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@ -113,9 +113,9 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] |
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float second1 = target[Y_AXIS] + offset[3]; |
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float t = 0.0; |
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float tmp[4]; |
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tmp[X_AXIS] = position[X_AXIS]; |
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tmp[Y_AXIS] = position[Y_AXIS]; |
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float bez_target[4]; |
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bez_target[X_AXIS] = position[X_AXIS]; |
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bez_target[Y_AXIS] = position[Y_AXIS]; |
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float step = MAX_STEP; |
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uint8_t idle_counter = 0; |
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@ -141,8 +141,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] |
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float candidate_t = 0.5 * (t + new_t); |
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float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); |
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float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); |
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float interp_pos0 = 0.5 * (tmp[X_AXIS] + new_pos0); |
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float interp_pos1 = 0.5 * (tmp[Y_AXIS] + new_pos1); |
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float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0); |
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float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1); |
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if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; |
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new_t = candidate_t; |
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new_pos0 = candidate_pos0; |
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@ -157,8 +157,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] |
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if (candidate_t >= 1.0) break; |
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float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t); |
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float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t); |
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float interp_pos0 = 0.5 * (tmp[X_AXIS] + candidate_pos0); |
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float interp_pos1 = 0.5 * (tmp[Y_AXIS] + candidate_pos1); |
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float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0); |
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float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1); |
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if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; |
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new_t = candidate_t; |
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new_pos0 = candidate_pos0; |
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@ -180,14 +180,23 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS] |
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t = new_t; |
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// Compute and send new position
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tmp[X_AXIS] = new_pos0; |
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tmp[Y_AXIS] = new_pos1; |
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bez_target[X_AXIS] = new_pos0; |
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bez_target[Y_AXIS] = new_pos1; |
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// FIXME. The following two are wrong, since the parameter t is
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// not linear in the distance.
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tmp[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t); |
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tmp[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t); |
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clamp_to_software_endstops(tmp); |
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planner.buffer_line(tmp[X_AXIS], tmp[Y_AXIS], tmp[Z_AXIS], tmp[E_AXIS], feed_rate, extruder); |
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bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t); |
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bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t); |
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clamp_to_software_endstops(bez_target); |
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#if ENABLED(DELTA) || ENABLED(SCARA) |
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calculate_delta(bez_target); |
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) |
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adjust_delta(bez_target); |
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#endif |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder); |
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#else |
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planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder); |
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#endif |
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} |
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} |
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