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Add an option to segment leveled moves

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This commit is contained in:
Scott Lahteine
2017-11-29 15:30:42 -06:00
parent ca80564a78
commit ef2531558c
8 changed files with 169 additions and 76 deletions
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107
Marlin/src/module/motion.cpp
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@ -522,8 +522,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// Get the top feedrate of the move in the XY plane
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
const float xdiff = rtarget[X_AXIS] - current_position[X_AXIS],
ydiff = rtarget[Y_AXIS] - current_position[Y_AXIS];
// If the move is only in Z/E don't split up the move
if (rtarget[X_AXIS] == current_position[X_AXIS] && rtarget[Y_AXIS] == current_position[Y_AXIS]) {
if (!xdiff && !ydiff) {
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
return false;
}
@ -531,19 +534,15 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// Fail if attempting move outside printable radius
if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
// Get the cartesian distances moved in XYZE
const float difference[XYZE] = {
rtarget[X_AXIS] - current_position[X_AXIS],
rtarget[Y_AXIS] - current_position[Y_AXIS],
rtarget[Z_AXIS] - current_position[Z_AXIS],
rtarget[E_AXIS] - current_position[E_AXIS]
};
// Remaining cartesian distances
const float zdiff = rtarget[Z_AXIS] - current_position[Z_AXIS],
ediff = rtarget[E_AXIS] - current_position[E_AXIS];
// Get the linear distance in XYZ
float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(ediff);
// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return true;
@ -566,10 +565,10 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
@ -644,6 +643,81 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#else // !IS_KINEMATIC
#if ENABLED(SEGMENT_LEVELED_MOVES)
/**
* Prepare a segmented move on a CARTESIAN setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves. This allows the planner to
* apply more detailed bed leveling to the full move.
*/
inline void segmented_line_to_destination(const float &fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) {
const float xdiff = destination[X_AXIS] - current_position[X_AXIS],
ydiff = destination[Y_AXIS] - current_position[Y_AXIS];
// If the move is only in Z/E don't split up the move
if (!xdiff && !ydiff) {
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
return;
}
// Remaining cartesian distances
const float zdiff = destination[Z_AXIS] - current_position[Z_AXIS],
ediff = destination[E_AXIS] - current_position[E_AXIS];
// Get the linear distance in XYZ
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = SQRT(sq(xdiff) + sq(ydiff) + sq(zdiff));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(ediff);
if (UNEAR_ZERO(cartesian_mm)) return;
// The length divided by the segment size
// At least one segment is required
uint16_t segments = cartesian_mm / segment_size;
NOLESS(segments, 1);
// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
zdiff * inv_segments,
ediff * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
// Get the raw current position as starting point
float raw[XYZE];
COPY(raw, current_position);
// Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
static millis_t next_idle_ms = millis() + 200UL;
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
}
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
}
#endif // SEGMENT_LEVELED_MOVES
/**
* Prepare a linear move in a Cartesian setup.
*
@ -654,10 +728,13 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
*/
inline bool prepare_move_to_destination_cartesian() {
#if HAS_MESH
if (planner.leveling_active) {
if (planner.leveling_active && planner.leveling_active_at_z(destination[Z_AXIS])) {
#if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
return true; // all moves, including Z-only moves.
#elif ENABLED(SEGMENT_LEVELED_MOVES)
segmented_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
#else
/**
* For MBL and ABL-BILINEAR only segment moves when X or Y are involved.