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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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2
Marlin/src/gcode/bedlevel/abl/G29.cpp
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@ -989,7 +989,7 @@ G29_TYPE GcodeSuite::G29() {
KEEPALIVE_STATE(IN_HANDLER);
if (planner.leveling_active)
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
#if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
move_z_after_probing();

6
Marlin/src/gcode/calibrate/G28.cpp
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@ -101,7 +101,7 @@
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
@ -182,7 +182,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#if ENABLED(MARLIN_DEV_MODE)
if (parser.seen('S')) {
LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -357,7 +357,7 @@ void GcodeSuite::G28(const bool always_home_all) {
} // home_all || homeZ
#endif // Z_HOME_DIR < 0
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
#endif // !DELTA (G28)

2
Marlin/src/gcode/calibrate/M852.cpp
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@ -87,7 +87,7 @@ void GcodeSuite::M852() {
// When skew is changed the current position changes
if (setval) {
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
report_current_position();
}

11
Marlin/src/gcode/config/M200-M205.cpp
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@ -136,14 +136,17 @@ void GcodeSuite::M205() {
const float junc_dev = parser.value_linear_units();
if (WITHIN(junc_dev, 0.01f, 0.3f)) {
planner.junction_deviation_mm = junc_dev;
planner.recalculate_max_e_jerk();
#if ENABLED(LIN_ADVANCE)
planner.recalculate_max_e_jerk();
#endif
}
else {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("?J out of range (0.01 to 0.3)");
}
}
#else
#endif
#if HAS_CLASSIC_JERK
if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
if (parser.seen('Z')) {
@ -153,6 +156,8 @@ void GcodeSuite::M205() {
SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
#endif
}
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
#if DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE)
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
#endif
#endif
}

2
Marlin/src/gcode/config/M92.cpp
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@ -39,7 +39,7 @@ void GcodeSuite::M92() {
const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
if (value < 20) {
float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
#if DISABLED(JUNCTION_DEVIATION)
#if HAS_CLASSIC_JERK && (DISABLED(JUNCTION_DEVIATION) || DISABLED(LIN_ADVANCE))
planner.max_jerk[E_AXIS] *= factor;
#endif
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;

2
Marlin/src/gcode/geometry/G92.cpp
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@ -92,7 +92,7 @@ void GcodeSuite::G92() {
COPY(coordinate_system[active_coordinate_system], position_shift);
#endif
if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
if (didXYZ) sync_plan_position();
else if (didE) sync_plan_position_e();
report_current_position();

2
Marlin/src/gcode/host/M114.cpp
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@ -56,7 +56,7 @@
float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
#if PLANNER_LEVELING
#if HAS_LEVELING
SERIAL_PROTOCOLPGM("Leveled:");
planner.apply_leveling(leveled);
report_xyz(leveled);

81
Marlin/src/gcode/motion/G2_G3.cpp
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@ -35,10 +35,6 @@
#include "../../module/scara.h"
#endif
#if HAS_FEEDRATE_SCALING && ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../../feature/bedlevel/abl/abl.h"
#endif
#if N_ARC_CORRECTION < 1
#undef N_ARC_CORRECTION
#define N_ARC_CORRECTION 1
@ -139,20 +135,12 @@ void plan_arc(
const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
millis_t next_idle_ms = millis() + 200UL;
#if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0f / float(MM_PER_ARC_SEGMENT),
inverse_secs = inv_segment_length * fr_mm_s;
float oldA = planner.position_float[A_AXIS],
oldB = planner.position_float[B_AXIS]
#if ENABLED(DELTA_FEEDRATE_SCALING)
, oldC = planner.position_float[C_AXIS]
#endif
;
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = fr_mm_s / MM_PER_ARC_SEGMENT;
#endif
millis_t next_idle_ms = millis() + 200UL;
#if N_ARC_CORRECTION > 1
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
@ -196,57 +184,32 @@ void plan_arc(
clamp_to_software_endstops(raw);
#if HAS_FEEDRATE_SCALING
inverse_kinematics(raw);
ADJUST_DELTA(raw);
#if HAS_LEVELING && !PLANNER_LEVELING
planner.apply_leveling(raw);
#endif
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif ENABLED(DELTA_FEEDRATE_SCALING)
// For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
// i.e., Complete the linear vector in the given time.
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT))
break;
#else
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
break;
#endif
if (!planner.buffer_line(raw, fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
))
break;
}
// Ensure last segment arrives at target location.
#if HAS_FEEDRATE_SCALING
inverse_kinematics(cart);
ADJUST_DELTA(cart);
COPY(raw, cart);
#if HAS_LEVELING && !PLANNER_LEVELING
planner.apply_leveling(raw);
#endif
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
#elif ENABLED(DELTA_FEEDRATE_SCALING)
const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder, MM_PER_ARC_SEGMENT);
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT);
#else
planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
#endif
planner.buffer_line(raw, fr_mm_s, active_extruder, MM_PER_ARC_SEGMENT
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
COPY(current_position, cart);
COPY(current_position, raw);
} // plan_arc
/**

4
Marlin/src/gcode/probe/G38.cpp
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@ -56,7 +56,7 @@ static bool G38_run_probe() {
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
if (G38_endstop_hit) {
@ -82,7 +82,7 @@ static bool G38_run_probe() {
G38_move = false;
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position();
#endif
}