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Clarify some motion code

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This commit is contained in:
Scott Lahteine 2017-11-08 21:28:11 -06:00
parent 513f25d42c
commit ad879a1f90
3 changed files with 28 additions and 33 deletions
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45
Marlin/Marlin_main.cpp
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@ -376,16 +376,16 @@ uint8_t marlin_debug_flags = DEBUG_NONE;
/** /**
* Cartesian Current Position * Cartesian Current Position
* Used to track the native machine position as moves are queued. * Used to track the native machine position as moves are queued.
* Used by 'line_to_current_position' to do a move after changing it. * Used by 'buffer_line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/ */
float current_position[XYZE] = { 0.0 }; float current_position[XYZE] = { 0.0 };
/** /**
* Cartesian Destination * Cartesian Destination
* A temporary position, usually applied to 'current_position'. * The destination for a move, filled in by G-code movement commands,
* and expected by functions like 'prepare_move_to_destination'.
* Set with 'gcode_get_destination' or 'set_destination_from_current'. * Set with 'gcode_get_destination' or 'set_destination_from_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/ */
float destination[XYZE] = { 0.0 }; float destination[XYZE] = { 0.0 };
@ -1633,7 +1633,7 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
* Move the planner to the current position from wherever it last moved * Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located). * (or from wherever it has been told it is located).
*/ */
inline void line_to_current_position() { inline void buffer_line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
} }
@ -1641,10 +1641,9 @@ inline void line_to_current_position() {
* Move the planner to the position stored in the destination array, which is * Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination. * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/ */
inline void line_to_destination(const float fr_mm_s) { inline void buffer_line_to_destination(const float fr_mm_s) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder); planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
} }
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
inline void set_current_from_destination() { COPY(current_position, destination); } inline void set_current_from_destination() { COPY(current_position, destination); }
inline void set_destination_from_current() { COPY(destination, current_position); } inline void set_destination_from_current() { COPY(destination, current_position); }
@ -1772,19 +1771,19 @@ void do_blocking_move_to(const float &rx, const float &ry, const float &rz, cons
if (current_position[Z_AXIS] < rz) { if (current_position[Z_AXIS] < rz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = rz; current_position[Z_AXIS] = rz;
line_to_current_position(); buffer_line_to_current_position();
} }
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = rx; current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry; current_position[Y_AXIS] = ry;
line_to_current_position(); buffer_line_to_current_position();
// If Z needs to lower, do it after moving XY // If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) { if (current_position[Z_AXIS] > rz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = rz; current_position[Z_AXIS] = rz;
line_to_current_position(); buffer_line_to_current_position();
} }
#endif #endif
@ -3933,7 +3932,7 @@ inline void gcode_G4() {
// Move all carriages together linearly until an endstop is hit. // Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
feedrate_mm_s = homing_feedrate(X_AXIS); feedrate_mm_s = homing_feedrate(X_AXIS);
line_to_current_position(); buffer_line_to_current_position();
stepper.synchronize(); stepper.synchronize();
// If an endstop was not hit, then damage can occur if homing is continued. // If an endstop was not hit, then damage can occur if homing is continued.
@ -4314,7 +4313,7 @@ void home_all_axes() { gcode_G28(true); }
#if ENABLED(MESH_G28_REST_ORIGIN) #if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = Z_MIN_POS; current_position[Z_AXIS] = Z_MIN_POS;
set_destination_from_current(); set_destination_from_current();
line_to_destination(homing_feedrate(Z_AXIS)); buffer_line_to_destination(homing_feedrate(Z_AXIS));
stepper.synchronize(); stepper.synchronize();
#endif #endif
} }
@ -4406,7 +4405,7 @@ void home_all_axes() { gcode_G28(true); }
else { else {
// One last "return to the bed" (as originally coded) at completion // One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = Z_MIN_POS + MANUAL_PROBE_HEIGHT; current_position[Z_AXIS] = Z_MIN_POS + MANUAL_PROBE_HEIGHT;
line_to_current_position(); buffer_line_to_current_position();
stepper.synchronize(); stepper.synchronize();
// After recording the last point, activate home and activate // After recording the last point, activate home and activate
@ -6563,17 +6562,13 @@ inline void gcode_M17() {
#if IS_KINEMATIC #if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder) #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
#else #else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S) #define RUNPLAN(RATE_MM_S) buffer_line_to_destination(RATE_MM_S)
#endif #endif
void do_pause_e_move(const float &length, const float fr) { void do_pause_e_move(const float &length, const float fr) {
current_position[E_AXIS] += length; current_position[E_AXIS] += length;
set_destination_from_current(); set_destination_from_current();
#if IS_KINEMATIC RUNPLAN(fr);
planner.buffer_line_kinematic(destination, fr, active_extruder);
#else
line_to_destination(fr);
#endif
stepper.synchronize(); stepper.synchronize();
} }
@ -12596,7 +12591,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* Prepare a mesh-leveled linear move in a Cartesian setup, * Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders. * splitting the move where it crosses mesh borders.
*/ */
void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) { void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
int cx1 = mbl.cell_index_x(current_position[X_AXIS]), int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
cy1 = mbl.cell_index_y(current_position[Y_AXIS]), cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
cx2 = mbl.cell_index_x(destination[X_AXIS]), cx2 = mbl.cell_index_x(destination[X_AXIS]),
@ -12608,7 +12603,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
if (cx1 == cx2 && cy1 == cy2) { if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square // Start and end on same mesh square
line_to_destination(fr_mm_s); buffer_line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -12635,7 +12630,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
} }
else { else {
// Already split on a border // Already split on a border
line_to_destination(fr_mm_s); buffer_line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -12659,7 +12654,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* Prepare a bilinear-leveled linear move on Cartesian, * Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders. * splitting the move where it crosses grid borders.
*/ */
void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) { void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
int cx1 = CELL_INDEX(X, current_position[X_AXIS]), int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]), cx2 = CELL_INDEX(X, destination[X_AXIS]),
@ -12671,7 +12666,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
if (cx1 == cx2 && cy1 == cy2) { if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square // Start and end on same mesh square
line_to_destination(fr_mm_s); buffer_line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -12698,7 +12693,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
} }
else { else {
// Already split on a border // Already split on a border
line_to_destination(fr_mm_s); buffer_line_to_destination(fr_mm_s);
set_current_from_destination(); set_current_from_destination();
return; return;
} }
@ -12878,7 +12873,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
} }
#endif // HAS_MESH #endif // HAS_MESH
line_to_destination(MMS_SCALED(feedrate_mm_s)); buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false; return false;
} }

2
Marlin/SanityCheck.h
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@ -797,7 +797,7 @@ static_assert(1 >= 0
*/ */
#if ENABLED(DELTA) #if ENABLED(DELTA)
#error "MESH_BED_LEVELING does not yet support DELTA printers." #error "MESH_BED_LEVELING is not compatible with DELTA printers."
#elif GRID_MAX_POINTS_X > 9 || GRID_MAX_POINTS_Y > 9 #elif GRID_MAX_POINTS_X > 9 || GRID_MAX_POINTS_Y > 9
#error "GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y must be less than 10 for MBL." #error "GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y must be less than 10 for MBL."
#endif #endif

14
Marlin/planner.h
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@ -356,18 +356,18 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s) * fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder * extruder - target extruder
*/ */
static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) { static FORCE_INLINE void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING #if PLANNER_LEVELING
float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] }; float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(lpos); apply_leveling(raw);
#else #else
const float * const lpos = rtarget; const float * const raw = cart;
#endif #endif
#if IS_KINEMATIC #if IS_KINEMATIC
inverse_kinematics(lpos); inverse_kinematics(raw);
_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder); _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#else #else
_buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder); _buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#endif #endif
} }