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