🏗️ Support for up to 6 linear axes (#19112)
Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
committed by
Scott Lahteine
Scott Lahteine
parent
d3c56a76e7
commit
c1fca91103
@ -52,7 +52,10 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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LINEAR_AXIS_GANG(
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(parser.seen_test('X') ? _BV(X_AXIS) : 0),
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| (parser.seen_test('Y') ? _BV(Y_AXIS) : 0),
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| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0))
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| (parser.seen_test('Z') ? _BV(Z_AXIS) : 0),
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| (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0),
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| (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0),
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| (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0))
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)
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#endif
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) {
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@ -85,7 +88,9 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (fwretract.autoretract_enabled && parser.seen_test('E') && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) {
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if (fwretract.autoretract_enabled && parser.seen_test('E')
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&& !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))
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) {
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const float echange = destination.e - current_position.e;
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// Is this a retract or recover move?
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if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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@ -63,7 +63,7 @@ void plan_arc(
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case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
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}
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#else
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constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
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constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS);
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#endif
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// Radius vector from center to current location
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@ -73,8 +73,8 @@ void plan_arc(
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center_P = current_position[p_axis] - rvec.a,
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center_Q = current_position[q_axis] - rvec.b,
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rt_X = cart[p_axis] - center_P,
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rt_Y = cart[q_axis] - center_Q,
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start_L = current_position[l_axis];
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rt_Y = cart[q_axis] - center_Q
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OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]);
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#ifdef MIN_ARC_SEGMENTS
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uint16_t min_segments = MIN_ARC_SEGMENTS;
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@ -109,8 +109,9 @@ void plan_arc(
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#endif
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}
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float linear_travel = cart[l_axis] - start_L;
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#if HAS_Z_AXIS
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float linear_travel = cart[l_axis] - start_L;
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#endif
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#if HAS_EXTRUDERS
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float extruder_travel = cart.e - current_position.e;
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#endif
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@ -118,9 +119,11 @@ void plan_arc(
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// If circling around...
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if (ENABLED(ARC_P_CIRCLES) && circles) {
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const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
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part_per_circle = RADIANS(360) / total_angular, // Each circle's part of the total
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l_per_circle = linear_travel * part_per_circle; // L movement per circle
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part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
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#if HAS_Z_AXIS
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const float l_per_circle = linear_travel * part_per_circle; // L movement per circle
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#endif
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#if HAS_EXTRUDERS
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const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle
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#endif
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@ -128,17 +131,15 @@ void plan_arc(
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xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
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for (uint16_t n = circles; n--;) {
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TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis
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temp_position[l_axis] += l_per_circle; // Destination L axis
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TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle); // Destination L axis
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plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
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}
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linear_travel = cart[l_axis] - current_position[l_axis];
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#if HAS_EXTRUDERS
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extruder_travel = cart.e - current_position.e;
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#endif
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TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]);
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TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
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}
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const float flat_mm = radius * angular_travel,
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mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
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mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm);
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if (mm_of_travel < 0.001f) return;
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const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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@ -187,17 +188,19 @@ void plan_arc(
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// Vector rotation matrix values
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xyze_pos_t raw;
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const float theta_per_segment = angular_travel / segments,
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linear_per_segment = linear_travel / segments,
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sq_theta_per_segment = sq(theta_per_segment),
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sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
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cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
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#if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL)
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const float linear_per_segment = linear_travel / segments;
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#endif
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#if HAS_EXTRUDERS
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const float extruder_per_segment = extruder_travel / segments;
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#endif
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// Initialize the linear axis
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raw[l_axis] = current_position[l_axis];
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TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]);
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// Initialize the extruder axis
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TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
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@ -246,11 +249,8 @@ void plan_arc(
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// Update raw location
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raw[p_axis] = center_P + rvec.a;
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raw[q_axis] = center_Q + rvec.b;
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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raw[l_axis] = start_L;
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UNUSED(linear_per_segment);
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#else
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raw[l_axis] += linear_per_segment;
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#if HAS_Z_AXIS
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raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment);
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#endif
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TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
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@ -268,7 +268,7 @@ void plan_arc(
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// Ensure last segment arrives at target location.
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raw = cart;
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TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
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TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
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apply_motion_limits(raw);
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@ -280,7 +280,7 @@ void plan_arc(
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OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
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);
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TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
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TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
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current_position = raw;
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} // plan_arc
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@ -87,7 +87,7 @@ void GcodeSuite::M290() {
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}
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#endif
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if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z")) || parser.seen('R')) {
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if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)) || parser.seen('R')) {
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SERIAL_ECHO_START();
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#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
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