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Overhaul of the planner (#11578)

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- Move FWRETRACT to the planner
- Combine leveling, skew, etc. in a single modifier method
- Have kinematic and non-kinematic moves call one planner method
This commit is contained in:
Thomas Moore
2018-09-16 22:24:15 -04:00
committed by Scott Lahteine
parent 8323a08642
commit c437bb08f1
39 changed files with 655 additions and 597 deletions
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87
Marlin/src/feature/bedlevel/bedlevel.cpp
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@ -25,15 +25,12 @@
#if HAS_LEVELING
#include "bedlevel.h"
#include "../../module/planner.h"
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
#include "../../module/motion.h"
#endif
#if PLANNER_LEVELING
#include "../../module/planner.h"
#endif
#if ENABLED(PROBE_MANUALLY)
bool g29_in_progress = false;
#endif
@ -79,74 +76,24 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
planner.synchronize();
#if ENABLED(MESH_BED_LEVELING)
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
if (!enable)
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
}
const bool enabling = enable && leveling_is_valid();
planner.leveling_active = enabling;
if (enabling) planner.unapply_leveling(current_position);
#elif ENABLED(AUTO_BED_LEVELING_UBL)
#if PLANNER_LEVELING
if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
// change physical current_position to unleveled current_position without moving steppers.
planner.unapply_leveling(current_position);
}
#else
// UBL equivalents for apply/unapply_leveling
#if ENABLED(SKEW_CORRECTION)
float pos[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
planner.skew(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS]);
#else
const float (&pos)[XYZE] = current_position;
#endif
if (planner.leveling_active) {
current_position[Z_AXIS] += ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
planner.leveling_active = false;
}
else {
planner.leveling_active = true;
current_position[Z_AXIS] -= ubl.get_z_correction(pos[X_AXIS], pos[Y_AXIS]);
}
#endif
#else // OLDSCHOOL_ABL
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
// Enable or disable leveling compensation in the planner
planner.leveling_active = enable;
if (!enable)
// When disabling just get the current position from the steppers.
// This will yield the smallest error when first converted back to steps.
set_current_from_steppers_for_axis(
#if ABL_PLANAR
ALL_AXES
#else
Z_AXIS
#endif
);
else
// When enabling, remove compensation from the current position,
// so compensation will give the right stepper counts.
planner.unapply_leveling(current_position);
SYNC_PLAN_POSITION_KINEMATIC();
#endif // OLDSCHOOL_ABL
sync_plan_position();
}
}