Clarify some motion code

This commit is contained in:
Scott Lahteine 2017-11-08 22:13:33 -06:00
parent 10896b9431
commit 0cfb936dd1
8 changed files with 21 additions and 23 deletions

View File

@ -377,7 +377,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
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;
} }
@ -404,7 +404,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
} }
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;
} }

View File

@ -68,7 +68,7 @@
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;
} }
@ -95,7 +95,7 @@
} }
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;
} }

View File

@ -99,7 +99,7 @@ void do_pause_e_move(const float &length, const float fr) {
#if IS_KINEMATIC #if IS_KINEMATIC
planner.buffer_line_kinematic(destination, fr, active_extruder); planner.buffer_line_kinematic(destination, fr, active_extruder);
#else #else
line_to_destination(fr); buffer_line_to_destination(fr);
#endif #endif
stepper.synchronize(); stepper.synchronize();
} }

View File

@ -48,7 +48,7 @@ void mesh_probing_done() {
#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
} }

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@ -819,7 +819,7 @@ 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

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@ -70,16 +70,16 @@ bool relative_mode = false;
/** /**
* 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,
* Set with 'get_destination_from_command' or 'set_destination_from_current'. * and expected by functions like 'prepare_move_to_destination'.
* 'line_to_destination' sets 'current_position' to 'destination'. * Set with 'gcode_get_destination' or 'set_destination_from_current'.
*/ */
float destination[XYZE] = { 0.0 }; float destination[XYZE] = { 0.0 };
@ -235,7 +235,7 @@ 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.
*/ */
void line_to_destination(const float fr_mm_s) { 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);
} }
@ -667,7 +667,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
} }
#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;
} }

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@ -138,9 +138,7 @@ 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.
*/ */
void line_to_destination(const float fr_mm_s); void buffer_line_to_destination(const float fr_mm_s);
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
#if IS_KINEMATIC #if IS_KINEMATIC
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0); void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);

View File

@ -376,18 +376,18 @@ 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
} }