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Append units to feedrate variables

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This commit is contained in:
Scott Lahteine
2016-07-15 18:49:34 -07:00
parent c3cc24242c
commit 93ba5bddd7
10 changed files with 189 additions and 176 deletions
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22
Marlin/planner.cpp
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@ -80,20 +80,20 @@ block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
volatile uint8_t Planner::block_buffer_head = 0; // Index of the next block to be pushed
volatile uint8_t Planner::block_buffer_tail = 0;
float Planner::max_feedrate[NUM_AXIS]; // Max speeds in mm per second
float Planner::max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
float Planner::axis_steps_per_mm[NUM_AXIS];
unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS];
unsigned long Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
millis_t Planner::min_segment_time;
float Planner::min_feedrate;
float Planner::min_feedrate_mm_s;
float Planner::acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
float Planner::retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
float Planner::travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
float Planner::max_xy_jerk; // The largest speed change requiring no acceleration
float Planner::max_z_jerk;
float Planner::max_e_jerk;
float Planner::min_travel_feedrate;
float Planner::min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
@ -527,14 +527,14 @@ void Planner::check_axes_activity() {
* Add a new linear movement to the buffer.
*
* x,y,z,e - target position in mm
* feed_rate - (target) speed of the move
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
void Planner::buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder)
void Planner::buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder)
#else
void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder)
void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder)
#endif // AUTO_BED_LEVELING_FEATURE
{
// Calculate the buffer head after we push this byte
@ -768,9 +768,9 @@ void Planner::check_axes_activity() {
}
if (block->steps[E_AXIS])
NOLESS(feed_rate, min_feedrate);
NOLESS(fr_mm_s, min_feedrate_mm_s);
else
NOLESS(feed_rate, min_travel_feedrate);
NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
/**
* This part of the code calculates the total length of the movement.
@ -828,7 +828,7 @@ void Planner::check_axes_activity() {
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
float inverse_second = fr_mm_s * inverse_millimeters;
int moves_queued = movesplanned();
@ -836,7 +836,7 @@ void Planner::check_axes_activity() {
#if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN)
bool mq = moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE) / 2;
#if ENABLED(OLD_SLOWDOWN)
if (mq) feed_rate *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE);
if (mq) fr_mm_s *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE);
#endif
#if ENABLED(SLOWDOWN)
// segment time im micro seconds
@ -895,7 +895,7 @@ void Planner::check_axes_activity() {
float speed_factor = 1.0; //factor <=1 do decrease speed
for (int i = 0; i < NUM_AXIS; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
float cs = fabs(current_speed[i]), mf = max_feedrate[i];
float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
if (cs > mf) speed_factor = min(speed_factor, mf / cs);
}