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Optimize prepare_kinematic_move_to

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Scott Lahteine 2016-09-15 15:38:48 -05:00
parent fd9b8ae4d4
commit 8e31640229
1 changed files with 41 additions and 10 deletions
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51
Marlin/Marlin_main.cpp
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@ -8043,28 +8043,59 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* small incremental moves for DELTA or SCARA. * small incremental moves for DELTA or SCARA.
*/ */
inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) { inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) {
// Get the top feedrate of the move in the XY plane
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
// If the move is only in Z don't split up the move.
// This shortcut cannot be used if planar bed leveling
// is in use, but is fine with mesh-based bed leveling
if (logical[X_AXIS] == current_position[X_AXIS] && logical[Y_AXIS] == current_position[Y_AXIS]) {
inverse_kinematics(logical);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
return true;
}
// Get the distance moved in XYZ
float difference[NUM_AXIS]; float difference[NUM_AXIS];
LOOP_XYZE(i) difference[i] = logical[i] - current_position[i]; LOOP_XYZE(i) difference[i] = logical[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]); if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
if (UNEAR_ZERO(cartesian_mm)) return false; if (UNEAR_ZERO(cartesian_mm)) return false;
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
// Minimum number of seconds to move the given distance
float seconds = cartesian_mm / _feedrate_mm_s; float seconds = cartesian_mm / _feedrate_mm_s;
int steps = max(1, int(delta_segments_per_second * seconds));
float inv_steps = 1.0/steps; // The number of segments-per-second times the duration
// gives the number of segments we should produce
uint16_t segments = delta_segments_per_second * seconds;
#if IS_SCARA
NOMORE(segments, cartesian_mm * 2);
#endif
NOLESS(segments, 1);
// Each segment produces this much of the move
float inv_segments = 1.0 / segments,
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm); // SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds); // SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" steps=", steps); // SERIAL_ECHOLNPAIR(" segments=", segments);
for (int s = 1; s <= steps; s++) { // Set the target to the current position to start
LOOP_XYZE(i) logical[i] = current_position[i];
float fraction = float(s) * inv_steps;
LOOP_XYZE(i)
logical[i] = current_position[i] + difference[i] * fraction;
// Send all the segments to the planner
for (uint16_t s = 0; s < segments; s++) {
LOOP_XYZE(i) logical[i] += segment_distance[i];
inverse_kinematics(logical); inverse_kinematics(logical);
//DEBUG_POS("prepare_kinematic_move_to", logical); //DEBUG_POS("prepare_kinematic_move_to", logical);