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⚡️ Input Shaping improvements (#24951)

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This commit is contained in:
tombrazier
2022-11-28 03:38:15 +00:00
committed by GitHub
parent d4d1112ae8
commit 89334caa52
15 changed files with 468 additions and 367 deletions
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15
Marlin/src/module/planner.cpp
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@@ -1724,6 +1724,13 @@ float Planner::triggered_position_mm(const AxisEnum axis) {
return result * mm_per_step[axis];
}
bool Planner::busy() {
return (has_blocks_queued() || cleaning_buffer_counter
|| TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
|| TERN0(HAS_SHAPING, stepper.input_shaping_busy())
);
}
void Planner::finish_and_disable() {
while (has_blocks_queued() || cleaning_buffer_counter) idle();
stepper.disable_all_steppers();
@@ -2483,14 +2490,6 @@ bool Planner::_populate_block(
#endif // XY_FREQUENCY_LIMIT
#if ENABLED(INPUT_SHAPING)
const float top_freq = _MIN(float(0x7FFFFFFFL)
OPTARG(HAS_SHAPING_X, stepper.get_shaping_frequency(X_AXIS))
OPTARG(HAS_SHAPING_Y, stepper.get_shaping_frequency(Y_AXIS))),
max_factor = (top_freq * float(shaping_dividends - 3) * 2.0f) / block->nominal_rate;
NOMORE(speed_factor, max_factor);
#endif
// Correct the speed
if (speed_factor < 1.0f) {
current_speed *= speed_factor;