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@ -30,81 +30,30 @@
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#include <avr/io.h>
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#include <avr/io.h>
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#include <math.h>
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#include <math.h>
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extern float destination[XYZE];
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void set_current_from_destination() { COPY(current_position, destination); }
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inline void set_current_from_destination() { COPY(current_position, destination); }
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#else
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#else
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extern void set_current_from_destination();
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extern void set_current_from_destination();
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#endif
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#endif
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static void debug_echo_axis(const AxisEnum axis) {
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#if !UBL_SEGMENTED
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if (current_position[axis] == destination[axis])
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SERIAL_ECHOPGM("-------------");
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else
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SERIAL_ECHO_F(destination[X_AXIS], 6);
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}
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void debug_current_and_destination(const char *title) {
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return;
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const float de = destination[E_AXIS] - current_position[E_AXIS];
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if (de == 0.0) return; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS],
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dy = destination[Y_AXIS] - current_position[Y_AXIS],
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xy_dist = HYPOT(dx, dy);
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if (xy_dist == 0.0) return;
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SERIAL_ECHOPGM(" fpmm=");
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const float fpmm = de / xy_dist;
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SERIAL_ECHO_F(fpmm, 6);
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SERIAL_ECHOPGM(" current=( ");
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SERIAL_ECHO_F(current_position[X_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Y_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[Z_AXIS], 6);
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SERIAL_ECHOPGM(", ");
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SERIAL_ECHO_F(current_position[E_AXIS], 6);
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SERIAL_ECHOPGM(" ) destination=( ");
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debug_echo_axis(X_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Y_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(Z_AXIS);
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SERIAL_ECHOPGM(", ");
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debug_echo_axis(E_AXIS);
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SERIAL_ECHOPGM(" ) ");
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SERIAL_ECHO(title);
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SERIAL_EOL();
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}
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) {
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/**
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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* Much of the nozzle movement will be within the same cell. So we will do as little computation
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* as possible to determine if this is the case. If this move is within the same cell, we will
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
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*/
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*/
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const float start[XYZE] = {
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#if ENABLED(SKEW_CORRECTION)
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current_position[X_AXIS],
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// For skew correction just adjust the destination point and we're done
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current_position[Y_AXIS],
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float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
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current_position[Z_AXIS],
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end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
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current_position[E_AXIS]
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planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
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},
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planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
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end[XYZE] = {
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#else
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destination[X_AXIS],
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const float (&start)[XYZE] = current_position,
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destination[Y_AXIS],
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(&end)[XYZE] = destination;
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destination[Z_AXIS],
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#endif
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destination[E_AXIS]
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};
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
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cell_start_yi = get_cell_index_y(start[Y_AXIS]),
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cell_start_yi = get_cell_index_y(start[Y_AXIS]),
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@ -112,13 +61,13 @@
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cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
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cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
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if (g26_debug_flag) {
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if (g26_debug_flag) {
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SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
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SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
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SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
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SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
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SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
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SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
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SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
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SERIAL_CHAR(')');
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SERIAL_CHAR(')');
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SERIAL_EOL();
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SERIAL_EOL();
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
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}
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}
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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@ -134,11 +83,11 @@
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be.
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// a reasonable correction would be.
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder);
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder);
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set_current_from_destination();
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set_current_from_destination();
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if (g26_debug_flag)
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()"));
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return;
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return;
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}
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}
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@ -178,10 +127,10 @@
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*/
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*/
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if (isnan(z0)) z0 = 0.0;
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if (isnan(z0)) z0 = 0.0;
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
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if (g26_debug_flag)
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()"));
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set_current_from_destination();
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set_current_from_destination();
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return;
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return;
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@ -269,7 +218,7 @@
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
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* happens, it might be best to remove the check and always 'schedule' the move because
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* happens, it might be best to remove the check and always 'schedule' the move because
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* the planner._buffer_line() routine will filter it if that happens.
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* the planner.buffer_segment() routine will filter it if that happens.
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*/
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*/
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if (ry != start[Y_AXIS]) {
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if (ry != start[Y_AXIS]) {
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if (!inf_normalized_flag) {
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if (!inf_normalized_flag) {
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@ -282,12 +231,12 @@
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z_position = end[Z_AXIS];
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z_position = end[Z_AXIS];
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}
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}
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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} //else printf("FIRST MOVE PRUNED ");
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}
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}
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if (g26_debug_flag)
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()"));
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//
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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@ -333,7 +282,7 @@
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* Without this check, it is possible for the algorithm to generate a zero length move in the case
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
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* that happens, it might be best to remove the check and always 'schedule' the move because
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* that happens, it might be best to remove the check and always 'schedule' the move because
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* the planner._buffer_line() routine will filter it if that happens.
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* the planner.buffer_segment() routine will filter it if that happens.
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*/
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*/
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if (rx != start[X_AXIS]) {
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if (rx != start[X_AXIS]) {
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if (!inf_normalized_flag) {
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if (!inf_normalized_flag) {
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@ -346,12 +295,12 @@
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z_position = end[Z_AXIS];
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z_position = end[Z_AXIS];
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}
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}
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
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} //else printf("FIRST MOVE PRUNED ");
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} //else printf("FIRST MOVE PRUNED ");
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}
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}
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if (g26_debug_flag)
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()"));
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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goto FINAL_MOVE;
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@ -408,7 +357,7 @@
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e_position = end[E_AXIS];
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e_position = end[E_AXIS];
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z_position = end[Z_AXIS];
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z_position = end[Z_AXIS];
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}
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}
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planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
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planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
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current_yi += dyi;
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current_yi += dyi;
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yi_cnt--;
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yi_cnt--;
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}
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}
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@ -436,7 +385,7 @@
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z_position = end[Z_AXIS];
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z_position = end[Z_AXIS];
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}
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}
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planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
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planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
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current_xi += dxi;
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current_xi += dxi;
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xi_cnt--;
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xi_cnt--;
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}
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}
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@ -445,7 +394,7 @@
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}
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}
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if (g26_debug_flag)
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if (g26_debug_flag)
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()"));
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
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goto FINAL_MOVE;
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goto FINAL_MOVE;
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@ -453,29 +402,21 @@
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set_current_from_destination();
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set_current_from_destination();
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}
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}
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#if UBL_DELTA
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#else // UBL_SEGMENTED
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// macro to inline copy exactly 4 floats, don't rely on sizeof operator
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#define COPY_XYZE( target, source ) { \
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target[X_AXIS] = source[X_AXIS]; \
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target[Y_AXIS] = source[Y_AXIS]; \
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target[Z_AXIS] = source[Z_AXIS]; \
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target[E_AXIS] = source[E_AXIS]; \
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}
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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static float scara_feed_factor, scara_oldA, scara_oldB;
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static float scara_feed_factor, scara_oldA, scara_oldB;
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#endif
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#endif
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// so we call _buffer_line directly here. Per-segmented leveling and kinematics performed first.
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// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
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inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) {
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inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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DELTA_RAW_IK();
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DELTA_RAW_IK();
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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@ -488,11 +429,11 @@
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scara_oldB = delta[B_AXIS];
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|
|
scara_oldB = delta[B_AXIS];
|
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|
|
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
|
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|
|
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
|
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|
|
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
|
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|
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
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#else // CARTESIAN
|
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|
#else // CARTESIAN
|
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|
|
planner._buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
|
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|
|
planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
|
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|
|
#endif
|
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|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
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|
|
@ -511,15 +452,23 @@
|
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|
|
/**
|
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|
|
/**
|
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|
|
* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
|
|
|
|
* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
|
|
|
|
* This calls planner._buffer_line multiple times for small incremental moves.
|
|
|
|
* This calls planner.buffer_segment multiple times for small incremental moves.
|
|
|
|
* 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 rtarget[XYZE], const float &feedrate) {
|
|
|
|
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&in_target)[XYZE], const float &feedrate) {
|
|
|
|
|
|
|
|
|
|
|
|
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
|
|
|
|
if (!position_is_reachable(in_target[X_AXIS], in_target[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],
|
|
|
|
@ -564,6 +513,10 @@
|
|
|
|
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) {
|
|
|
|
@ -670,6 +623,6 @@
|
|
|
|
} // cell loop
|
|
|
|
} // cell loop
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
#endif // UBL_DELTA
|
|
|
|
#endif // UBL_SEGMENTED
|
|
|
|
|
|
|
|
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|
|
|
|
#endif // AUTO_BED_LEVELING_UBL
|
|
|
|
|
Scott Lahteine
7 years ago
committed by