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@ -522,7 +522,9 @@ void Planner::check_axes_activity() {
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}
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#if PLANNER_LEVELING
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/**
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* lx, ly, lz - logical (cartesian, not delta) positions in mm
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*/
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void Planner::apply_leveling(float &lx, float &ly, float &lz) {
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#if HAS_ABL
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@ -549,19 +551,7 @@ void Planner::check_axes_activity() {
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#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
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float tmp[XYZ] = { lx, ly, 0 };
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#if ENABLED(DELTA)
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float offset = bilinear_z_offset(tmp);
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lx += offset;
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ly += offset;
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lz += offset;
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#else
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lz += bilinear_z_offset(tmp);
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#endif
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lz += bilinear_z_offset(tmp);
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#endif
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}
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@ -601,15 +591,17 @@ void Planner::check_axes_activity() {
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#endif // PLANNER_LEVELING
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/**
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* Planner::buffer_line
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* Planner::_buffer_line
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*
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* Add a new linear movement to the buffer.
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*
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* x,y,z,e - target position in mm
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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* Leveling and kinematics should be applied ahead of calling this.
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*
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* a,b,c,e - target positions in mm or degrees
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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*/
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void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
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void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index(block_buffer_head);
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@ -617,43 +609,39 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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#if PLANNER_LEVELING
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apply_leveling(lx, ly, lz);
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#endif
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// The target position of the tool in absolute steps
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// Calculate target position in absolute steps
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//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
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long target[NUM_AXIS] = {
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lround(lx * axis_steps_per_mm[X_AXIS]),
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lround(ly * axis_steps_per_mm[Y_AXIS]),
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lround(lz * axis_steps_per_mm[Z_AXIS]),
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long target[XYZE] = {
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lround(a * axis_steps_per_mm[X_AXIS]),
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lround(b * axis_steps_per_mm[Y_AXIS]),
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lround(c * axis_steps_per_mm[Z_AXIS]),
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lround(e * axis_steps_per_mm[E_AXIS])
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};
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long dx = target[X_AXIS] - position[X_AXIS],
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dy = target[Y_AXIS] - position[Y_AXIS],
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dz = target[Z_AXIS] - position[Z_AXIS];
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long da = target[X_AXIS] - position[X_AXIS],
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db = target[Y_AXIS] - position[Y_AXIS],
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dc = target[Z_AXIS] - position[Z_AXIS];
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/*
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SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
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SERIAL_CHAR(' ');
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#if IS_KINEMATIC
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SERIAL_ECHOPAIR("A:", lx);
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SERIAL_ECHOPAIR(" (", dx);
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SERIAL_ECHOPAIR(") B:", ly);
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SERIAL_ECHOPAIR("A:", a);
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SERIAL_ECHOPAIR(" (", da);
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SERIAL_ECHOPAIR(") B:", b);
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#else
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SERIAL_ECHOPAIR("X:", lx);
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SERIAL_ECHOPAIR(" (", dx);
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SERIAL_ECHOPAIR(") Y:", ly);
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SERIAL_ECHOPAIR("X:", a);
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SERIAL_ECHOPAIR(" (", da);
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SERIAL_ECHOPAIR(") Y:", b);
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#endif
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SERIAL_ECHOPAIR(" (", dy);
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SERIAL_ECHOPAIR(" (", db);
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#if ENABLED(DELTA)
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SERIAL_ECHOPAIR(") C:", lz);
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SERIAL_ECHOPAIR(") C:", c);
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#else
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SERIAL_ECHOPAIR(") Z:", lz);
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SERIAL_ECHOPAIR(") Z:", c);
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#endif
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SERIAL_ECHOPAIR(" (", dz);
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SERIAL_ECHOPAIR(" (", dc);
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SERIAL_CHAR(')');
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SERIAL_EOL;
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//*/
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@ -692,24 +680,24 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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#if ENABLED(COREXY)
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// corexy planning
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps[A_AXIS] = labs(dx + dy);
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block->steps[B_AXIS] = labs(dx - dy);
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block->steps[Z_AXIS] = labs(dz);
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block->steps[A_AXIS] = labs(da + db);
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block->steps[B_AXIS] = labs(da - db);
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block->steps[Z_AXIS] = labs(dc);
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#elif ENABLED(COREXZ)
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// corexz planning
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block->steps[A_AXIS] = labs(dx + dz);
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block->steps[Y_AXIS] = labs(dy);
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block->steps[C_AXIS] = labs(dx - dz);
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block->steps[A_AXIS] = labs(da + dc);
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block->steps[Y_AXIS] = labs(db);
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block->steps[C_AXIS] = labs(da - dc);
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#elif ENABLED(COREYZ)
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// coreyz planning
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block->steps[X_AXIS] = labs(dx);
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block->steps[B_AXIS] = labs(dy + dz);
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block->steps[C_AXIS] = labs(dy - dz);
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block->steps[X_AXIS] = labs(da);
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block->steps[B_AXIS] = labs(db + dc);
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block->steps[C_AXIS] = labs(db - dc);
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#else
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// default non-h-bot planning
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block->steps[X_AXIS] = labs(dx);
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block->steps[Y_AXIS] = labs(dy);
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block->steps[Z_AXIS] = labs(dz);
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block->steps[X_AXIS] = labs(da);
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block->steps[Y_AXIS] = labs(db);
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block->steps[Z_AXIS] = labs(dc);
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#endif
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block->steps[E_AXIS] = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
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@ -733,33 +721,33 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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block->e_to_p_pressure = baricuda_e_to_p_pressure;
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#endif
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// Compute direction bits for this block
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uint8_t db = 0;
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// Compute direction bit-mask for this block
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uint8_t dm = 0;
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#if ENABLED(COREXY)
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if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (dy < 0) SBI(db, Y_HEAD); // ...and Y
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if (dz < 0) SBI(db, Z_AXIS);
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if (dx + dy < 0) SBI(db, A_AXIS); // Motor A direction
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if (dx - dy < 0) SBI(db, B_AXIS); // Motor B direction
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if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (db < 0) SBI(dm, Y_HEAD); // ...and Y
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if (dc < 0) SBI(dm, Z_AXIS);
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if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
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if (da - db < 0) SBI(dm, B_AXIS); // Motor B direction
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#elif ENABLED(COREXZ)
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if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (dy < 0) SBI(db, Y_AXIS);
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if (dz < 0) SBI(db, Z_HEAD); // ...and Z
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if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
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if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
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if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (db < 0) SBI(dm, Y_AXIS);
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if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
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if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
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if (da - dc < 0) SBI(dm, C_AXIS); // Motor C direction
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#elif ENABLED(COREYZ)
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if (dx < 0) SBI(db, X_AXIS);
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if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
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if (dz < 0) SBI(db, Z_HEAD); // ...and Z
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if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
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if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
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if (da < 0) SBI(dm, X_AXIS);
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if (db < 0) SBI(dm, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
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if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
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if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
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if (db - dc < 0) SBI(dm, C_AXIS); // Motor C direction
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#else
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if (dx < 0) SBI(db, X_AXIS);
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if (dy < 0) SBI(db, Y_AXIS);
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if (dz < 0) SBI(db, Z_AXIS);
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if (da < 0) SBI(dm, X_AXIS);
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if (db < 0) SBI(dm, Y_AXIS);
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if (dc < 0) SBI(dm, Z_AXIS);
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#endif
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if (de < 0) SBI(db, E_AXIS);
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block->direction_bits = db;
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if (de < 0) SBI(dm, E_AXIS);
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block->direction_bits = dm;
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block->active_extruder = extruder;
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@ -872,29 +860,29 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
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float delta_mm[7];
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#if ENABLED(COREXY)
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delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
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delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
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delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
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delta_mm[A_AXIS] = (dx + dy) * steps_to_mm[A_AXIS];
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delta_mm[B_AXIS] = (dx - dy) * steps_to_mm[B_AXIS];
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delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
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delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
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delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
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delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
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delta_mm[B_AXIS] = (da - db) * steps_to_mm[B_AXIS];
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#elif ENABLED(COREXZ)
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delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
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delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
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delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
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delta_mm[A_AXIS] = (dx + dz) * steps_to_mm[A_AXIS];
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delta_mm[C_AXIS] = (dx - dz) * steps_to_mm[C_AXIS];
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delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
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delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
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delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
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delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
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delta_mm[C_AXIS] = (da - dc) * steps_to_mm[C_AXIS];
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#elif ENABLED(COREYZ)
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delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
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delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
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delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
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delta_mm[B_AXIS] = (dy + dz) * steps_to_mm[B_AXIS];
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delta_mm[C_AXIS] = (dy - dz) * steps_to_mm[C_AXIS];
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delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
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delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
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delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
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delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
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delta_mm[C_AXIS] = (db - dc) * steps_to_mm[C_AXIS];
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#endif
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#else
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float delta_mm[4];
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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[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
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delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
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delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
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delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
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#endif
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delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * flow_percentage[extruder];
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@ -1196,22 +1184,34 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
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*
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* On CORE machines stepper ABC will be translated from the given XYZ.
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*/
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void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
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#if PLANNER_LEVELING
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apply_leveling(lx, ly, lz);
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#endif
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long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
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ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
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nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
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void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) {
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long na = position[X_AXIS] = lround(a * axis_steps_per_mm[X_AXIS]),
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nb = position[Y_AXIS] = lround(b * axis_steps_per_mm[Y_AXIS]),
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nc = position[Z_AXIS] = lround(c * axis_steps_per_mm[Z_AXIS]),
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ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
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stepper.set_position(nx, ny, nz, ne);
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stepper.set_position(na, nb, nc, ne);
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previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
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memset(previous_speed, 0, sizeof(previous_speed));
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}
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void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
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#if PLANNER_LEVELING
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float pos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
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apply_leveling(pos);
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#else
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const float * const pos = position;
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#endif
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#if IS_KINEMATIC
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inverse_kinematics(pos);
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_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
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#else
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_set_position_mm(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], position[E_AXIS]);
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#endif
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}
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/**
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* Sync from the stepper positions. (e.g., after an interrupted move)
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*/
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@ -1237,12 +1237,7 @@ void Planner::reset_acceleration_rates() {
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// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
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void Planner::refresh_positioning() {
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LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
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#if IS_KINEMATIC
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inverse_kinematics(current_position);
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set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
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#else
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set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif
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set_position_mm_kinematic(current_position);
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reset_acceleration_rates();
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}
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Scott Lahteine
8 years ago
committed by