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MarkForged kinematics (#19235)

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This commit is contained in:
Victor Sokolov
2020-09-04 05:12:53 +04:00
committed by GitHub
parent 55dcff746b
commit e97e6865c3
9 changed files with 100 additions and 34 deletions
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48
Marlin/src/module/planner.cpp
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@ -1614,6 +1614,7 @@ void Planner::finish_and_disable() {
float Planner::get_axis_position_mm(const AxisEnum axis) {
float axis_steps;
#if IS_CORE
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
@ -1631,9 +1632,30 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
}
else
axis_steps = stepper.position(axis);
#elif ENABLED(MARKFORGED_XY)
// Requesting one of the joined axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
// Protect the access to the position.
const bool was_enabled = stepper.suspend();
const int32_t p1 = stepper.position(CORE_AXIS_1),
p2 = stepper.position(CORE_AXIS_2);
if (was_enabled) stepper.wake_up();
axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
}
else
axis_steps = stepper.position(axis);
#else
axis_steps = stepper.position(axis);
#endif
return axis_steps * steps_to_mm[axis];
}
@ -1808,6 +1830,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif ENABLED(MARKFORGED_XY)
if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
#else
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_AXIS);
@ -1843,6 +1871,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc));
#elif CORE_IS_YZ
block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc));
#elif ENABLED(MARKFORGED_XY)
block->steps.set(ABS(da + db), ABS(db), ABS(dc));
#elif IS_SCARA
block->steps.set(ABS(da), ABS(db), ABS(dc));
#else
@ -1859,7 +1889,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
struct DistanceMM : abce_float_t {
TERN_(IS_CORE, xyz_pos_t head);
#if EITHER(IS_CORE, MARKFORGED_XY)
xyz_pos_t head;
#endif
} steps_dist_mm;
#if IS_CORE
#if CORE_IS_XY
@ -1881,6 +1913,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
steps_dist_mm.b = (db + dc) * steps_to_mm[B_AXIS];
steps_dist_mm.c = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
#endif
#elif ENABLED(MARKFORGED_XY)
steps_dist_mm.head.x = da * steps_to_mm[A_AXIS];
steps_dist_mm.head.y = db * steps_to_mm[B_AXIS];
steps_dist_mm.z = dc * steps_to_mm[Z_AXIS];
steps_dist_mm.a = (da - db) * steps_to_mm[A_AXIS];
steps_dist_mm.b = db * steps_to_mm[B_AXIS];
#else
steps_dist_mm.a = da * steps_to_mm[A_AXIS];
steps_dist_mm.b = db * steps_to_mm[B_AXIS];
@ -1907,7 +1945,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->millimeters = millimeters;
else
block->millimeters = SQRT(
#if CORE_IS_XY
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
sq(steps_dist_mm.head.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.z)
#elif CORE_IS_XZ
sq(steps_dist_mm.head.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.head.z)
@ -1964,7 +2002,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
// Enable active axes
#if CORE_IS_XY
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
if (block->steps.a || block->steps.b) {
ENABLE_AXIS_X();
ENABLE_AXIS_Y();
@ -2325,9 +2363,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
* => normalize the complete junction vector.
* Elsewise, when needed JD factors in the E component
* Elsewise, when needed JD will factor-in the E component
*/
if (ENABLED(IS_CORE) || esteps > 0)
if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
normalize_junction_vector(unit_vec); // Normalize with XYZE components
else
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))