Fix vector normalization in JD (#17938)
This commit is contained in:
parent
e22e0763d9
commit
3381a4ab03
1 changed files with 10 additions and 9 deletions
|
@ -2256,16 +2256,17 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
|
||||||
{ steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e }
|
{ steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e }
|
||||||
#endif
|
#endif
|
||||||
;
|
;
|
||||||
unit_vec *= inverse_millimeters;
|
|
||||||
|
|
||||||
#if IS_CORE && HAS_JUNCTION_DEVIATION
|
|
||||||
/**
|
/**
|
||||||
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
|
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
|
||||||
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
|
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
|
||||||
* => normalize the complete junction vector
|
* => normalize the complete junction vector.
|
||||||
|
* Elsewise, when needed JD factors in the E component
|
||||||
*/
|
*/
|
||||||
normalize_junction_vector(unit_vec);
|
if (ENABLED(IS_CORE) || esteps > 0)
|
||||||
#endif
|
normalize_junction_vector(unit_vec); // Normalize with XYZE components
|
||||||
|
else
|
||||||
|
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))
|
||||||
|
|
||||||
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
||||||
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
|
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
|
||||||
|
|
Reference in a new issue