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Improve planner kinematics, fix delta ABL

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This commit is contained in:
Josef Pavlik
2016-10-06 10:56:05 +02:00
committed by Scott Lahteine
parent 48761f2021
commit f8c2473a71
6 changed files with 102 additions and 82 deletions
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40
Marlin/Marlin_main.cpp
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@@ -711,8 +711,7 @@ inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
#endif
inverse_kinematics(current_position);
planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
planner.set_position_mm_kinematic(current_position);
}
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
@@ -1541,8 +1540,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
) return;
refresh_cmd_timeout();
inverse_kinematics(destination);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
set_current_to_destination();
}
#endif // IS_KINEMATIC
@@ -6779,8 +6777,7 @@ inline void gcode_M503() {
// Define runplan for move axes
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
#endif
@@ -6900,12 +6897,10 @@ inline void gcode_M503() {
planner.set_e_position_mm(current_position[E_AXIS]);
#if IS_KINEMATIC
// Move XYZ to starting position, then E
inverse_kinematics(lastpos);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
// Move XYZ to starting position
planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
// Move XY to starting position, then Z, then E
// Move XY to starting position, then Z
destination[X_AXIS] = lastpos[X_AXIS];
destination[Y_AXIS] = lastpos[Y_AXIS];
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
@@ -8671,8 +8666,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// If the move is only in Z/E don't split up the move
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
inverse_kinematics(ltarget);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
return true;
}
@@ -8815,16 +8809,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// For non-interpolated delta calculate every segment
for (uint16_t s = segments + 1; --s;) {
DELTA_NEXT(segment_distance[i]);
DELTA_IK();
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line_kinematic(DELTA_VAR, _feedrate_mm_s, active_extruder);
}
#endif
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
inverse_kinematics(ltarget);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
return true;
}
@@ -9064,21 +9056,11 @@ void prepare_move_to_destination() {
clamp_to_software_endstops(arc_target);
#if IS_KINEMATIC
inverse_kinematics(arc_target);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#endif
planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
}
// Ensure last segment arrives at target location.
#if IS_KINEMATIC
inverse_kinematics(logical);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#endif
planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
// 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