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@ -23,93 +23,42 @@ |
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#if ENABLED(AUTO_BED_LEVELING_UBL) |
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#include "../bedlevel.h" |
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#include "../../../module/planner.h" |
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#include "../../../module/stepper.h" |
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#include "../../../module/motion.h" |
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#include "../bedlevel.h" |
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#include "../../../module/planner.h" |
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#include "../../../module/stepper.h" |
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#include "../../../module/motion.h" |
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#if ENABLED(DELTA) |
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#if ENABLED(DELTA) |
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#include "../../../module/delta.h" |
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#endif |
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#include "../../../Marlin.h" |
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#include <math.h> |
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#endif |
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extern float destination[XYZE]; |
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#include "../../../Marlin.h" |
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#include <math.h> |
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
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inline void set_current_from_destination() { COPY(current_position, destination); } |
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#else |
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#else |
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extern void set_current_from_destination(); |
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#endif |
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#endif |
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static void debug_echo_axis(const AxisEnum axis) { |
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if (current_position[axis] == destination[axis]) |
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SERIAL_ECHOPGM("-------------"); |
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else |
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SERIAL_ECHO_F(destination[X_AXIS], 6); |
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} |
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#if !UBL_SEGMENTED |
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void debug_current_and_destination(const char *title) { |
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// if the title message starts with a '!' it is so important, we are going to
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// ignore the status of the g26_debug_flag
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if (*title != '!' && !g26_debug_flag) return; |
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const float de = destination[E_AXIS] - current_position[E_AXIS]; |
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if (de == 0.0) return; // Printing moves only
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const float dx = destination[X_AXIS] - current_position[X_AXIS], |
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dy = destination[Y_AXIS] - current_position[Y_AXIS], |
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xy_dist = HYPOT(dx, dy); |
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if (xy_dist == 0.0) return; |
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SERIAL_ECHOPGM(" fpmm="); |
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const float fpmm = de / xy_dist; |
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SERIAL_ECHO_F(fpmm, 6); |
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SERIAL_ECHOPGM(" current=( "); |
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SERIAL_ECHO_F(current_position[X_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[Y_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[Z_AXIS], 6); |
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SERIAL_ECHOPGM(", "); |
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SERIAL_ECHO_F(current_position[E_AXIS], 6); |
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SERIAL_ECHOPGM(" ) destination=( "); |
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debug_echo_axis(X_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(Y_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(Z_AXIS); |
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SERIAL_ECHOPGM(", "); |
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debug_echo_axis(E_AXIS); |
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SERIAL_ECHOPGM(" ) "); |
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SERIAL_ECHO(title); |
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SERIAL_EOL(); |
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} |
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) { |
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void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { |
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/**
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* Much of the nozzle movement will be within the same cell. So we will do as little computation |
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* as possible to determine if this is the case. If this move is within the same cell, we will |
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* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave |
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*/ |
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const float start[XYZE] = { |
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current_position[X_AXIS], |
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current_position[Y_AXIS], |
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current_position[Z_AXIS], |
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current_position[E_AXIS] |
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}, |
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end[XYZE] = { |
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destination[X_AXIS], |
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destination[Y_AXIS], |
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destination[Z_AXIS], |
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destination[E_AXIS] |
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}; |
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#if ENABLED(SKEW_CORRECTION) |
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// For skew correction just adjust the destination point and we're done
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float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, |
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end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; |
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planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); |
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planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); |
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#else |
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const float (&start)[XYZE] = current_position, |
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(&end)[XYZE] = destination; |
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#endif |
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const int cell_start_xi = get_cell_index_x(start[X_AXIS]), |
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cell_start_yi = get_cell_index_y(start[Y_AXIS]), |
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@ -117,13 +66,13 @@ |
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cell_dest_yi = get_cell_index_y(end[Y_AXIS]); |
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if (g26_debug_flag) { |
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SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]); |
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SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]); |
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SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]); |
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SERIAL_ECHOPAIR(", ee=", end[E_AXIS]); |
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SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); |
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SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); |
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SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); |
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SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); |
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SERIAL_CHAR(')'); |
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SERIAL_EOL(); |
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); |
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} |
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if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
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@ -139,11 +88,11 @@ |
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// Note: There is no Z Correction in this case. We are off the grid and don't know what
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// a reasonable correction would be.
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); |
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); |
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set_current_from_destination(); |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); |
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return; |
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} |
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@ -183,10 +132,10 @@ |
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*/ |
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if (isnan(z0)) z0 = 0.0; |
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planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); |
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planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); |
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set_current_from_destination(); |
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return; |
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@ -274,7 +223,7 @@ |
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* Without this check, it is possible for the algorithm to generate a zero length move in the case |
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* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that |
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* happens, it might be best to remove the check and always 'schedule' the move because |
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* the planner._buffer_line() routine will filter it if that happens. |
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* the planner.buffer_segment() routine will filter it if that happens. |
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*/ |
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if (ry != start[Y_AXIS]) { |
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if (!inf_normalized_flag) { |
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@ -287,12 +236,12 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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} //else printf("FIRST MOVE PRUNED ");
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); |
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//
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// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
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@ -338,7 +287,7 @@ |
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* Without this check, it is possible for the algorithm to generate a zero length move in the case |
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* where the line is heading left and it is starting right on a Mesh Line boundary. For how often |
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* that happens, it might be best to remove the check and always 'schedule' the move because |
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* the planner._buffer_line() routine will filter it if that happens. |
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* the planner.buffer_segment() routine will filter it if that happens. |
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*/ |
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if (rx != start[X_AXIS]) { |
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if (!inf_normalized_flag) { |
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@ -351,12 +300,12 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); |
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} //else printf("FIRST MOVE PRUNED ");
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); |
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) |
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goto FINAL_MOVE; |
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@ -413,7 +362,7 @@ |
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e_position = end[E_AXIS]; |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); |
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current_yi += dyi; |
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yi_cnt--; |
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} |
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@ -441,7 +390,7 @@ |
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z_position = end[Z_AXIS]; |
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} |
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planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); |
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planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); |
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current_xi += dxi; |
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xi_cnt--; |
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} |
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@ -450,7 +399,7 @@ |
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} |
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if (g26_debug_flag) |
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()")); |
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debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); |
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if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) |
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goto FINAL_MOVE; |
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@ -458,29 +407,28 @@ |
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set_current_from_destination(); |
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} |
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#if UBL_DELTA |
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// macro to inline copy exactly 4 floats, don't rely on sizeof operator
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#define COPY_XYZE( target, source ) { \ |
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target[X_AXIS] = source[X_AXIS]; \ |
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target[Y_AXIS] = source[Y_AXIS]; \ |
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target[Z_AXIS] = source[Z_AXIS]; \ |
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target[E_AXIS] = source[E_AXIS]; \ |
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} |
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#else // UBL_SEGMENTED
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#if IS_SCARA // scale the feed rate from mm/s to degrees/s
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static float scara_feed_factor, scara_oldA, scara_oldB; |
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#endif |
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// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
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// so we call _buffer_line directly here. Per-segmented leveling and kinematics performed first.
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// so we call buffer_segment directly here. Per-segmented leveling and kinematics performed first.
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inline void _O2 ubl_buffer_segment_raw(const float (&in_raw)[XYZE], const float &fr) { |
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inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) { |
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#if ENABLED(SKEW_CORRECTION) |
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float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] }; |
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planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); |
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#else |
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const float (&raw)[XYZE] = in_raw; |
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#endif |
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#if ENABLED(DELTA) // apply delta inverse_kinematics
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DELTA_RAW_IK(); |
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder); |
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder); |
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#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
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@ -493,11 +441,11 @@ |
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scara_oldB = delta[B_AXIS]; |
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float s_feedrate = max(adiff, bdiff) * scara_feed_factor; |
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planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder); |
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder); |
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#else // CARTESIAN
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planner._buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder); |
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planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder); |
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#endif |
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} |
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@ -516,11 +464,11 @@ |
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/**
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* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics. |
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* This calls planner._buffer_line multiple times for small incremental moves. |
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* This calls planner.buffer_segment multiple times for small incremental moves. |
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* Returns true if did NOT move, false if moved (requires current_position update). |
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*/ |
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) { |
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bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) { |
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if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
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return true; // did not move, so current_position still accurate
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@ -675,6 +623,6 @@ |
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} // cell loop
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} |
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#endif // UBL_DELTA
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#endif // UBL_SEGMENTED
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#endif // AUTO_BED_LEVELING_UBL
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Scott Lahteine
7 years ago
GitHub