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Comment/cleanup motion code

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This commit is contained in:
Scott Lahteine 2017-12-01 23:21:02 -06:00
parent 7bed539fdb
commit 8b7c274db5
5 changed files with 160 additions and 200 deletions
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211
Marlin/ubl_motion.cpp
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@ -38,25 +38,6 @@
extern void set_current_from_destination();
#endif
#if ENABLED(DELTA)
extern float delta[ABC];
extern float delta_endstop_adj[ABC],
delta_radius,
delta_tower_angle_trim[ABC],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height;
extern float delta_safe_distance_from_top();
#endif
static void debug_echo_axis(const AxisEnum axis) {
if (current_position[axis] == destination[axis])
SERIAL_ECHOPGM("-------------");
@ -268,9 +249,9 @@
* else, we know the next X is the same so we can recover and continue!
* Calculate X at the next Y mesh line
*/
const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi)
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
/**
@ -282,7 +263,7 @@
*/
if (isnan(z0)) z0 = 0.0;
const float y = mesh_index_to_ypos(current_yi);
const float ry = mesh_index_to_ypos(current_yi);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -290,9 +271,9 @@
* happens, it might be best to remove the check and always 'schedule' the move because
* the planner._buffer_line() routine will filter it if that happens.
*/
if (y != start[Y_AXIS]) {
if (ry != start[Y_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
@ -301,7 +282,7 @@
z_position = end[Z_AXIS];
}
planner._buffer_line(x, y, z_position + z0, e_position, feed_rate, extruder);
planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
@ -332,9 +313,9 @@
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
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
ry = 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)
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
/**
@ -346,7 +327,7 @@
*/
if (isnan(z0)) z0 = 0.0;
const float x = mesh_index_to_xpos(current_xi);
const float rx = mesh_index_to_xpos(current_xi);
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
@ -354,9 +335,9 @@
* that happens, it might be best to remove the check and always 'schedule' the move because
* the planner._buffer_line() routine will filter it if that happens.
*/
if (x != start[X_AXIS]) {
if (rx != start[X_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
@ -365,7 +346,7 @@
z_position = end[Z_AXIS];
}
planner._buffer_line(x, y, z_position + z0, e_position, feed_rate, extruder);
planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
@ -398,15 +379,15 @@
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.
// If that was the case, it was already detected
// as a vertical line move above.)
ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.)
if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi)
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
/**
@ -419,7 +400,7 @@
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
@ -427,13 +408,13 @@
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
}
planner._buffer_line(x, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
current_yi += dyi;
yi_cnt--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag)
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
/**
@ -446,7 +427,7 @@
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
@ -455,7 +436,7 @@
z_position = end[Z_AXIS];
}
planner._buffer_line(next_mesh_line_x, y, z_position + z0, e_position, feed_rate, extruder);
planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
current_xi += dxi;
xi_cnt--;
}
@ -489,29 +470,16 @@
// 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(const float &rx, const float &ry, const float rz, const float &e, const float &fr) {
inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) {
#if ENABLED(DELTA) // apply delta inverse_kinematics
const float delta_A = rz + SQRT( delta_diagonal_rod_2_tower[A_AXIS]
- HYPOT2( delta_tower[A_AXIS][X_AXIS] - rx,
delta_tower[A_AXIS][Y_AXIS] - ry ));
DELTA_RAW_IK();
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
const float delta_B = rz + SQRT( delta_diagonal_rod_2_tower[B_AXIS]
- HYPOT2( delta_tower[B_AXIS][X_AXIS] - rx,
delta_tower[B_AXIS][Y_AXIS] - ry ));
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
const float delta_C = rz + SQRT( delta_diagonal_rod_2_tower[C_AXIS]
- HYPOT2( delta_tower[C_AXIS][X_AXIS] - rx,
delta_tower[C_AXIS][Y_AXIS] - ry ));
planner._buffer_line(delta_A, delta_B, delta_C, e, fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics
const float lseg[XYZ] = { rx, ry, rz };
inverse_kinematics(lseg); // this writes delta[ABC] from lseg[XYZ]
inverse_kinematics(raw); // this writes delta[ABC] from raw[XYZE]
// should move the feedrate scaling to scara inverse_kinematics
const float adiff = FABS(delta[A_AXIS] - scara_oldA),
@ -520,14 +488,13 @@
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], e, s_feedrate, active_extruder);
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], s_feedrate, active_extruder);
#else // CARTESIAN
planner._buffer_line(rx, ry, rz, e, fr, active_extruder);
planner._buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
#endif
}
@ -542,12 +509,14 @@
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 = 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 total[XYZE] = {
rtarget[X_AXIS] - current_position[X_AXIS],
rtarget[Y_AXIS] - current_position[Y_AXIS],
rtarget[Z_AXIS] - current_position[Z_AXIS],
rtarget[E_AXIS] - current_position[E_AXIS]
};
const float cartesian_xy_mm = HYPOT(tot_dx, tot_dy); // total horizontal xy distance
const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
#if IS_KINEMATIC
const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
@ -567,49 +536,30 @@
scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
#endif
const float seg_dx = tot_dx * inv_segments,
seg_dy = tot_dy * inv_segments,
seg_dz = tot_dz * inv_segments,
seg_de = tot_de * inv_segments;
const float diff[XYZE] = {
total[X_AXIS] * inv_segments,
total[Y_AXIS] * inv_segments,
total[Z_AXIS] * inv_segments,
total[E_AXIS] * inv_segments
};
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
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 < rtarget[Z_AXIS]
#else
false
#endif
);
float raw[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
// Only compute leveling per segment if ubl active and target below z_fade_height.
if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) { // no mesh leveling
do {
if (--segments) { // not the last segment
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
} else { // last segment, use exact destination
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);
} while (segments);
while (--segments) {
LOOP_XYZE(i) raw[i] += diff[i];
ubl_buffer_segment_raw(raw, feedrate);
}
ubl_buffer_segment_raw(rtarget, feedrate);
return false; // moved but did not set_current_from_destination();
}
@ -617,15 +567,10 @@
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
#else
constexpr float fade_scaling_factor = 1.0;
#endif
// increment to first segment destination
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
LOOP_XYZE(i) raw[i] += diff[i];
for(;;) { // for each mesh cell encountered during the move
@ -636,8 +581,8 @@
// in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area.
int8_t cell_xi = (seg_rx - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
cell_yi = (seg_ry - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
@ -655,8 +600,8 @@
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
float cx = seg_rx - x0, // cell-relative x and y
cy = seg_ry - y0;
float cx = raw[X_AXIS] - x0, // cell-relative x and y
cy = raw[Y_AXIS] - y0;
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
@ -674,36 +619,35 @@
// and the z_cxym slope will change, both as a function of cx within the cell, and
// each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * seg_dx, // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * seg_dx; // per-segment adjustment to z_cxym
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS]; // per-segment adjustment to z_cxym
for(;;) { // for all segments within this mesh cell
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 rtarget for exact
COPY(raw, rtarget);
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];
}
const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height
#endif
;
ubl_buffer_segment_raw(seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate);
const float z = raw[Z_AXIS];
raw[Z_AXIS] += z_cxcy;
ubl_buffer_segment_raw(raw, feedrate);
raw[Z_AXIS] = z;
if (segments == 0) // done with last segment
return false; // did not set_current_from_destination()
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
LOOP_XYZE(i) raw[i] += diff[i];
cx += seg_dx;
cy += seg_dy;
cx += diff[X_AXIS];
cy += diff[Y_AXIS];
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) { // done within this cell, break to next
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
break;
}
// Next segment still within same mesh cell, adjust the per-segment
// slope and intercept to compute next z height.
@ -718,4 +662,3 @@
#endif // UBL_DELTA
#endif // AUTO_BED_LEVELING_UBL