@
// //
float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag); float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
/**
* Debug code to use non-optimized get_z_correction() and to do a sanity check
* that the correct value is being passed to planner.buffer_line()
*/
/*
z_optimized = z0;
z0 = ubl.get_z_correction(next_mesh_line_x, y);
if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
debug_current_and_destination(PSTR("General_2: z_correction()"));
if (isnan(z0)) SERIAL_ECHO(" z0==NAN ");
if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN ");
SERIAL_ECHOPAIR(" next_mesh_line_x=", next_mesh_line_x);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" z0=", z0);
SERIAL_ECHOPAIR(" z_optimized=", z_optimized);
SERIAL_ECHOPAIR(" err=",fabs(z_optimized-z0));
SERIAL_ECHO("\n");
}
*/
z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]); z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
/** /**
@ -541,8 +456,8 @@
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
} }
else { else {
e_position = start[E_AXIS]; e_position = end[E_AXIS];
z_position = start[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder); planner.buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);