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Merge pull request #6045 from thinkyhead/rc_remove_raw_kinematics

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Remove delta optimization concepts… for now
master
Scott Lahteine 7 years ago committed by GitHub
parent ed4f9d7e1c b865b21d32
commit af644871bf
6 changed files with 18 additions and 107 deletions
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115
Marlin/Marlin_main.cpp
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@ -9145,7 +9145,7 @@ void ok_to_send() {
) \
)
#define DELTA_RAW_IK() do { \
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
@ -9512,112 +9512,21 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// If there's only 1 segment, loops will be skipped entirely.
--segments;
// Using "raw" coordinates saves 6 float subtractions
// per segment, saving valuable CPU cycles
// Get the logical current position as starting point
float logical[XYZE];
COPY(logical, current_position);
#if ENABLED(USE_RAW_KINEMATICS)
// Get the raw current position as starting point
float raw[XYZE] = {
RAW_CURRENT_POSITION(X_AXIS),
RAW_CURRENT_POSITION(Y_AXIS),
RAW_CURRENT_POSITION(Z_AXIS),
current_position[E_AXIS]
};
#define DELTA_VAR raw
// Delta can inline its kinematics
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_RAW_IK()
#else
#define DELTA_IK() inverse_kinematics(raw)
#endif
#else
// Get the logical current position as starting point
float logical[XYZE];
COPY(logical, current_position);
#define DELTA_VAR logical
// Delta can inline its kinematics
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
LOOP_XYZE(i) logical[i] += segment_distance[i];
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_LOGICAL_IK()
DELTA_LOGICAL_IK(); // Delta can inline its kinematics
#else
#define DELTA_IK() inverse_kinematics(logical)
inverse_kinematics(logical);
#endif
#endif
#if ENABLED(USE_DELTA_IK_INTERPOLATION)
// Only interpolate XYZ. Advance E normally.
#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
// Get the starting delta if interpolation is possible
if (segments >= 2) {
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
}
// Loop using decrement
for (uint16_t s = segments + 1; --s;) {
// Are there at least 2 moves left?
if (s >= 2) {
// Save the previous delta for interpolation
float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
// Get the delta 2 segments ahead (rather than the next)
DELTA_NEXT(segment_distance[i] + segment_distance[i]);
// Advance E normally
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Get the exact delta for the move after this
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
// Move to the interpolated delta position first
planner.buffer_line(
(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
);
// Advance E once more for the next move
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Do an extra decrement of the loop
--s;
}
else {
// Get the last segment delta. (Used when segments is odd)
DELTA_NEXT(segment_distance[i]);
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
}
// Move to the non-interpolated position
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#else
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
// For non-interpolated delta calculate every segment
for (uint16_t s = segments + 1; --s;) {
DELTA_NEXT(segment_distance[i]);
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#endif
ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.

2
Marlin/SanityCheck.h
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@ -232,6 +232,8 @@
#if ENABLED(DELTA)
#if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
#error "You probably want to use Max Endstops for DELTA!"
#elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
#error "DELTA is incompatible with ENABLE_LEVELING_FADE_HEIGHT. Please disable it."
#endif
#if ABL_GRID
#if (ABL_GRID_MAX_POINTS_X & 1) == 0 || (ABL_GRID_MAX_POINTS_Y & 1) == 0

2
Marlin/example_configurations/delta/flsun_kossel_mini/Configuration.h
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@ -932,7 +932,7 @@
// Gradually reduce leveling correction until a set height is reached,
// at which point movement will be level to the machine's XY plane.
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
//#define ENABLE_LEVELING_FADE_HEIGHT
//
// Experimental Subdivision of the grid by Catmull-Rom method.

2
Marlin/example_configurations/delta/generic/Configuration.h
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@ -916,7 +916,7 @@
// Gradually reduce leveling correction until a set height is reached,
// at which point movement will be level to the machine's XY plane.
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
//#define ENABLE_LEVELING_FADE_HEIGHT
//
// Experimental Subdivision of the grid by Catmull-Rom method.

2
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -918,7 +918,7 @@
// Gradually reduce leveling correction until a set height is reached,
// at which point movement will be level to the machine's XY plane.
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
//#define ENABLE_LEVELING_FADE_HEIGHT
//
// Experimental Subdivision of the grid by Catmull-Rom method.

2
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -922,7 +922,7 @@
// Gradually reduce leveling correction until a set height is reached,
// at which point movement will be level to the machine's XY plane.
// The height can be set with M420 Z<height>
#define ENABLE_LEVELING_FADE_HEIGHT
//#define ENABLE_LEVELING_FADE_HEIGHT
//
// Experimental Subdivision of the grid by Catmull-Rom method.

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