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🐛 Fix kinematic feedrate (#24568)

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DerAndere 2022-07-31 03:49:15 +02:00 committed by Scott Lahteine
parent bbaccd342e
commit 9ee558afe1
2 changed files with 6 additions and 4 deletions
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2
Marlin/src/module/motion.cpp
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@ -1084,7 +1084,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
if (!position_is_reachable(destination)) return true; if (!position_is_reachable(destination)) return true;
// Get the linear distance in XYZ // Get the linear distance in XYZ
float cartesian_mm = diff.magnitude(); float cartesian_mm = xyz_float_t(diff).magnitude();
// If the move is very short, check the E move distance // If the move is very short, check the E move distance
TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e)); TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));

8
Marlin/src/module/planner.cpp
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@ -2195,7 +2195,7 @@ bool Planner::_populate_block(
); );
#if SECONDARY_LINEAR_AXES >= 1 && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM) #if SECONDARY_LINEAR_AXES >= 1 && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM)
if (NEAR_ZERO(distance_sqr)) { if (UNEAR_ZERO(distance_sqr)) {
// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes // Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
distance_sqr = (0.0f distance_sqr = (0.0f
SECONDARY_AXIS_GANG( SECONDARY_AXIS_GANG(
@ -2211,7 +2211,7 @@ bool Planner::_populate_block(
#endif #endif
#if HAS_ROTATIONAL_AXES && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM) #if HAS_ROTATIONAL_AXES && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM)
if (NEAR_ZERO(distance_sqr)) { if (UNEAR_ZERO(distance_sqr)) {
// Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC // Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
TERN_(INCH_MODE_SUPPORT, cartesian_move = false); TERN_(INCH_MODE_SUPPORT, cartesian_move = false);
distance_sqr = ROTATIONAL_AXIS_GANG(sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k), + sq(steps_dist_mm.u), + sq(steps_dist_mm.v), + sq(steps_dist_mm.w)); distance_sqr = ROTATIONAL_AXIS_GANG(sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k), + sq(steps_dist_mm.u), + sq(steps_dist_mm.v), + sq(steps_dist_mm.w));
@ -3154,7 +3154,9 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
PlannerHints ph = hints; PlannerHints ph = hints;
if (!hints.millimeters) if (!hints.millimeters)
ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z)); ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y)
? xyz_pos_t(cart_dist_mm).magnitude()
: TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
#if ENABLED(SCARA_FEEDRATE_SCALING) #if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feedrate from mm/s to degrees/s // For SCARA scale the feedrate from mm/s to degrees/s