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Use ABC indices in delta[]

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This commit is contained in:
Scott Lahteine 2016-09-15 01:21:31 -05:00
parent 5f2f991192
commit 9429c7db89
3 changed files with 23 additions and 22 deletions
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39
Marlin/Marlin_main.cpp
View File

@ -658,16 +658,20 @@ inline void sync_plan_position() {
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
#if IS_KINEMATIC
inline void sync_plan_position_kinematic() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
#endif
inverse_kinematics(current_position);
planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
}
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
#else
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
#endif
#if ENABLED(SDSUPPORT)
@ -795,7 +799,6 @@ void setup_homepin(void) {
#endif
}
void setup_photpin() {
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
@ -1479,7 +1482,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
#endif
refresh_cmd_timeout();
inverse_kinematics(destination);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
set_current_to_destination();
}
#endif
@ -5075,22 +5078,20 @@ static void report_current_position() {
#if IS_SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLLN(delta[B_AXIS]);
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
SERIAL_EOL;
SERIAL_PROTOCOLLN(delta[B_AXIS] - delta[A_AXIS] - 90);
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS] / 90 * planner.axis_steps_per_mm[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_PROTOCOLLN((delta[B_AXIS] - delta[A_AXIS]) / 90 * planner.axis_steps_per_mm[A_AXIS]);
SERIAL_EOL;
#endif
}
@ -6160,7 +6161,7 @@ inline void gcode_M503() {
// Define runplan for move axes
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
#endif
@ -6282,8 +6283,8 @@ inline void gcode_M503() {
#if IS_KINEMATIC
// Move XYZ to starting position, then E
inverse_kinematics(lastpos);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
// Move XY to starting position, then Z, then E
destination[X_AXIS] = lastpos[X_AXIS];
@ -8024,7 +8025,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
//DEBUG_POS("prepare_kinematic_move_to", logical);
//DEBUG_POS("prepare_kinematic_move_to", delta);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
}
return true;
}
@ -8274,7 +8275,7 @@ void prepare_move_to_destination() {
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(arc_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#endif
@ -8286,7 +8287,7 @@ void prepare_move_to_destination() {
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(logical);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#endif
@ -8403,7 +8404,7 @@ void prepare_move_to_destination() {
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[Z_AXIS] = logical[Z_AXIS];
delta[C_AXIS] = logical[Z_AXIS];
/*
DEBUG_POS("SCARA IK", logical);

2
Marlin/planner.cpp
View File

@ -1205,7 +1205,7 @@ void Planner::refresh_positioning() {
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
#if IS_KINEMATIC
inverse_kinematics(current_position);
set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
#else
set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif

4
Marlin/ultralcd.cpp
View File

@ -547,7 +547,7 @@ void kill_screen(const char* lcd_msg) {
inline void line_to_current(AxisEnum axis) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#else // !DELTA
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#endif // !DELTA
@ -1297,7 +1297,7 @@ void kill_screen(const char* lcd_msg) {
if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#else
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#endif