From 91db7930dc7c8e429f579549544183ac94c59200 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 1 Mar 2018 04:30:41 -0600 Subject: [PATCH] Drop SCARA_FEEDRATE_SCALING The updated planner takes the length of the move, so this pre-calculation is no longer needed. --- .../src/config/examples/SCARA/Configuration.h | 1 - Marlin/src/gcode/motion/G2_G3.cpp | 27 ++----------------- Marlin/src/module/motion.cpp | 25 ++--------------- 3 files changed, 4 insertions(+), 49 deletions(-) diff --git a/Marlin/src/config/examples/SCARA/Configuration.h b/Marlin/src/config/examples/SCARA/Configuration.h index 88b89ab888..f927c57381 100644 --- a/Marlin/src/config/examples/SCARA/Configuration.h +++ b/Marlin/src/config/examples/SCARA/Configuration.h @@ -73,7 +73,6 @@ #if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA) //#define DEBUG_SCARA_KINEMATICS - //#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly // If movement is choppy try lowering this value #define SCARA_SEGMENTS_PER_SECOND 200 diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp index 46dbd8b4f0..6ba2aa41a6 100644 --- a/Marlin/src/gcode/motion/G2_G3.cpp +++ b/Marlin/src/gcode/motion/G2_G3.cpp @@ -141,14 +141,6 @@ void plan_arc( int8_t arc_recalc_count = N_ARC_CORRECTION; #endif - #if ENABLED(SCARA_FEEDRATE_SCALING) - // SCARA needs to scale the feed rate from mm/s to degrees/s - const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT), - inverse_secs = inv_segment_length * fr_mm_s; - float oldA = stepper.get_axis_position_degrees(A_AXIS), - oldB = stepper.get_axis_position_degrees(B_AXIS); - #endif - for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times thermalManager.manage_heater(); @@ -188,26 +180,11 @@ void plan_arc( clamp_to_software_endstops(raw); - #if ENABLED(SCARA_FEEDRATE_SCALING) - // For SCARA scale the feed rate from mm/s to degrees/s. - // i.e., Complete the angular vector in the given time. - inverse_kinematics(raw); - ADJUST_DELTA(raw); - planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder); - oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; - #else - planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder); - #endif + planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder); } // Ensure last segment arrives at target location. - #if ENABLED(SCARA_FEEDRATE_SCALING) - inverse_kinematics(cart); - ADJUST_DELTA(cart); - planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder); - #else - planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder); - #endif + planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder); // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 819faf1ef6..a12a987163 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -593,14 +593,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, // SERIAL_ECHOLNPAIR(" segments=", segments); // SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm); - #if ENABLED(SCARA_FEEDRATE_SCALING) - // SCARA needs to scale the feed rate from mm/s to degrees/s - const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs - inverse_secs = inv_segment_length * _feedrate_mm_s; - float oldA = stepper.get_axis_position_degrees(A_AXIS), - oldB = stepper.get_axis_position_degrees(B_AXIS); - #endif - // Get the current position as starting point float raw[XYZE]; COPY(raw, current_position); @@ -625,24 +617,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, #endif ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled - #if ENABLED(SCARA_FEEDRATE_SCALING) - // For SCARA scale the feed rate from mm/s to degrees/s - // i.e., Complete the angular vector in the given time. - planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm); - oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; - #else - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm); - #endif + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm); } // Ensure last segment arrives at target location. - #if ENABLED(SCARA_FEEDRATE_SCALING) - inverse_kinematics(rtarget); - ADJUST_DELTA(rtarget); - planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm); - #else - planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm); - #endif + planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm); return false; // caller will update current_position }