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🎨 Misc. fixes, cleanup

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This commit is contained in:
Scott Lahteine
2023-04-26 13:50:45 -05:00
parent 08edb6282f
commit 68f74784a3
9 changed files with 119 additions and 263 deletions
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50
Marlin/src/module/motion.cpp
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@@ -540,6 +540,21 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
prepare_line_to_destination();
}
#if SECONDARY_AXES
void secondary_axis_moves(SECONDARY_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s) {
auto move_one = [&](const AxisEnum a, const_float_t p) {
const feedRate_t fr = fr_mm_s ?: homing_feedrate(a);
current_position[a] = p; line_to_current_position(fr);
};
SECONDARY_AXIS_CODE(
move_one(I_AXIS, i), move_one(J_AXIS, j), move_one(K_AXIS, k),
move_one(U_AXIS, u), move_one(V_AXIS, v), move_one(W_AXIS, w)
);
}
#endif
/**
* Plan a move to (X, Y, Z, [I, [J, [K...]]]) and set the current_position
* Plan a move to (X, Y, Z, [I, [J, [K...]]]) with separation of Z from other components.
@@ -558,14 +573,6 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
#if HAS_Z_AXIS
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
#endif
SECONDARY_AXIS_CODE(
const feedRate_t i_feedrate = fr_mm_s ?: homing_feedrate(I_AXIS),
const feedRate_t j_feedrate = fr_mm_s ?: homing_feedrate(J_AXIS),
const feedRate_t k_feedrate = fr_mm_s ?: homing_feedrate(K_AXIS),
const feedRate_t u_feedrate = fr_mm_s ?: homing_feedrate(U_AXIS),
const feedRate_t v_feedrate = fr_mm_s ?: homing_feedrate(V_AXIS),
const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
);
#if IS_KINEMATIC && DISABLED(POLARGRAPH)
// kinematic machines are expected to home to a point 1.5x their range? never reachable.
@@ -608,6 +615,10 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
}
#if SECONDARY_AXES
secondary_axis_moves(SECONDARY_AXIS_LIST(i, j, k, u, v, w), fr_mm_s);
#endif
#elif IS_SCARA
// If Z needs to raise, do it before moving XY
@@ -615,6 +626,10 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
destination.set(x, y); prepare_internal_fast_move_to_destination(xy_feedrate);
#if SECONDARY_AXES
secondary_axis_moves(SECONDARY_AXIS_LIST(i, j, k, u, v, w), fr_mm_s);
#endif
// If Z needs to lower, do it after moving XY
if (destination.z > z) { destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); }
@@ -626,23 +641,8 @@ void do_blocking_move_to(NUM_AXIS_ARGS(const_float_t), const_feedRate_t fr_mm_s/
current_position.set(x OPTARG(HAS_Y_AXIS, y)); line_to_current_position(xy_feedrate);
#if HAS_I_AXIS
current_position.i = i; line_to_current_position(i_feedrate);
#endif
#if HAS_J_AXIS
current_position.j = j; line_to_current_position(j_feedrate);
#endif
#if HAS_K_AXIS
current_position.k = k; line_to_current_position(k_feedrate);
#endif
#if HAS_U_AXIS
current_position.u = u; line_to_current_position(u_feedrate);
#endif
#if HAS_V_AXIS
current_position.v = v; line_to_current_position(v_feedrate);
#endif
#if HAS_W_AXIS
current_position.w = w; line_to_current_position(w_feedrate);
#if SECONDARY_AXES
secondary_axis_moves(SECONDARY_AXIS_LIST(i, j, k, u, v, w), fr_mm_s);
#endif
#if HAS_Z_AXIS