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Macros to loop over axes

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This commit is contained in:
Scott Lahteine
2016-07-23 13:07:23 -07:00
parent a3b5d5eb65
commit 4e67a85a5d
4 changed files with 32 additions and 30 deletions
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16
Marlin/planner.cpp
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@ -134,7 +134,7 @@ Planner::Planner() { init(); }
void Planner::init() {
block_buffer_head = block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
LOOP_XYZE(i) previous_speed[i] = 0.0;
previous_nominal_speed = 0.0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
bed_level_matrix.set_to_identity();
@ -423,7 +423,7 @@ void Planner::check_axes_activity() {
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
block = &block_buffer[b];
for (int i = 0; i < NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
LOOP_XYZE(i) if (block->steps[i]) axis_active[i]++;
}
}
#if ENABLED(DISABLE_X)
@ -893,7 +893,7 @@ void Planner::check_axes_activity() {
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS];
float speed_factor = 1.0; //factor <=1 do decrease speed
for (int i = 0; i < NUM_AXIS; i++) {
LOOP_XYZE(i) {
current_speed[i] = delta_mm[i] * inverse_second;
float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
if (cs > mf) speed_factor = min(speed_factor, mf / cs);
@ -939,7 +939,7 @@ void Planner::check_axes_activity() {
// Correct the speed
if (speed_factor < 1.0) {
for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
LOOP_XYZE(i) current_speed[i] *= speed_factor;
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor;
}
@ -1051,7 +1051,7 @@ void Planner::check_axes_activity() {
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
LOOP_XYZE(i) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;
#if ENABLED(LIN_ADVANCE)
@ -1098,7 +1098,7 @@ void Planner::check_axes_activity() {
block_buffer_head = next_buffer_head;
// Update position
for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
LOOP_XYZE(i) position[i] = target[i];
recalculate();
@ -1155,7 +1155,7 @@ void Planner::check_axes_activity() {
stepper.set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
LOOP_XYZE(i) previous_speed[i] = 0.0;
}
/**
@ -1168,7 +1168,7 @@ void Planner::set_e_position_mm(const float& e) {
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
for (int i = 0; i < NUM_AXIS; i++)
LOOP_XYZE(i)
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
}