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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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56
Marlin/planner.cpp
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@@ -522,7 +522,9 @@ void Planner::check_axes_activity() {
}
#if PLANNER_LEVELING
/**
* lx, ly, lz - logical (cartesian, not delta) positions in mm
*/
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if HAS_ABL
@@ -549,19 +551,7 @@ void Planner::check_axes_activity() {
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
float tmp[XYZ] = { lx, ly, 0 };
#if ENABLED(DELTA)
float offset = bilinear_z_offset(tmp);
lx += offset;
ly += offset;
lz += offset;
#else
lz += bilinear_z_offset(tmp);
#endif
lz += bilinear_z_offset(tmp);
#endif
}
@@ -601,15 +591,16 @@ void Planner::check_axes_activity() {
#endif // PLANNER_LEVELING
/**
* Planner::buffer_line
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Not apply the leveling.
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder) {
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@@ -617,10 +608,6 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
// Rest here until there is room in the buffer.
while (block_buffer_tail == next_buffer_head) idle();
#if PLANNER_LEVELING
apply_leveling(lx, ly, lz);
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
@@ -1196,12 +1183,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
*
* On CORE machines stepper ABC will be translated from the given XYZ.
*/
void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING
apply_leveling(lx, ly, lz);
#endif
void Planner::_set_position_mm(const float &lx, const float &ly, const float &lz, const float &e) {
long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
@@ -1212,6 +1195,22 @@ void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
memset(previous_speed, 0, sizeof(previous_speed));
}
void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
#if PLANNER_LEVELING
float pos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
apply_leveling(pos);
#else
const float * const pos = position;
#endif
#if IS_KINEMATIC
inverse_kinematics(pos);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
#else
_set_position_mm(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], position[E_AXIS]);
#endif
}
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
@@ -1237,12 +1236,7 @@ void Planner::reset_acceleration_rates() {
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
void Planner::refresh_positioning() {
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
#if IS_KINEMATIC
inverse_kinematics(current_position);
set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
#else
set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
set_position_mm_kinematic(current_position);
reset_acceleration_rates();
}