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Add a feedRate_t data type (#15349)

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This commit is contained in:
Scott Lahteine
2019-09-26 01:28:09 -05:00
committed by GitHub
parent ee7558a622
commit 455dabb183
42 changed files with 384 additions and 377 deletions
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21
Marlin/src/module/planner.cpp
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@ -1570,7 +1570,7 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters
) {
// If we are cleaning, do not accept queuing of movements
@ -1634,7 +1634,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {
const int32_t da = target[A_AXIS] - position[A_AXIS],
@ -2091,7 +2091,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#else
const float delta_mm_i = delta_mm[i];
#endif
const float cs = ABS(current_speed[i] = delta_mm_i * inverse_secs);
const feedRate_t cs = ABS(current_speed[i] = delta_mm_i * inverse_secs);
#if ENABLED(DISTINCT_E_FACTORS)
if (i == E_AXIS) i += extruder;
#endif
@ -2569,7 +2569,7 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
, const float (&delta_mm_cart)[XYZE]
#endif
, const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
) {
// If we are cleaning, do not accept queuing of movements
@ -2651,9 +2651,8 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
/**
* Add a new linear movement to the buffer.
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* The target is cartesian. It's translated to
* delta/scara if needed.
*
* rx,ry,rz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
@ -2661,7 +2660,7 @@ bool Planner::buffer_segment(const float &a, const float &b, const float &c, con
* millimeters - the length of the movement, if known
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
*/
bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters
bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters
#if ENABLED(SCARA_FEEDRATE_SCALING)
, const float &inv_duration
#endif
@ -2690,10 +2689,10 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float duration_recip = inv_duration ? inv_duration : fr_mm_s / mm,
feedrate = HYPOT(delta[A_AXIS] - position_float[A_AXIS], delta[B_AXIS] - position_float[B_AXIS]) * duration_recip;
const float duration_recip = inv_duration ? inv_duration : fr_mm_s / mm;
const feedRate_t feedrate = HYPOT(delta[A_AXIS] - position_float[A_AXIS], delta[B_AXIS] - position_float[B_AXIS]) * duration_recip;
#else
const float feedrate = fr_mm_s;
const feedRate_t feedrate = fr_mm_s;
#endif
if (buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS]
#if ENABLED(JUNCTION_DEVIATION)