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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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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
/**