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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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30
Marlin/planner.h
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@ -412,8 +412,9 @@ class Planner {
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
static void _buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder);
static void _buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0);
/**
* Planner::buffer_segment
@ -422,11 +423,12 @@ class Planner {
*
* Leveling and kinematics should be applied ahead of calling this.
*
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
static void buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
static void buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
@ -441,12 +443,13 @@ class Planner {
* rx,ry,rz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
FORCE_INLINE static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
FORCE_INLINE static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(rx, ry, rz);
#endif
buffer_segment(rx, ry, rz, e, fr_mm_s, extruder);
buffer_segment(rx, ry, rz, e, fr_mm_s, extruder, millimeters);
}
/**
@ -454,11 +457,12 @@ class Planner {
* The target is cartesian, it's translated to delta/scara if
* needed.
*
* cart - x,y,z,e CARTESIAN target in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* cart - x,y,z,e CARTESIAN target in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* millimeters - the length of the movement, if known
*/
FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder) {
FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
#if PLANNER_LEVELING
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw);
@ -467,9 +471,9 @@ class Planner {
#endif
#if IS_KINEMATIC
inverse_kinematics(raw);
buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
#else
buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
#endif
}