From 3913e04ac7f88ba95b3111467db95e5c5b87460b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 16 Sep 2016 13:07:43 -0500 Subject: [PATCH] Add Delta kinematic optimization options --- Marlin/Marlin_main.cpp | 144 ++++++++++++++++++++++++++++++----------- 1 file changed, 108 insertions(+), 36 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index e61ca183fa..252194e127 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -7789,34 +7789,38 @@ void ok_to_send() { * - Use a fast-inverse-sqrt function and add the reciprocal. * (see above) */ - void inverse_kinematics(const float logical[XYZ]) { - - const float cartesian[XYZ] = { - RAW_X_POSITION(logical[X_AXIS]), - RAW_Y_POSITION(logical[Y_AXIS]), - RAW_Z_POSITION(logical[Z_AXIS]) - }; - // Macro to obtain the Z position of an individual tower - #define DELTA_Z(T) cartesian[Z_AXIS] + _SQRT( \ - delta_diagonal_rod_2_tower_##T - HYPOT2( \ - delta_tower##T##_x - cartesian[X_AXIS], \ - delta_tower##T##_y - cartesian[Y_AXIS] \ - ) \ - ) + // Macro to obtain the Z position of an individual tower + #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \ + delta_diagonal_rod_2_tower_##T - HYPOT2( \ + delta_tower##T##_x - raw[X_AXIS], \ + delta_tower##T##_y - raw[Y_AXIS] \ + ) \ + ) + + #define DELTA_LOGICAL_IK() do { \ + const float raw[XYZ] = { \ + RAW_X_POSITION(logical[X_AXIS]), \ + RAW_Y_POSITION(logical[Y_AXIS]), \ + RAW_Z_POSITION(logical[Z_AXIS]) \ + }; \ + delta[A_AXIS] = DELTA_Z(1); \ + delta[B_AXIS] = DELTA_Z(2); \ + delta[C_AXIS] = DELTA_Z(3); \ + } while(0) + + #define DELTA_DEBUG() do { \ + SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \ + SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \ + SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \ + SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \ + SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \ + SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \ + } while(0) - delta[A_AXIS] = DELTA_Z(1); - delta[B_AXIS] = DELTA_Z(2); - delta[C_AXIS] = DELTA_Z(3); - - /* - SERIAL_ECHOPAIR("cartesian X:", cartesian[X_AXIS]); - SERIAL_ECHOPAIR(" Y:", cartesian[Y_AXIS]); - SERIAL_ECHOLNPAIR(" Z:", cartesian[Z_AXIS]); - SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); - SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); - SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); - //*/ + void inverse_kinematics(const float logical[XYZ]) { + DELTA_LOGICAL_IK(); + // DELTA_DEBUG(); } /** @@ -8090,19 +8094,87 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { // SERIAL_ECHOPAIR(" seconds=", seconds); // SERIAL_ECHOLNPAIR(" segments=", segments); - // Set the target to the current position to start - LOOP_XYZE(i) logical[i] = current_position[i]; - // Send all the segments to the planner - for (uint16_t s = 0; s < segments; s++) { - LOOP_XYZE(i) logical[i] += segment_distance[i]; - inverse_kinematics(logical); - //DEBUG_POS("prepare_kinematic_move_to", logical); - //DEBUG_POS("prepare_kinematic_move_to", delta); + #if ENABLED(DELTA) && ENABLED(USE_RAW_KINEMATICS) + + #define DELTA_E raw[E_AXIS] + #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) raw[i] += ADDEND; + #define DELTA_IK() do { \ + delta[A_AXIS] = DELTA_Z(1); \ + delta[B_AXIS] = DELTA_Z(2); \ + delta[C_AXIS] = DELTA_Z(3); \ + } while(0) + + // Get the raw current position as starting point + float raw[ABC] = { + RAW_CURRENT_POSITION(X_AXIS), + RAW_CURRENT_POSITION(Y_AXIS), + RAW_CURRENT_POSITION(Z_AXIS) + }; + + #else + + #define DELTA_E logical[E_AXIS] + #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND; + + #if ENABLED(DELTA) + #define DELTA_IK() DELTA_LOGICAL_IK() + #else + #define DELTA_IK() inverse_kinematics(logical) + #endif + + // Get the logical current position as starting point + LOOP_XYZE(i) logical[i] = current_position[i]; + + #endif + + #if ENABLED(USE_DELTA_IK_INTERPOLATION) + + // Get the starting delta for interpolation + if (segments >= 2) inverse_kinematics(logical); + + for (uint16_t s = segments + 1; --s;) { + if (s > 1) { + // 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]); + DELTA_IK(); + + // 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, + logical[E_AXIS], _feedrate_mm_s, active_extruder + ); + + // Do an extra decrement of the loop + --s; + } + else { + // Get the last segment delta (only when segments is odd) + DELTA_NEXT(segment_distance[i]) + DELTA_IK(); + } + + // Move to the non-interpolated position + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_E, _feedrate_mm_s, active_extruder); + } + + #else + + // For non-interpolated delta calculate every segment + for (uint16_t s = segments + 1; --s;) { + DELTA_NEXT(segment_distance[i]) + DELTA_IK(); + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder); + } + + #endif - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder); - } return true; }