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Scale feedrate (mm/s to deg/s) for SCARA

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This commit is contained in:
Scott Lahteine
2018-04-05 15:47:56 -05:00
parent 051303ad42
commit e8e60263c8
7 changed files with 165 additions and 48 deletions
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33
Marlin/src/gcode/motion/G2_G3.cpp
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@ -35,6 +35,10 @@
#include "../../module/scara.h"
#endif
#if ENABLED(SCARA_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
@ -137,6 +141,14 @@ void plan_arc(
millis_t next_idle_ms = millis() + 200UL;
#if ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0 / (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];
#endif
#if N_ARC_CORRECTION > 1
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
@ -180,11 +192,28 @@ void plan_arc(
clamp_to_software_endstops(raw);
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
#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.
inverse_kinematics(raw);
ADJUST_DELTA(raw);
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_kinematic(raw, fr_mm_s, active_extruder);
#endif
}
// Ensure last segment arrives at target location.
planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
#if ENABLED(SCARA_FEEDRATE_SCALING)
inverse_kinematics(cart);
ADJUST_DELTA(cart);
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);
#else
planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
#endif
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position