andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge pull request #4837 from thinkyhead/rc_nonlinear_in_planner 

Handle nonlinear bed-leveling in Planner
pull/1/head
Scott Lahteine 8 years ago
committed by GitHub
parent
2ebfbc4c8d 77639672d7
commit
127d796420
6 changed files with 117 additions and 111 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      Marlin/Conditionals_post.h
  2. 7
      Marlin/Marlin.h
  3. 186
      Marlin/Marlin_main.cpp
  4. 24
      Marlin/planner.cpp
  5. 5
      Marlin/planner_bezier.cpp
  6. 4
      Marlin/ultralcd.cpp

2
Marlin/Conditionals_post.h
View File

@ -675,7 +675,7 @@
#endif
#endif
#define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR))
#define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE))
/**
* Buzzer/Speaker

7
Marlin/Marlin.h
View File

@ -303,12 +303,11 @@ float code_value_temp_diff();
#if IS_KINEMATIC
extern float delta[ABC];
void inverse_kinematics(const float cartesian[XYZ]);
void inverse_kinematics(const float logical[XYZ]);
#endif
#if ENABLED(DELTA)
extern float delta[ABC],
endstop_adj[ABC],
extern float endstop_adj[ABC],
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
@ -322,7 +321,7 @@ float code_value_temp_diff();
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
extern int nonlinear_grid_spacing[2];
void adjust_delta(float cartesian[XYZ]);
float nonlinear_z_offset(float logical[XYZ]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)

186
Marlin/Marlin_main.cpp
View File

@ -400,7 +400,6 @@ static uint8_t target_extruder;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
bool bed_leveling_in_progress = false;
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
#elif defined(XY_PROBE_SPEED)
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
@ -658,16 +657,20 @@ inline void sync_plan_position() {
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
#if IS_KINEMATIC
inline void sync_plan_position_kinematic() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
#endif
inverse_kinematics(current_position);
planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
}
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
#else
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
#endif
#if ENABLED(SDSUPPORT)
@ -795,7 +798,6 @@ void setup_homepin(void) {
#endif
}
void setup_photpin() {
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
@ -1479,7 +1481,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
#endif
refresh_cmd_timeout();
inverse_kinematics(destination);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
set_current_to_destination();
}
#endif
@ -3431,8 +3433,6 @@ inline void gcode_G28() {
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) return;
bed_leveling_in_progress = true;
float xProbe, yProbe, measured_z = 0;
#if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3573,6 +3573,8 @@ inline void gcode_G28() {
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// For LINEAR leveling calculate matrix, print reports, correct the position
// solve lsq problem
double plane_equation_coefficients[3];
qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
@ -3666,6 +3668,8 @@ inline void gcode_G28() {
}
} //do_topography_map
// For LINEAR and 3POINT leveling correct the current position
if (verbose_level > 0)
planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
@ -3735,8 +3739,6 @@ inline void gcode_G28() {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
#endif
bed_leveling_in_progress = false;
report_current_position();
KEEPALIVE_STATE(IN_HANDLER);
@ -5075,22 +5077,20 @@ static void report_current_position() {
#if IS_SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_EOL;
SERIAL_PROTOCOLLN(delta[B_AXIS]);
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
SERIAL_EOL;
SERIAL_PROTOCOLLN(delta[B_AXIS] - delta[A_AXIS] - 90);
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
SERIAL_PROTOCOL(delta[A_AXIS] / 90 * planner.axis_steps_per_mm[A_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
SERIAL_EOL; SERIAL_EOL;
SERIAL_PROTOCOLLN((delta[B_AXIS] - delta[A_AXIS]) / 90 * planner.axis_steps_per_mm[A_AXIS]);
SERIAL_EOL;
#endif
}
@ -6160,7 +6160,7 @@ inline void gcode_M503() {
// Define runplan for move axes
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
#endif
@ -6282,8 +6282,8 @@ inline void gcode_M503() {
#if IS_KINEMATIC
// Move XYZ to starting position, then E
inverse_kinematics(lastpos);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
// Move XY to starting position, then Z, then E
destination[X_AXIS] = lastpos[X_AXIS];
@ -7637,6 +7637,48 @@ void ok_to_send() {
#endif
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
// Get the Z adjustment for non-linear bed leveling
float nonlinear_z_offset(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done!
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2,
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1],
z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4;
/*
SERIAL_ECHOPAIR("grid_x=", grid_x);
SERIAL_ECHOPAIR(" grid_y=", grid_y);
SERIAL_ECHOPAIR(" floor_x=", floor_x);
SERIAL_ECHOPAIR(" floor_y=", floor_y);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" left=", left);
SERIAL_ECHOPAIR(" right=", right);
SERIAL_ECHOPAIR(" offset=", (1 - ratio_x) * left + ratio_x * right);
//*/
return (1 - ratio_x) * left + ratio_x * right;
}
#endif // AUTO_BED_LEVELING_NONLINEAR
#if ENABLED(DELTA)
/**
@ -7827,50 +7869,6 @@ void ok_to_send() {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
float hx2 = half_x - 0.001, hx1 = -hx2,
hy2 = half_y - 0.001, hy1 = -hy2,
grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1],
z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4,
offset = (1 - ratio_x) * left + ratio_x * right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
/**
SERIAL_ECHOPAIR("grid_x=", grid_x);
SERIAL_ECHOPAIR(" grid_y=", grid_y);
SERIAL_ECHOPAIR(" floor_x=", floor_x);
SERIAL_ECHOPAIR(" floor_y=", floor_y);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" left=", left);
SERIAL_ECHOPAIR(" right=", right);
SERIAL_ECHOLNPAIR(" offset=", offset);
*/
}
#endif // AUTO_BED_LEVELING_NONLINEAR
#endif // DELTA
/**
@ -7992,9 +7990,9 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*/
inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) {
float difference[NUM_AXIS];
LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
LOOP_XYZE(i) difference[i] = logical[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
@ -8013,18 +8011,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
float fraction = float(s) * inv_steps;
LOOP_XYZE(i)
target[i] = current_position[i] + difference[i] * fraction;
logical[i] = current_position[i] + difference[i] * fraction;
inverse_kinematics(target);
inverse_kinematics(logical);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
if (!bed_leveling_in_progress) adjust_delta(target);
#endif
//DEBUG_POS("prepare_kinematic_move_to", target);
//DEBUG_POS("prepare_kinematic_move_to", logical);
//DEBUG_POS("prepare_kinematic_move_to", delta);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
}
return true;
}
@ -8156,20 +8150,20 @@ void prepare_move_to_destination() {
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
float target[NUM_AXIS], // Destination position
float* offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
float logical[NUM_AXIS], // Destination position
float* offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
) {
float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
center_X = current_position[X_AXIS] + offset[X_AXIS],
center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
extruder_travel = target[E_AXIS] - current_position[E_AXIS],
linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
r_X = -offset[X_AXIS], // Radius vector from center to current location
r_Y = -offset[Y_AXIS],
rt_X = target[X_AXIS] - center_X,
rt_Y = target[Y_AXIS] - center_Y;
rt_X = logical[X_AXIS] - center_X,
rt_Y = logical[Y_AXIS] - center_Y;
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
@ -8177,7 +8171,7 @@ void prepare_move_to_destination() {
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0
if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
angular_travel += RADIANS(360);
float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
@ -8271,10 +8265,7 @@ void prepare_move_to_destination() {
#if IS_KINEMATIC
inverse_kinematics(arc_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(arc_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
#endif
@ -8282,13 +8273,10 @@ void prepare_move_to_destination() {
// Ensure last segment arrives at target location.
#if IS_KINEMATIC
inverse_kinematics(target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
inverse_kinematics(logical);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#else
planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
#endif
// As far as the parser is concerned, the position is now == target. In reality the
@ -8303,7 +8291,7 @@ void prepare_move_to_destination() {
void plan_cubic_move(const float offset[4]) {
cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// As far as the parser is concerned, the position is now == destination. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
@ -8376,7 +8364,7 @@ void prepare_move_to_destination() {
//*/
}
void inverse_kinematics(const float cartesian[XYZ]) {
void inverse_kinematics(const float logical[XYZ]) {
// Inverse kinematics.
// Perform SCARA IK and place results in delta[].
// The maths and first version were done by QHARLEY.
@ -8384,8 +8372,8 @@ void prepare_move_to_destination() {
static float C2, S2, SK1, SK2, THETA, PSI;
float sx = RAW_X_POSITION(cartesian[X_AXIS]) - SCARA_OFFSET_X, //Translate SCARA to standard X Y
sy = RAW_Y_POSITION(cartesian[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
#if (L1 == L2)
C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;
@ -8403,10 +8391,10 @@ void prepare_move_to_destination() {
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS];
delta[C_AXIS] = logical[Z_AXIS];
/**
DEBUG_POS("SCARA IK", cartesian);
/*
DEBUG_POS("SCARA IK", logical);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);

24
Marlin/planner.cpp
View File

@ -541,6 +541,23 @@ void Planner::check_axes_activity() {
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
float tmp[XYZ] = { lx, ly, 0 };
#if ENABLED(DELTA)
float offset = nonlinear_z_offset(tmp);
lx += offset;
ly += offset;
lz += offset;
#else
lz += nonlinear_z_offset(tmp);
#endif
#endif
}
@ -562,6 +579,11 @@ void Planner::check_axes_activity() {
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
float tmp[XYZ] = { lx, ly, 0 };
lz -= nonlinear_z_offset(tmp);
#endif
}
@ -1205,7 +1227,7 @@ void Planner::refresh_positioning() {
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
#if IS_KINEMATIC
inverse_kinematics(current_position);
set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
#else
set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif

5
Marlin/planner_bezier.cpp
View File

@ -190,10 +190,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
#if IS_KINEMATIC
inverse_kinematics(bez_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(bez_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
#else
planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], fr_mm_s, extruder);
#endif

4
Marlin/ultralcd.cpp
View File

@ -547,7 +547,7 @@ void kill_screen(const char* lcd_msg) {
inline void line_to_current(AxisEnum axis) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#else // !DELTA
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
#endif // !DELTA
@ -1297,7 +1297,7 @@ void kill_screen(const char* lcd_msg) {
if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
#if ENABLED(DELTA)
inverse_kinematics(current_position);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#else
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
#endif

Write Preview
Loading…
Cancel
Save