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@ -804,16 +804,10 @@ void Planner::check_axes_activity() {
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#endif
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#endif
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#else
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#else
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float delta_mm[4];
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float delta_mm[4];
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#if ENABLED(DELTA)
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// On delta all axes (should!) have the same steps-per-mm
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// so calculate distance in steps first, then do one division
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// at the end to get millimeters
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#else
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delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
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delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
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delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
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delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
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delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
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delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
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#endif
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#endif
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#endif
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delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder];
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delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder];
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if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
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if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
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@ -827,21 +821,15 @@ void Planner::check_axes_activity() {
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sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
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sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
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#elif ENABLED(COREYZ)
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#elif ENABLED(COREYZ)
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sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
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sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
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#elif ENABLED(DELTA)
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sq(dx) + sq(dy) + sq(dz)
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#else
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#else
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sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
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sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
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#endif
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#endif
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)
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);
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#if ENABLED(DELTA)
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* steps_to_mm[X_AXIS]
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#endif
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;
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}
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}
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate moves/second for this move. No divide by zero due to previous checks.
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// Calculate moves/second for this move. No divide by zero due to previous checks.
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float inverse_second = fr_mm_s * inverse_millimeters;
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float inverse_mm_s = fr_mm_s * inverse_millimeters;
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int moves_queued = movesplanned();
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int moves_queued = movesplanned();
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@ -853,21 +841,21 @@ void Planner::check_axes_activity() {
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#endif
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#endif
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#if ENABLED(SLOWDOWN)
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#if ENABLED(SLOWDOWN)
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// segment time im micro seconds
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// segment time im micro seconds
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unsigned long segment_time = lround(1000000.0/inverse_second);
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unsigned long segment_time = lround(1000000.0/inverse_mm_s);
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if (mq) {
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if (mq) {
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if (segment_time < min_segment_time) {
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if (segment_time < min_segment_time) {
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// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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inverse_second = 1000000.0 / (segment_time + lround(2 * (min_segment_time - segment_time) / moves_queued));
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inverse_mm_s = 1000000.0 / (segment_time + lround(2 * (min_segment_time - segment_time) / moves_queued));
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#ifdef XY_FREQUENCY_LIMIT
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#ifdef XY_FREQUENCY_LIMIT
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segment_time = lround(1000000.0 / inverse_second);
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segment_time = lround(1000000.0 / inverse_mm_s);
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#endif
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#endif
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}
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}
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}
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}
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#endif
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#endif
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#endif
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#endif
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block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
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block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
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block->nominal_rate = ceil(block->step_event_count * inverse_mm_s); // (step/sec) Always > 0
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static float filwidth_e_count = 0, filwidth_delay_dist = 0;
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static float filwidth_e_count = 0, filwidth_delay_dist = 0;
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@ -907,7 +895,7 @@ void Planner::check_axes_activity() {
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float current_speed[NUM_AXIS];
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float current_speed[NUM_AXIS];
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float speed_factor = 1.0; //factor <=1 do decrease speed
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float speed_factor = 1.0; //factor <=1 do decrease speed
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LOOP_XYZE(i) {
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LOOP_XYZE(i) {
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current_speed[i] = delta_mm[i] * inverse_second;
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current_speed[i] = delta_mm[i] * inverse_mm_s;
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float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
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float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
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if (cs > mf) speed_factor = min(speed_factor, mf / cs);
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if (cs > mf) speed_factor = min(speed_factor, mf / cs);
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}
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}
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