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Clean up some motion code

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This commit is contained in:
Scott Lahteine
2019-02-25 14:28:01 -06:00
parent 808b076000
commit 5d28575d4d
4 changed files with 26 additions and 49 deletions
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61
Marlin/src/module/motion.cpp
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@@ -253,8 +253,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
*/
void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
void line_to_current_position(const float &fr_mm_s/*=feedrate_mm_s*/) {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s, active_extruder);
}
/**
@@ -270,7 +270,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
/**
* Calculate delta, start a line, and set current_position to destination
*/
void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) {
void prepare_uninterpolated_move_to_destination(const float &fr_mm_s/*=0.0*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
@@ -297,19 +297,18 @@ void buffer_line_to_destination(const float fr_mm_s) {
* Plan a move to (X, Y, Z) and set the current_position
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
#endif
const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS),
xy_feedrate = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
#if ENABLED(DELTA)
if (!position_is_reachable(rx, ry)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
REMEMBER(fr, feedrate_mm_s, xy_feedrate);
set_destination_from_current(); // sync destination at the start
@@ -373,7 +372,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
prepare_uninterpolated_move_to_destination(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > rz) {
@@ -385,27 +384,22 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < rz) {
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
line_to_current_position();
line_to_current_position(z_feedrate);
}
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
line_to_current_position();
line_to_current_position(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) {
feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
line_to_current_position();
line_to_current_position(z_feedrate);
}
#endif
feedrate_mm_s = old_feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
@@ -423,31 +417,20 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm
}
//
// Prepare to do endstop or probe moves
// with custom feedrates.
// Prepare to do endstop or probe moves with custom feedrates.
// - Save / restore current feedrate and multiplier
//
// - Save current feedrates
// - Reset the rate multiplier
//
void bracket_probe_move(const bool before) {
static float saved_feedrate_mm_s;
static int16_t saved_feedrate_percentage;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
#endif
if (before) {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
}
else {
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
}
static float saved_feedrate_mm_s;
static int16_t saved_feedrate_percentage;
void setup_for_endstop_or_probe_move() {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
}
void clean_up_after_endstop_or_probe_move() {
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
}
void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
#if HAS_SOFTWARE_ENDSTOPS