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@ -9572,77 +9572,17 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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float logical[XYZE];
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float logical[XYZE];
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COPY(logical, current_position);
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COPY(logical, current_position);
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#if ENABLED(USE_DELTA_IK_INTERPOLATION)
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// Calculate and execute the segments
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for (uint16_t s = segments + 1; --s;) {
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// Only interpolate XYZ. Advance E normally.
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LOOP_XYZE(i) logical[i] += segment_distance[i];
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#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) logical[i] += ADDEND;
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#if ENABLED(DELTA)
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DELTA_LOGICAL_IK(); // Delta can inline its kinematics
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// Get the starting delta if interpolation is possible
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#else
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if (segments >= 2) {
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inverse_kinematics(logical);
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DELTA_IK();
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#endif
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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}
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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// Loop using decrement
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for (uint16_t s = segments + 1; --s;) {
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// Are there at least 2 moves left?
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if (s >= 2) {
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// Save the previous delta for interpolation
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float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
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// Get the delta 2 segments ahead (rather than the next)
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DELTA_NEXT(segment_distance[i] + segment_distance[i]);
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// Advance E normally
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logical[E_AXIS] += segment_distance[E_AXIS];
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// Get the exact delta for the move after this
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DELTA_IK();
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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// Move to the interpolated delta position first
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planner.buffer_line(
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(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
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(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
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(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
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logical[E_AXIS], _feedrate_mm_s, active_extruder
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);
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// Advance E once more for the next move
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logical[E_AXIS] += segment_distance[E_AXIS];
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// Do an extra decrement of the loop
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--s;
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}
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else {
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// Get the last segment delta. (Used when segments is odd)
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DELTA_NEXT(segment_distance[i]);
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logical[E_AXIS] += segment_distance[E_AXIS];
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DELTA_IK();
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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}
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// Move to the non-interpolated position
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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#else
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#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
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// For non-interpolated delta calculate every segment
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for (uint16_t s = segments + 1; --s;) {
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DELTA_NEXT(segment_distance[i]);
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#if ENABLED(DELTA)
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DELTA_LOGICAL_IK(); // Delta can inline its kinematics
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#else
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inverse_kinematics(logical);
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#endif
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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#endif
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// Since segment_distance is only approximate,
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// Since segment_distance is only approximate,
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// the final move must be to the exact destination.
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// the final move must be to the exact destination.
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