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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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41
Marlin/src/module/planner.cpp
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@ -185,8 +185,11 @@ float Planner::previous_speed[NUM_AXIS],
#endif
#if ENABLED(LIN_ADVANCE)
float Planner::extruder_advance_K, // Initialized by settings.load()
Planner::position_float[XYZE]; // Needed for accurate maths. Steps cannot be used!
float Planner::extruder_advance_K; // Initialized by settings.load()
#endif
#if HAS_POSITION_FLOAT
float Planner::position_float[XYZE]; // Needed for accurate maths. Steps cannot be used!
#endif
#if ENABLED(ULTRA_LCD)
@ -202,7 +205,7 @@ Planner::Planner() { init(); }
void Planner::init() {
block_buffer_head = block_buffer_tail = 0;
ZERO(position);
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
ZERO(position_float);
#endif
ZERO(previous_speed);
@ -745,7 +748,7 @@ void Planner::check_axes_activity() {
* extruder - target extruder
*/
void Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/
@ -775,7 +778,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.tooColdToExtrude(extruder)) {
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = target_float[E_AXIS];
#endif
de = 0; // no difference
@ -786,7 +789,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = target_float[E_AXIS];
#endif
de = 0; // no difference
@ -857,6 +860,10 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
block->steps[X_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db + dc);
block->steps[C_AXIS] = labs(db - dc);
#elif IS_SCARA
block->steps[A_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db);
block->steps[Z_AXIS] = labs(dc);
#else
// default non-h-bot planning
block->steps[A_AXIS] = labs(da);
@ -892,7 +899,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
powerManager.power_on();
#endif
//enable active axes
// Enable active axes
#if CORE_IS_XY
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
enable_X();
@ -1463,7 +1470,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Update the position (only when a move was queued)
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
COPY(position, target);
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
COPY(position_float, target_float);
#endif
@ -1501,14 +1508,14 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
LROUND(e * axis_steps_per_mm[E_AXIS_N])
};
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
const float target_float[XYZE] = { a, b, c, e };
#endif
// DRYRUN prevents E moves from taking place
if (DEBUGGING(DRYRUN)) {
position[E_AXIS] = target[E_AXIS];
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[E_AXIS] = e;
#endif
}
@ -1547,7 +1554,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
const int32_t between[ABCE] = { _BETWEEN(A), _BETWEEN(B), _BETWEEN(C), _BETWEEN(E) };
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
#define _BETWEEN_F(A) (position_float[A##_AXIS] + target_float[A##_AXIS]) * 0.5
const float between_float[ABCE] = { _BETWEEN_F(A), _BETWEEN_F(B), _BETWEEN_F(C), _BETWEEN_F(E) };
#endif
@ -1555,7 +1562,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
DISABLE_STEPPER_DRIVER_INTERRUPT();
_buffer_steps(between
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
, between_float
#endif
, fr_mm_s, extruder, millimeters * 0.5
@ -1564,7 +1571,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
const uint8_t next = block_buffer_head;
_buffer_steps(target
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
, target_float
#endif
, fr_mm_s, extruder, millimeters * 0.5
@ -1575,7 +1582,7 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
}
else
_buffer_steps(target
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
, target_float
#endif
, fr_mm_s, extruder, millimeters
@ -1603,7 +1610,7 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
nb = position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
nc = position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[X_AXIS] = a;
position_float[Y_AXIS] = b;
position_float[Z_AXIS] = c;
@ -1635,7 +1642,7 @@ void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
void Planner::sync_from_steppers() {
LOOP_XYZE(i) {
position[i] = stepper.position((AxisEnum)i);
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[i] = position[i] * steps_to_mm[i
#if ENABLED(DISTINCT_E_FACTORS)
+ (i == E_AXIS ? active_extruder : 0)
@ -1656,7 +1663,7 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
const uint8_t axis_index = axis;
#endif
position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
#if ENABLED(LIN_ADVANCE)
#if HAS_POSITION_FLOAT
position_float[axis] = v;
#endif
stepper.set_position(axis, v);