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Add a feedRate_t data type (#15349)

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This commit is contained in:
Scott Lahteine
2019-09-26 01:28:09 -05:00
committed by GitHub
parent ee7558a622
commit 455dabb183
42 changed files with 384 additions and 377 deletions
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13
Marlin/src/module/planner_bezier.cpp
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@ -107,13 +107,18 @@ static inline float dist1(const float &x1, const float &y1, const float &x2, con
* the mitigation offered by MIN_STEP and the small computational
* power available on Arduino, I think it is not wise to implement it.
*/
void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float fr_mm_s, uint8_t extruder) {
void cubic_b_spline(
const float position[NUM_AXIS], // current position
const float target[NUM_AXIS], // target position
const float (&offset)[4], // a pair of offsets
const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate %
const uint8_t extruder
) {
// Absolute first and second control points are recovered.
const float first0 = position[X_AXIS] + offset[0],
first1 = position[Y_AXIS] + offset[1],
second0 = target[X_AXIS] + offset[2],
second1 = target[Y_AXIS] + offset[3];
float t = 0;
float bez_target[4];
bez_target[X_AXIS] = position[X_AXIS];
@ -122,7 +127,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
millis_t next_idle_ms = millis() + 200UL;
while (t < 1) {
for (float t = 0; t < 1;) {
thermalManager.manage_heater();
millis_t now = millis();
@ -197,7 +202,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
const float (&pos)[XYZE] = bez_target;
#endif
if (!planner.buffer_line(pos, fr_mm_s, active_extruder, step))
if (!planner.buffer_line(pos, scaled_fr_mm_s, active_extruder, step))
break;
}
}