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Skew should apply per-segment

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Segmented moves can account for skew points off the edge, while long regular cartesian moves may be off if the skewed destination point is outside movement bounds.

Followup to #8729
This commit is contained in:
Scott Lahteine 2017-12-11 02:06:43 -06:00
parent 17b05c150c
commit eca1509cb2
1 changed files with 13 additions and 18 deletions
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31
Marlin/ubl_motion.cpp
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@ -411,12 +411,19 @@
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic, // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first. // so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) { inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) {
#if ENABLED(SKEW_CORRECTION)
float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS], in_raw[E_AXIS] };
planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
#else
const float (&raw)[XYZE] = in_raw;
#endif
#if ENABLED(DELTA) // apply delta inverse_kinematics #if ENABLED(DELTA) // apply delta inverse_kinematics
DELTA_RAW_IK(); DELTA_RAW_IK();
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder); planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw) #elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
@ -429,11 +436,11 @@
scara_oldB = delta[B_AXIS]; scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor; float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder); planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
#else // CARTESIAN #else // CARTESIAN
planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder); planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
#endif #endif
} }
@ -456,19 +463,11 @@
* Returns true if did NOT move, false if moved (requires current_position update). * Returns true if did NOT move, false if moved (requires current_position update).
*/ */
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&in_target)[XYZE], const float &feedrate) { bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
if (!position_is_reachable(in_target[X_AXIS], in_target[Y_AXIS])) // fail if moving outside reachable boundary if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate return true; // did not move, so current_position still accurate
#if ENABLED(SKEW_CORRECTION)
// For skew correction just adjust the destination point and we're done
float rtarget[XYZE] = { in_target[X_AXIS], in_target[Y_AXIS], in_target[Z_AXIS], in_target[E_AXIS] };
planner.skew(rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS]);
#else
const float (&rtarget)[XYZE] = in_target;
#endif
const float total[XYZE] = { const float total[XYZE] = {
rtarget[X_AXIS] - current_position[X_AXIS], rtarget[X_AXIS] - current_position[X_AXIS],
rtarget[Y_AXIS] - current_position[Y_AXIS], rtarget[Y_AXIS] - current_position[Y_AXIS],
@ -513,10 +512,6 @@
current_position[E_AXIS] current_position[E_AXIS]
}; };
#if ENABLED(SKEW_CORRECTION)
planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
#endif
// Only compute leveling per segment if ubl active and target below z_fade_height. // Only compute leveling per segment if ubl active and target below z_fade_height.
if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
while (--segments) { while (--segments) {