Overhaul of the planner (#11578)
- 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
committed by
Scott Lahteine
Scott Lahteine
parent
8323a08642
commit
c437bb08f1
@ -134,7 +134,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// STEP 2
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@ -145,7 +145,7 @@
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DEBUG_POS("Moving ParkPos", current_position);
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}
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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// STEP 3
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@ -163,7 +163,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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// STEP 5
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@ -178,12 +178,12 @@
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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current_position[X_AXIS] = grabpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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planner.synchronize();
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// Step 7
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@ -191,7 +191,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Autopark done.");
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@ -241,7 +241,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.synchronize();
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// STEP 2
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@ -252,14 +252,14 @@
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DEBUG_POS("Move X SwitchPos", current_position);
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}
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 3
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@ -273,14 +273,14 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
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planner.buffer_line(current_position,(planner.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
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planner.synchronize();
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safe_delay(200);
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current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 4
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@ -291,13 +291,13 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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planner.synchronize();
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current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder);
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planner.synchronize();
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// STEP 5
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@ -308,7 +308,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
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planner.synchronize();
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safe_delay(200);
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@ -319,7 +319,7 @@
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Y_AXIS], active_extruder); // move away from docked toolhead
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planner.synchronize();
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// STEP 6
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@ -524,7 +524,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if ENABLED(SWITCHING_NOZZLE)
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// Always raise by at least 1 to avoid workpiece
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current_position[Z_AXIS] += MAX(-zdiff, 0.0) + 1;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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move_nozzle_servo(tmp_extruder);
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#endif
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#endif
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@ -549,7 +549,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#endif // !DUAL_X_CARRIAGE
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// Tell the planner the new "current position"
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SYNC_PLAN_POSITION_KINEMATIC();
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sync_plan_position();
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#if ENABLED(DELTA)
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//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
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@ -563,7 +563,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if DISABLED(SWITCHING_NOZZLE)
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// Do a small lift to avoid the workpiece in the move back (below)
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current_position[Z_AXIS] += 1.0;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
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