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Apply SCARA_FEEDRATE_SCALING to G2/G3

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Scott Lahteine
2017-12-21 21:43:39 -06:00
parent ca145643bd
commit c694608450
2 changed files with 50 additions and 30 deletions
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29
Marlin/src/module/motion.cpp
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@ -587,7 +587,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
#if ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
inverse_secs = inv_segment_length * _feedrate_mm_s;
@ -611,38 +611,29 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
#if ENABLED(DELTA)
DELTA_RAW_IK(); // Delta can inline its kinematics
#else
inverse_kinematics(raw);
#endif
ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// Use ratio between the length of the move and the larger angle change
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * inverse_secs, active_extruder);
oldA = delta[A_AXIS];
oldB = delta[B_AXIS];
// i.e., Complete the angular vector in the given time.
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);
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
#endif
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
#if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// With segments > 1 length is 1 segment, otherwise total length
// Ensure last segment arrives at target location.
#if ENABLED(SCARA_FEEDRATE_SCALING)
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
const float adiff = abs(delta[A_AXIS] - oldA),
bdiff = abs(delta[B_AXIS] - oldB);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * inverse_secs, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
#else
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
#endif