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Apply feedrate to nozzle movement for kinematic machines

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Thomas Moore 2018-02-02 18:49:32 -06:00 • committed by Scott Lahteine
parent b11e78f5f7
commit 5b4e39a429
41 changed files with 758 additions and 323 deletions
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16
Marlin/Marlin_main.cpp
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@ -12370,6 +12370,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
@ -12379,6 +12380,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
// Get the raw current position as starting point
float raw[XYZE];
@ -12393,12 +12395,12 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm);
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder, cartesian_segment_mm);
}
#elif ENABLED(MESH_BED_LEVELING)
@ -12595,6 +12597,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
@ -12605,6 +12608,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
#if ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s
@ -12642,10 +12646,10 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
#endif
}
@ -12653,9 +12657,9 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#if ENABLED(SCARA_FEEDRATE_SCALING)
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
#else
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
#endif
return false; // caller will update current_position