MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

🩹 Arc/Planner optimization followup (#24509)

Browse Source
This commit is contained in:
tombrazier 2022-07-18 06:51:44 +01:00 committed by Scott Lahteine
parent 173eb3ff71
commit 915203f545
2 changed files with 7 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Marlin/src/gcode/motion/G2_G3.cpp
View File

@ -294,11 +294,12 @@ void plan_arc(
// An arc can always complete within limits from a speed which... // An arc can always complete within limits from a speed which...
// a) is <= any configured maximum speed, // a) is <= any configured maximum speed,
// b) does not require centripetal force greater than any configured maximum acceleration, // b) does not require centripetal force greater than any configured maximum acceleration,
// c) allows the print head to stop in the remining length of the curve within all configured maximum accelerations. // c) is <= nominal speed,
// d) allows the print head to stop in the remining length of the curve within all configured maximum accelerations.
// The last has to be calculated every time through the loop. // The last has to be calculated every time through the loop.
const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]), const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]), limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]),
limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius); limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius, sq(scaled_fr_mm_s));
float arc_mm_remaining = flat_mm; float arc_mm_remaining = flat_mm;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
@ -357,12 +358,12 @@ void plan_arc(
// calculate safe speed for stopping by the end of the arc // calculate safe speed for stopping by the end of the arc
arc_mm_remaining -= segment_mm; arc_mm_remaining -= segment_mm;
hints.curve_radius = i > 1 ? radius : 0;
hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining); hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining);
if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints)) if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints))
break; break;
hints.curve_radius = radius;
} }
} }
@ -383,6 +384,7 @@ void plan_arc(
#endif #endif
hints.curve_radius = 0; hints.curve_radius = 0;
hints.safe_exit_speed_sqr = 0.0f;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints);
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)

2
Marlin/src/module/planner.cpp
View File

@ -806,7 +806,7 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel); float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel);
accelerate_steps = CEIL(accelerate_steps_float); accelerate_steps = CEIL(accelerate_steps_float);
const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel); const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel);
decelerate_steps = decelerate_steps_float; decelerate_steps = FLOOR(decelerate_steps_float);
// Steps between acceleration and deceleration, if any // Steps between acceleration and deceleration, if any
plateau_steps -= accelerate_steps + decelerate_steps; plateau_steps -= accelerate_steps + decelerate_steps;