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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine
2017-11-02 23:59:42 -05:00
parent 31f112cf58
commit f8393a0908
36 changed files with 449 additions and 489 deletions
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65
Marlin/src/module/planner.h
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@ -202,7 +202,7 @@ class Planner {
static uint32_t cutoff_long;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static float last_raw_lz;
static float last_fade_z;
#endif
#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
@ -275,21 +275,20 @@ class Planner {
* Returns 1.0 if planner.z_fade_height is 0.0.
* Returns 0.0 if Z is past the specified 'Fade Height'.
*/
inline static float fade_scaling_factor_for_z(const float &lz) {
inline static float fade_scaling_factor_for_z(const float &rz) {
static float z_fade_factor = 1.0;
if (z_fade_height) {
const float raw_lz = RAW_Z_POSITION(lz);
if (raw_lz >= z_fade_height) return 0.0;
if (last_raw_lz != raw_lz) {
last_raw_lz = raw_lz;
z_fade_factor = 1.0 - raw_lz * inverse_z_fade_height;
if (rz >= z_fade_height) return 0.0;
if (last_fade_z != rz) {
last_fade_z = rz;
z_fade_factor = 1.0 - rz * inverse_z_fade_height;
}
return z_fade_factor;
}
return 1.0;
}
FORCE_INLINE static void force_fade_recalc() { last_raw_lz = -999.999; }
FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999; }
FORCE_INLINE static void set_z_fade_height(const float &zfh) {
z_fade_height = zfh > 0 ? zfh : 0;
@ -297,40 +296,40 @@ class Planner {
force_fade_recalc();
}
FORCE_INLINE static bool leveling_active_at_z(const float &lz) {
return !z_fade_height || RAW_Z_POSITION(lz) < z_fade_height;
FORCE_INLINE static bool leveling_active_at_z(const float &rz) {
return !z_fade_height || rz < z_fade_height;
}
#else
FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) {
UNUSED(lz);
FORCE_INLINE static float fade_scaling_factor_for_z(const float &rz) {
UNUSED(rz);
return 1.0;
}
FORCE_INLINE static bool leveling_active_at_z(const float &lz) { UNUSED(lz); return true; }
FORCE_INLINE static bool leveling_active_at_z(const float &rz) { UNUSED(rz); return true; }
#endif
#if PLANNER_LEVELING
#define ARG_X float lx
#define ARG_Y float ly
#define ARG_Z float lz
#define ARG_X float rx
#define ARG_Y float ry
#define ARG_Z float rz
/**
* Apply leveling to transform a cartesian position
* as it will be given to the planner and steppers.
*/
static void apply_leveling(float &lx, float &ly, float &lz);
static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
static void unapply_leveling(float logical[XYZ]);
static void apply_leveling(float &rx, float &ry, float &rz);
static void apply_leveling(float raw[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
static void unapply_leveling(float raw[XYZ]);
#else
#define ARG_X const float &lx
#define ARG_Y const float &ly
#define ARG_Z const float &lz
#define ARG_X const float &rx
#define ARG_Y const float &ry
#define ARG_Z const float &rz
#endif
@ -357,15 +356,15 @@ class Planner {
* Kinematic machines should call buffer_line_kinematic (for leveled moves).
* (Cartesians may also call buffer_line_kinematic.)
*
* lx,ly,lz,e - target position in mm or degrees
* rx,ry,rz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
apply_leveling(rx, ry, rz);
#endif
_buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
_buffer_line(rx, ry, rz, e, fr_mm_s, extruder);
}
/**
@ -373,22 +372,22 @@ class Planner {
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* ltarget - x,y,z,e CARTESIAN target in mm
* rtarget - x,y,z,e CARTESIAN target in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] };
apply_leveling(lpos);
#else
const float * const lpos = ltarget;
const float * const lpos = rtarget;
#endif
#if IS_KINEMATIC
inverse_kinematics(lpos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
#endif
}
@ -403,9 +402,9 @@ class Planner {
*/
static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
apply_leveling(rx, ry, rz);
#endif
_set_position_mm(lx, ly, lz, e);
_set_position_mm(rx, ry, rz, e);
}
static void set_position_mm_kinematic(const float position[NUM_AXIS]);
static void set_position_mm(const AxisEnum axis, const float &v);