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Add HAS_JUNCTION_DEVIATION

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This commit is contained in:
Scott Lahteine
2020-04-23 20:49:11 -05:00
parent df22b96d72
commit 55d66fb897
16 changed files with 34 additions and 30 deletions
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14
Marlin/src/module/planner.cpp
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@ -132,7 +132,7 @@ uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived
float Planner::steps_to_mm[XYZE_N]; // (mm) Millimeters per step
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
float Planner::junction_deviation_mm; // (mm) M205 J
#if ENABLED(LIN_ADVANCE)
#if ENABLED(DISTINCT_E_FACTORS)
@ -2151,7 +2151,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if ENABLED(LIN_ADVANCE)
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
#if ENABLED(DISTINCT_E_FACTORS)
#define MAX_E_JERK max_e_jerk[extruder]
#else
@ -2238,7 +2238,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
float vmax_junction_sqr; // Initial limit on the segment entry velocity (mm/s)^2
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
/**
* Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
* Let a circle be tangent to both previous and current path line segments, where the junction
@ -2285,7 +2285,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
;
unit_vec *= inverse_millimeters;
#if IS_CORE && DISABLED(CLASSIC_JERK)
#if IS_CORE && HAS_JUNCTION_DEVIATION
/**
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
@ -2460,7 +2460,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
previous_safe_speed = safe_speed;
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
vmax_junction_sqr = _MIN(vmax_junction_sqr, sq(vmax_junction));
#else
vmax_junction_sqr = sq(vmax_junction);
@ -2649,7 +2649,7 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
#if IS_KINEMATIC
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
const xyze_pos_t cart_dist_mm = {
rx - position_cart.x, ry - position_cart.y,
rz - position_cart.z, e - position_cart.e
@ -2675,7 +2675,7 @@ bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, con
const feedRate_t feedrate = fr_mm_s;
#endif
if (buffer_segment(delta.a, delta.b, delta.c, machine.e
#if DISABLED(CLASSIC_JERK)
#if HAS_JUNCTION_DEVIATION
, cart_dist_mm
#endif
, feedrate, extruder, mm