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Operate in Native Machine Space

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This commit is contained in:
Scott Lahteine 2017-11-02 20:17:51 -05:00
parent 9af9596f69
commit 640526f0c8
12 changed files with 434 additions and 482 deletions
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89
Marlin/ubl_motion.cpp
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@ -125,10 +125,10 @@
destination[E_AXIS]
};
const int cell_start_xi = get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
cell_start_yi = get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
cell_dest_xi = get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
cell_dest_yi = get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
cell_dest_xi = get_cell_index_x(end[X_AXIS]),
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
@ -173,7 +173,7 @@
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
*/
const float xratio = (RAW_X_POSITION(end[X_AXIS]) - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
@ -185,7 +185,7 @@
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
/**
@ -261,7 +261,7 @@
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
/**
* if the slope of the line is infinite, we won't do the calculations
@ -282,7 +282,7 @@
*/
if (isnan(z0)) z0 = 0.0;
const float y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
const float y = mesh_index_to_ypos(current_yi);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -331,7 +331,7 @@
// edge of this cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi)),
const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi)
@ -346,7 +346,7 @@
*/
if (isnan(z0)) z0 = 0.0;
const float x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi));
const float x = mesh_index_to_xpos(current_xi);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -396,8 +396,8 @@
while (xi_cnt > 0 || yi_cnt > 0) {
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi + dxi)),
next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi + dyi)),
const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
@ -489,7 +489,7 @@
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
// so we call _buffer_line directly here. Per-segmented leveling and kinematics performed first.
inline void _O2 ubl_buffer_segment_raw( float rx, float ry, float rz, float le, float fr ) {
inline void _O2 ubl_buffer_segment_raw( float rx, float ry, float rz, float e, float fr ) {
#if ENABLED(DELTA) // apply delta inverse_kinematics
@ -505,14 +505,11 @@
- HYPOT2( delta_tower[C_AXIS][X_AXIS] - rx,
delta_tower[C_AXIS][Y_AXIS] - ry ));
planner._buffer_line(delta_A, delta_B, delta_C, le, fr, active_extruder);
planner._buffer_line(delta_A, delta_B, delta_C, e, fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
const float lseg[XYZ] = { LOGICAL_X_POSITION(rx),
LOGICAL_Y_POSITION(ry),
LOGICAL_Z_POSITION(rz)
};
const float lseg[XYZ] = { rx, ry, rz };
inverse_kinematics(lseg); // this writes delta[ABC] from lseg[XYZ]
// should move the feedrate scaling to scara inverse_kinematics
@ -523,17 +520,13 @@
scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], le, s_feedrate, active_extruder);
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], e, s_feedrate, active_extruder);
#else // CARTESIAN
// Cartesian _buffer_line seems to take LOGICAL, not RAW coordinates
const float lx = LOGICAL_X_POSITION(rx),
ly = LOGICAL_Y_POSITION(ry),
lz = LOGICAL_Z_POSITION(rz);
planner._buffer_line(lx, ly, lz, le, fr, active_extruder);
planner._buffer_line(rx, ry, rz, e, fr, active_extruder);
#endif
@ -546,15 +539,15 @@
* Returns true if did NOT move, false if moved (requires current_position update).
*/
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate) {
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) // fail if moving outside reachable boundary
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
const float tot_dx = ltarget[X_AXIS] - current_position[X_AXIS],
tot_dy = ltarget[Y_AXIS] - current_position[Y_AXIS],
tot_dz = ltarget[Z_AXIS] - current_position[Z_AXIS],
tot_de = ltarget[E_AXIS] - current_position[E_AXIS];
const float tot_dx = rtarget[X_AXIS] - current_position[X_AXIS],
tot_dy = rtarget[Y_AXIS] - current_position[Y_AXIS],
tot_dz = rtarget[Z_AXIS] - current_position[Z_AXIS],
tot_de = rtarget[E_AXIS] - current_position[E_AXIS];
const float cartesian_xy_mm = HYPOT(tot_dx, tot_dy); // total horizontal xy distance
@ -584,14 +577,14 @@
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
float seg_rx = RAW_X_POSITION(current_position[X_AXIS]),
seg_ry = RAW_Y_POSITION(current_position[Y_AXIS]),
seg_rz = RAW_Z_POSITION(current_position[Z_AXIS]),
float seg_rx = current_position[X_AXIS],
seg_ry = current_position[Y_AXIS],
seg_rz = current_position[Z_AXIS],
seg_le = current_position[E_AXIS];
const bool above_fade_height = (
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
planner.z_fade_height != 0 && planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS])
planner.z_fade_height != 0 && planner.z_fade_height < rtarget[Z_AXIS]
#else
false
#endif
@ -599,7 +592,7 @@
// Only compute leveling per segment if ubl active and target below z_fade_height.
if (!planner.leveling_active || !planner.leveling_active_at_z(ltarget[Z_AXIS])) { // no mesh leveling
if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
do {
@ -609,13 +602,13 @@
seg_rz += seg_dz;
seg_le += seg_de;
} else { // last segment, use exact destination
seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
seg_le = ltarget[E_AXIS];
seg_rx = rtarget[X_AXIS];
seg_ry = rtarget[Y_AXIS];
seg_rz = rtarget[Z_AXIS];
seg_le = rtarget[E_AXIS];
}
ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz, seg_le, feedrate );
ubl_buffer_segment_raw(seg_rx, seg_ry, seg_rz, seg_le, feedrate);
} while (segments);
@ -625,7 +618,7 @@
// Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
#else
constexpr float fade_scaling_factor = 1.0;
#endif
@ -690,16 +683,16 @@
float z_cxcy = (z_cxy0 + z_cxym * cy) * fade_scaling_factor; // interpolated mesh z height along cx at cy, scaled for fade
if (--segments == 0) { // if this is last segment, use ltarget for exact
seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
seg_le = ltarget[E_AXIS];
if (--segments == 0) { // if this is last segment, use rtarget for exact
seg_rx = rtarget[X_AXIS];
seg_ry = rtarget[Y_AXIS];
seg_rz = rtarget[Z_AXIS];
seg_le = rtarget[E_AXIS];
}
ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate );
ubl_buffer_segment_raw(seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate);
if (segments == 0 ) // done with last segment
if (segments == 0) // done with last segment
return false; // did not set_current_from_destination()
seg_rx += seg_dx;