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Minor motion style changes

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This commit is contained in:
Scott Lahteine
2020-03-01 16:59:04 -06:00
parent 6b5347ee39
commit 49c5f614c6
6 changed files with 28 additions and 29 deletions
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43
Marlin/src/module/motion.cpp
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@ -104,7 +104,7 @@ xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
/**
* Cartesian Destination
* The destination for a move, filled in by G-code movement commands,
* and expected by functions like 'prepare_move_to_destination'.
* and expected by functions like 'prepare_line_to_destination'.
* G-codes can set destination using 'get_destination_from_command'
*/
xyze_pos_t destination; // {0}
@ -340,7 +340,7 @@ void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/
prepare_fast_move_to_destination();
else
#endif
prepare_move_to_destination();
prepare_line_to_destination();
feedrate_mm_s = old_feedrate;
feedrate_percentage = old_pct;
@ -660,6 +660,16 @@ void restore_feedrate_and_scaling() {
#endif // HAS_SOFTWARE_ENDSTOPS
#if !UBL_SEGMENTED
FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
const millis_t ms = millis();
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(ms, next_idle_ms)) {
next_idle_ms = ms + 200UL;
idle();
}
}
#if IS_KINEMATIC
#if IS_SCARA
@ -679,7 +689,7 @@ void restore_feedrate_and_scaling() {
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
* Called from prepare_move_to_destination as the
* Called from prepare_line_to_destination as the
* default Delta/SCARA segmenter.
*
* This calls planner.buffer_line several times, adding
@ -752,17 +762,10 @@ void restore_feedrate_and_scaling() {
xyze_pos_t raw = current_position;
// Calculate and execute the segments
millis_t next_idle_ms = millis() + 200UL;
while (--segments) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
segment_idle(next_idle_ms);
raw += segment_distance;
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
@ -831,13 +834,9 @@ void restore_feedrate_and_scaling() {
xyze_pos_t raw = current_position;
// Calculate and execute the segments
millis_t next_idle_ms = millis() + 200UL;
while (--segments) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
segment_idle(next_idle_ms);
raw += segment_distance;
if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
@ -866,7 +865,7 @@ void restore_feedrate_and_scaling() {
*
* Return true if 'current_position' was set to 'destination'
*/
inline bool prepare_move_to_destination_cartesian() {
inline bool line_to_destination_cartesian() {
const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
#if HAS_MESH
if (planner.leveling_active && planner.leveling_active_at_z(destination.z)) {
@ -1009,7 +1008,7 @@ void restore_feedrate_and_scaling() {
*
* Before exit, current_position is set to destination.
*/
void prepare_move_to_destination() {
void prepare_line_to_destination() {
apply_motion_limits(destination);
#if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
@ -1059,12 +1058,12 @@ void prepare_move_to_destination() {
#if IS_KINEMATIC // UBL using Kinematic / Cartesian cases as a workaround for now.
ubl.line_to_destination_segmented(MMS_SCALED(feedrate_mm_s))
#else
prepare_move_to_destination_cartesian()
line_to_destination_cartesian()
#endif
#elif IS_KINEMATIC
line_to_destination_kinematic()
#else
prepare_move_to_destination_cartesian()
line_to_destination_cartesian()
#endif
) return;