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@ -1794,7 +1794,7 @@ bool Planner::_buffer_steps(const xyze_long_t &target |
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if (cleaning_buffer_counter) return false; |
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// Fill the block with the specified movement
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if (!_populate_block(block, false, target |
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if (!_populate_block(block, target |
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OPTARG(HAS_POSITION_FLOAT, target_float) |
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OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) |
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, fr_mm_s, extruder, millimeters |
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@ -1826,17 +1826,24 @@ bool Planner::_buffer_steps(const xyze_long_t &target |
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} |
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/**
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* Planner::_populate_block |
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* @brief Populate a block in preparation for insertion |
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* @details Populate the fields of a new linear movement block |
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* that will be added to the queue and processed soon |
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* by the Stepper ISR. |
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* |
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* Fills a new linear movement in the block (in terms of steps). |
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* @param block A block to populate |
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* @param target Target position in steps units |
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* @param target_float Target position in native mm |
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* @param cart_dist_mm The pre-calculated move lengths for all axes, in mm |
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* @param fr_mm_s (target) speed of the move |
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* @param extruder target extruder |
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* @param millimeters A pre-calculated linear distance for the move, in mm, |
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* or 0.0 to have the distance calculated here. |
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* |
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* target - target position in steps units |
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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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* Returns true if movement is acceptable, false otherwise |
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* @return true if movement is acceptable, false otherwise |
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*/ |
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bool Planner::_populate_block(block_t * const block, bool split_move, |
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bool Planner::_populate_block( |
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block_t * const block, |
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const abce_long_t &target |
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OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float) |
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OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) |
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@ -2849,9 +2856,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move, |
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// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
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const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(float(MINIMUM_PLANNER_SPEED)), block->millimeters); |
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// If we are trying to add a split block, start with the
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// max. allowed speed to avoid an interrupted first move.
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block->entry_speed_sqr = !split_move ? sq(float(MINIMUM_PLANNER_SPEED)) : _MIN(vmax_junction_sqr, v_allowable_sqr); |
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// Start with the minimum allowed speed
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block->entry_speed_sqr = sq(float(MINIMUM_PLANNER_SPEED)); |
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// Initialize planner efficiency flags
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// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
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