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Refactor and optimize Stepper/Planner

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Better encapsulation and considerably reduce stepper jitter
This commit is contained in:
etagle
2018-05-09 02:17:53 -03:00
committed by Scott Lahteine
parent 0566badcef
commit a11eb50a3e
16 changed files with 975 additions and 738 deletions
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9
Marlin/src/gcode/motion/G2_G3.cpp
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@ -197,14 +197,17 @@ void plan_arc(
// i.e., Complete the angular vector in the given time.
inverse_kinematics(raw);
ADJUST_DELTA(raw);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder);
if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder))
break;
#else
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
break;
#endif
}