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Remove JUNCTION_DEVIATION_INCLUDE_E option (#11147)

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This commit is contained in:
Scott Lahteine
2018-06-29 22:42:05 -05:00
committed by GitHub
parent fbf1c9b496
commit bd7f5848f1
52 changed files with 13 additions and 81 deletions
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28
Marlin/src/module/planner.cpp
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@ -2230,21 +2230,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
already calculated in a different place. */
// Unit vector of previous path line segment
static float previous_unit_vec[
#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
XYZE
#else
XYZ
#endif
];
static float previous_unit_vec[XYZE];
float unit_vec[] = {
delta_mm[A_AXIS] * inverse_millimeters,
delta_mm[B_AXIS] * inverse_millimeters,
delta_mm[C_AXIS] * inverse_millimeters
#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
, delta_mm[E_AXIS] * inverse_millimeters
#endif
delta_mm[C_AXIS] * inverse_millimeters,
delta_mm[E_AXIS] * inverse_millimeters
};
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
@ -2254,9 +2246,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
float junction_cos_theta = -previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
-previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
-previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS]
#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
-previous_unit_vec[E_AXIS] * unit_vec[E_AXIS]
#endif
-previous_unit_vec[E_AXIS] * unit_vec[E_AXIS]
;
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
@ -2267,15 +2257,13 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
else {
NOLESS(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero.
float junction_unit_vec[JD_AXES] = {
// Convert delta vector to unit vector
float junction_unit_vec[XYZE] = {
unit_vec[X_AXIS] - previous_unit_vec[X_AXIS],
unit_vec[Y_AXIS] - previous_unit_vec[Y_AXIS],
unit_vec[Z_AXIS] - previous_unit_vec[Z_AXIS]
#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
, unit_vec[E_AXIS] - previous_unit_vec[E_AXIS]
#endif
unit_vec[Z_AXIS] - previous_unit_vec[Z_AXIS],
unit_vec[E_AXIS] - previous_unit_vec[E_AXIS]
};
// Convert delta vector to unit vector
normalize_junction_vector(junction_unit_vec);
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),