From 915203f545f6d3114a5965a19125545f5592c42e Mon Sep 17 00:00:00 2001 From: tombrazier <68918209+tombrazier@users.noreply.github.com> Date: Mon, 18 Jul 2022 06:51:44 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=A9=B9=20Arc/Planner=20optimization=20fol?= =?UTF-8?q?lowup=20(#24509)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/gcode/motion/G2_G3.cpp | 10 ++++++---- Marlin/src/module/planner.cpp | 2 +- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp index c45204c6f6..1a0a9c8ccc 100644 --- a/Marlin/src/gcode/motion/G2_G3.cpp +++ b/Marlin/src/gcode/motion/G2_G3.cpp @@ -294,11 +294,12 @@ void plan_arc( // An arc can always complete within limits from a speed which... // a) is <= any configured maximum speed, // b) does not require centripetal force greater than any configured maximum acceleration, - // c) allows the print head to stop in the remining length of the curve within all configured maximum accelerations. + // c) is <= nominal speed, + // d) allows the print head to stop in the remining length of the curve within all configured maximum accelerations. // The last has to be calculated every time through the loop. const float limiting_accel = _MIN(planner.settings.max_acceleration_mm_per_s2[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]), limiting_speed = _MIN(planner.settings.max_feedrate_mm_s[axis_p], planner.settings.max_acceleration_mm_per_s2[axis_q]), - limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius); + limiting_speed_sqr = _MIN(sq(limiting_speed), limiting_accel * radius, sq(scaled_fr_mm_s)); float arc_mm_remaining = flat_mm; for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times @@ -357,12 +358,12 @@ void plan_arc( // calculate safe speed for stopping by the end of the arc arc_mm_remaining -= segment_mm; - - hints.curve_radius = i > 1 ? radius : 0; hints.safe_exit_speed_sqr = _MIN(limiting_speed_sqr, 2 * limiting_accel * arc_mm_remaining); if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints)) break; + + hints.curve_radius = radius; } } @@ -383,6 +384,7 @@ void plan_arc( #endif hints.curve_radius = 0; + hints.safe_exit_speed_sqr = 0.0f; planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); #if ENABLED(AUTO_BED_LEVELING_UBL) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index de1351babf..b4455ca5ec 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -806,7 +806,7 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel); accelerate_steps = CEIL(accelerate_steps_float); const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel); - decelerate_steps = decelerate_steps_float; + decelerate_steps = FLOOR(decelerate_steps_float); // Steps between acceleration and deceleration, if any plateau_steps -= accelerate_steps + decelerate_steps;