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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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62
Marlin/planner.h
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@ -43,6 +43,12 @@
class Planner;
extern Planner planner;
#if IS_KINEMATIC
// for inline buffer_line_kinematic
extern float delta[ABC];
void inverse_kinematics(const float logical[XYZ]);
#endif
/**
* struct block_t
*
@ -218,18 +224,63 @@ class Planner {
* 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]);
#endif
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Doesn't apply the leveling.
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
static void _buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &lx, const float &ly, const float &lz, const float &e);
/**
* Add a new linear movement to the buffer.
* The target is NOT translated to delta/scara
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
apply_leveling(lx, ly, lz);
#endif
_buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
}
/**
* Add a new linear movement to the buffer.
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* target - 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 target[NUM_AXIS], float fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
apply_leveling(pos);
#else
const float * const pos = target;
#endif
#if IS_KINEMATIC
inverse_kinematics(pos);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
#else
_buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
#endif
}
/**
* Set the planner.position and individual stepper positions.
@ -240,9 +291,14 @@ class Planner {
*
* Clears previous speed values.
*/
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
apply_leveling(lx, ly, lz);
#endif
_set_position_mm(lx, ly, lz, e);
}
static void set_position_mm_kinematic(const float position[NUM_AXIS]);
static void set_position_mm(const AxisEnum axis, const float& v);
static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); }
static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); }