🎨 Fix comments, formatting
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Scott Lahteine
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Scott Lahteine
Scott Lahteine
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cc27cfb660
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da6c16a9cd
@ -2049,9 +2049,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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#endif
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#elif ENABLED(MARKFORGED_XY)
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steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
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steps_dist_mm.b = db * mm_per_step[B_AXIS];
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steps_dist_mm.b = db * mm_per_step[B_AXIS];
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#elif ENABLED(MARKFORGED_YX)
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steps_dist_mm.a = da * mm_per_step[A_AXIS];
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steps_dist_mm.a = da * mm_per_step[A_AXIS];
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steps_dist_mm.b = (db - da) * mm_per_step[B_AXIS];
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#else
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XYZ_CODE(
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@ -2097,12 +2097,21 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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block->millimeters = millimeters;
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else {
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/**
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* Distance for interpretation of feedrate in accordance with LinuxCNC (the successor of NIST
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* RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
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* Assume that X, Y, Z are the primary linear axes and U, V, W are secondary linear axes and A, B, C are
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* rotational axes. Then dX, dY, dZ are the displacements of the primary linear axes and dU, dV, dW are the displacements of linear axes and
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* dA, dB, dC are the displacements of rotational axes.
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* The time it takes to execute move command with feedrate F is t = D/F, where D is the total distance, calculated as follows:
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* Distance for interpretation of feedrate in accordance with LinuxCNC (the successor of
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* NIST RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
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*
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* Assume:
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* - X, Y, Z are the primary linear axes;
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* - U, V, W are secondary linear axes;
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* - A, B, C are rotational axes.
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*
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* Then:
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* - dX, dY, dZ are the displacements of the primary linear axes;
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* - dU, dV, dW are the displacements of linear axes;
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* - dA, dB, dC are the displacements of rotational axes.
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*
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* The time it takes to execute move command with feedrate F is t = D/F,
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* where D is the total distance, calculated as follows:
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* D^2 = dX^2 + dY^2 + dZ^2
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* if D^2 == 0 (none of XYZ move but any secondary linear axes move, whether other axes are moved or not):
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* D^2 = dU^2 + dV^2 + dW^2
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@ -2111,8 +2120,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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*/
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float distance_sqr = (
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#if ENABLED(ARTICULATED_ROBOT_ARM)
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// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround, pretend that motors sit on n mutually orthogonal
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// axes and assume that we could think of distance as magnitude of an n-vector in an n-dimensional Euclidian space.
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// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround,
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// assume that motors sit on a mutually-orthogonal axes and we can think of distance as magnitude of an n-vector
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// in an n-dimensional Euclidian space.
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NUM_AXIS_GANG(
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sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z),
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+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k),
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@ -2120,8 +2130,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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);
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#elif ENABLED(FOAMCUTTER_XYUV)
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#if HAS_J_AXIS
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// Special 5 axis kinematics. Return the largest distance move from either X/Y or I/J plane
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_MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j))
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// Special 5 axis kinematics. Return the largest distance move from either X/Y or I/J plane
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_MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j))
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#else // Foamcutter with only two axes (XY)
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sq(steps_dist_mm.x) + sq(steps_dist_mm.y)
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#endif
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@ -2132,7 +2142,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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#elif CORE_IS_YZ
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XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.head.z))
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#else
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XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z))
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XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z))
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#endif
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);
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@ -2165,9 +2175,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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/**
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* At this point at least one of the axes has more steps than
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* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped as
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* zero-length. It's important to not apply corrections
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* to blocks that would get dropped!
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* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped
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* as zero-length. It's important to not apply corrections to blocks
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* that would get dropped!
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*
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* A correction function is permitted to add steps to an axis, it
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* should *never* remove steps!
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@ -2203,15 +2213,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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#if ENABLED(AUTO_POWER_CONTROL)
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if (NUM_AXIS_GANG(
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block->steps.x,
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|| block->steps.y,
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|| block->steps.z,
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|| block->steps.i,
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|| block->steps.j,
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|| block->steps.k,
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|| block->steps.u,
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|| block->steps.v,
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|| block->steps.w
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block->steps.x, || block->steps.y, || block->steps.z,
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|| block->steps.i, || block->steps.j, || block->steps.k,
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|| block->steps.u, || block->steps.v, || block->steps.w
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)) powerManager.power_on();
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#endif
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