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Add Junction Deviation mm runtime setting (#10990)

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Scott Lahteine
2018-06-10 18:02:54 -05:00
committed by GitHub
parent 590ce1c33e
commit a2f521d34b
6 changed files with 132 additions and 77 deletions
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35
Marlin/src/module/planner.cpp
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@ -110,9 +110,23 @@ uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of
uint8_t Planner::delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
Planner::block_buffer_planned; // Index of the optimally planned block
float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
Planner::axis_steps_per_mm[XYZE_N],
Planner::steps_to_mm[XYZE_N];
uint32_t Planner::max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
Planner::max_acceleration_steps_per_s2[XYZE_N], // (steps/s^2) Derived from mm_per_s2
Planner::min_segment_time_us; // (µs) M205 B
float Planner::max_feedrate_mm_s[XYZE_N], // (mm/s) M203 XYZE - Max speeds
Planner::axis_steps_per_mm[XYZE_N], // (steps) M92 XYZE - Steps per millimeter
Planner::steps_to_mm[XYZE_N], // (mm) Millimeters per step
Planner::min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
Planner::acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
Planner::retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
Planner::travel_acceleration, // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
Planner::max_jerk[XYZE], // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
Planner::min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
#if ENABLED(JUNCTION_DEVIATION)
float Planner::junction_deviation_mm; // (mm) M205 J
#endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Planner::abort_on_endstop_hit = false;
@ -132,19 +146,6 @@ float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow perce
Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
#endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
uint32_t Planner::min_segment_time_us;
// Initialized by settings.load()
float Planner::min_feedrate_mm_s,
Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
Planner::min_travel_feedrate_mm_s;
#if HAS_LEVELING
bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
#if ABL_PLANAR
@ -2187,7 +2188,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
vmax_junction_sqr = (junction_acceleration * JUNCTION_DEVIATION_MM * sin_theta_d2) / (1.0 - sin_theta_d2);
vmax_junction_sqr = (junction_acceleration * junction_deviation_mm * sin_theta_d2) / (1.0 - sin_theta_d2);
if (block->millimeters < 1.0) {
// Fast acos approximation, minus the error bar to be safe