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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by Scott Lahteine
parent d3c56a76e7
commit c1fca91103
98 changed files with 5040 additions and 2256 deletions
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53
Marlin/src/module/planner.h
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@ -76,7 +76,9 @@
// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE,
manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f, _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f);
manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f,
_mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f,
_mf.i / 60.0f, _mf.j / 60.0f, _mf.k / 60.0f);
#endif
#if IS_KINEMATIC && HAS_JUNCTION_DEVIATION
@ -758,23 +760,11 @@ class Planner {
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
static bool buffer_segment(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
static bool buffer_segment(const abce_pos_t &abce
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const_float_t millimeters=0.0
);
FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
) {
return buffer_segment(
LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c)
OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
, fr_mm_s, extruder, millimeters
);
}
public:
/**
@ -782,28 +772,16 @@ class Planner {
* The target is cartesian. It's translated to
* delta/scara if needed.
*
* rx,ry,rz,e - target position in mm or degrees
* cart - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* millimeters - the length of the movement, if known
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
*/
static bool buffer_line(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const float millimeters=0.0
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
);
FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder, const float millimeters=0.0
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
) {
return buffer_line(
LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z)
, fr_mm_s, extruder, millimeters
OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
);
}
#if ENABLED(DIRECT_STEPPING)
static void buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps);
#endif
@ -821,12 +799,7 @@ class Planner {
*
* Clears previous speed values.
*/
static void set_position_mm(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz)
);
FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) {
set_position_mm(LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z, cart.i, cart.j, cart.k));
}
static void set_position_mm(const xyze_pos_t &xyze);
#if HAS_EXTRUDERS
static void set_e_position_mm(const_float_t e);
@ -838,12 +811,7 @@ class Planner {
* The supplied position is in machine space, and no additional
* conversions are applied.
*/
static void set_machine_position_mm(
LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c)
);
FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) {
set_machine_position_mm(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c));
}
static void set_machine_position_mm(const abce_pos_t &abce);
/**
* Get an axis position according to stepper position(s)
@ -854,7 +822,8 @@ class Planner {
static inline abce_pos_t get_axis_positions_mm() {
const abce_pos_t out = LOGICAL_AXIS_ARRAY(
get_axis_position_mm(E_AXIS),
get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS)
get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS),
get_axis_position_mm(I_AXIS), get_axis_position_mm(J_AXIS), get_axis_position_mm(K_AXIS)
);
return out;
}