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Extend Skew Correction to UBL

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This commit is contained in:
Scott Lahteine 2017-12-09 04:55:02 -06:00
parent ba48ce8586
commit bdf69db0a8
4 changed files with 59 additions and 42 deletions
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56
Marlin/ubl_motion.cpp
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@ -44,18 +44,16 @@
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
const float start[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
},
end[XYZE] = {
destination[X_AXIS],
destination[Y_AXIS],
destination[Z_AXIS],
destination[E_AXIS]
};
#if ENABLED(SKEW_CORRECTION)
// For skew correction just adjust the destination point and we're done
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
#else
const float (&start)[XYZE] = current_position,
(&end)[XYZE] = destination;
#endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
@ -63,13 +61,13 @@
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
}
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
@ -89,7 +87,7 @@
set_current_from_destination();
if (g26_debug_flag)
debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()"));
return;
}
@ -132,7 +130,7 @@
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
if (g26_debug_flag)
debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()"));
set_current_from_destination();
return;
@ -238,7 +236,7 @@
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()"));
//
// 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.
@ -302,7 +300,7 @@
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
@ -396,7 +394,7 @@
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
@ -460,9 +458,17 @@
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&in_target)[XYZE], const float &feedrate) {
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) // fail if moving outside reachable boundary
if (!position_is_reachable(in_target[X_AXIS], in_target[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
#if ENABLED(SKEW_CORRECTION)
// For skew correction just adjust the destination point and we're done
float rtarget[XYZE] = { in_target[X_AXIS], in_target[Y_AXIS], in_target[Z_AXIS], in_target[E_AXIS] };
planner.skew(rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS]);
#else
const float (&rtarget)[XYZE] = in_target;
#endif
const float total[XYZE] = {
rtarget[X_AXIS] - current_position[X_AXIS],
rtarget[Y_AXIS] - current_position[Y_AXIS],
@ -507,6 +513,10 @@
current_position[E_AXIS]
};
#if ENABLED(SKEW_CORRECTION)
planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
#endif
// 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
while (--segments) {