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Overhaul of the planner (#11578)

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- Move FWRETRACT to the planner
- Combine leveling, skew, etc. in a single modifier method
- Have kinematic and non-kinematic moves call one planner method
This commit is contained in:
Thomas Moore
2018-09-16 22:24:15 -04:00
committed by Scott Lahteine
parent 8323a08642
commit c437bb08f1
39 changed files with 655 additions and 597 deletions
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47
Marlin/src/feature/fwretract.cpp
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@@ -54,6 +54,7 @@ float FWRetract::retract_length, // M207 S - G10 Retract len
FWRetract::swap_retract_length, // M207 W - G10 Swap Retract length
FWRetract::swap_retract_recover_length, // M208 W - G11 Swap Recover length
FWRetract::swap_retract_recover_feedrate_mm_s, // M208 R - G11 Swap Recover feedrate
FWRetract::current_retract[EXTRUDERS], // Retract value used by planner
FWRetract::current_hop;
void FWRetract::reset() {
@@ -73,6 +74,7 @@ void FWRetract::reset() {
#if EXTRUDERS > 1
retracted_swap[i] = false;
#endif
current_retract[i] = 0.0;
}
}
@@ -84,9 +86,6 @@ void FWRetract::reset() {
*
* To simplify the logic, doubled retract/recover moves are ignored.
*
* Note: Z lift is done transparently to the planner. Aborting
* a print between G10 and G11 may corrupt the Z position.
*
* Note: Auto-retract will apply the set Z hop in addition to any Z hop
* included in the G-code. Use M207 Z0 to to prevent double hop.
*/
@@ -95,9 +94,6 @@ void FWRetract::retract(const bool retracting
, bool swapping /* =false */
#endif
) {
static float current_hop = 0.0; // Total amount lifted, for use in recover
// Prevent two retracts or recovers in a row
if (retracted[active_extruder] == retracting) return;
@@ -129,48 +125,50 @@ void FWRetract::retract(const bool retracting
//*/
const float old_feedrate_mm_s = feedrate_mm_s,
renormalize = RECIPROCAL(planner.e_factor[active_extruder]),
base_retract = swapping ? swap_retract_length : retract_length,
old_z = current_position[Z_AXIS],
old_e = current_position[E_AXIS];
unscale_e = RECIPROCAL(planner.e_factor[active_extruder]),
unscale_fr = 100.0 / feedrate_percentage, // Disable feedrate scaling for retract moves
base_retract = swapping ? swap_retract_length : retract_length;
// The current position will be the destination for E and Z moves
set_destination_from_current();
if (retracting) {
// Retract by moving from a faux E position back to the current E position
feedrate_mm_s = retract_feedrate_mm_s;
destination[E_AXIS] -= base_retract * renormalize;
feedrate_mm_s = retract_feedrate_mm_s * unscale_fr;
current_retract[active_extruder] = base_retract * unscale_e;
prepare_move_to_destination(); // set_current_to_destination
planner.synchronize(); // Wait for move to complete
// Is a Z hop set, and has the hop not yet been done?
if (retract_zlift > 0.01 && !current_hop) { // Apply hop only once
current_hop += retract_zlift; // Add to the hop total (again, only once)
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS] * unscale_fr; // Maximum Z feedrate
prepare_move_to_destination(); // Raise up, set_current_to_destination
planner.synchronize(); // Wait for move to complete
}
}
else {
// If a hop was done and Z hasn't changed, undo the Z hop
if (current_hop) {
current_position[Z_AXIS] += current_hop; // Restore the actual Z position
SYNC_PLAN_POSITION_KINEMATIC(); // Unspoof the position planner
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
current_hop = 0.0;
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS] * unscale_fr; // Z feedrate to max
prepare_move_to_destination(); // Lower Z, set_current_to_destination
current_hop = 0.0; // Clear the hop amount
planner.synchronize(); // Wait for move to complete
}
destination[E_AXIS] += (base_retract + (swapping ? swap_retract_recover_length : retract_recover_length)) * renormalize;
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
const float extra_recover = swapping ? swap_retract_recover_length : retract_recover_length;
if (extra_recover != 0.0) {
current_position[E_AXIS] -= extra_recover; // Adjust the current E position by the extra amount to recover
sync_plan_position_e(); // Sync the planner position so the extra amount is recovered
}
current_retract[active_extruder] = 0.0;
feedrate_mm_s = (swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s) * unscale_fr;
prepare_move_to_destination(); // Recover E, set_current_to_destination
planner.synchronize(); // Wait for move to complete
}
feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
current_position[Z_AXIS] = old_z; // Restore Z and E positions
current_position[E_AXIS] = old_e;
SYNC_PLAN_POSITION_KINEMATIC(); // As if the move never took place
retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
// If swap retract/recover update the retracted_swap flag too
@@ -194,7 +192,6 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
}
#endif // FWRETRACT