Drop SCARA_FEEDRATE_SCALING
The updated planner takes the length of the move, so this pre-calculation is no longer needed.
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c1f4112bdc
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3 changed files with 4 additions and 49 deletions
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@ -73,7 +73,6 @@
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#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
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#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
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//#define DEBUG_SCARA_KINEMATICS
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//#define DEBUG_SCARA_KINEMATICS
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//#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
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// If movement is choppy try lowering this value
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// If movement is choppy try lowering this value
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#define SCARA_SEGMENTS_PER_SECOND 200
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#define SCARA_SEGMENTS_PER_SECOND 200
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@ -141,14 +141,6 @@ void plan_arc(
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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#endif
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#endif
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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// SCARA needs to scale the feed rate from mm/s to degrees/s
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const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
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inverse_secs = inv_segment_length * fr_mm_s;
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float oldA = stepper.get_axis_position_degrees(A_AXIS),
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oldB = stepper.get_axis_position_degrees(B_AXIS);
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#endif
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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thermalManager.manage_heater();
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@ -188,26 +180,11 @@ void plan_arc(
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clamp_to_software_endstops(raw);
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clamp_to_software_endstops(raw);
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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// For SCARA scale the feed rate from mm/s to degrees/s.
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// i.e., Complete the angular vector in the given time.
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inverse_kinematics(raw);
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ADJUST_DELTA(raw);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
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#else
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planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
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planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
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#endif
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}
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}
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// Ensure last segment arrives at target location.
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// Ensure last segment arrives at target location.
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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inverse_kinematics(cart);
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ADJUST_DELTA(cart);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
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#else
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planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
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planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
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#endif
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// As far as the parser is concerned, the position is now == target. In reality the
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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// motion control system might still be processing the action and the real tool position
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@ -593,14 +593,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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// SERIAL_ECHOLNPAIR(" segments=", segments);
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// SERIAL_ECHOLNPAIR(" segments=", segments);
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// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
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// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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// SCARA needs to scale the feed rate from mm/s to degrees/s
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const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
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inverse_secs = inv_segment_length * _feedrate_mm_s;
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float oldA = stepper.get_axis_position_degrees(A_AXIS),
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oldB = stepper.get_axis_position_degrees(B_AXIS);
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#endif
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// Get the current position as starting point
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// Get the current position as starting point
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float raw[XYZE];
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float raw[XYZE];
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COPY(raw, current_position);
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COPY(raw, current_position);
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@ -625,24 +617,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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#endif
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#endif
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ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
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ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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// For SCARA scale the feed rate from mm/s to degrees/s
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// i.e., Complete the angular vector in the given time.
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
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oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
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#else
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
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#endif
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}
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}
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// Ensure last segment arrives at target location.
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// Ensure last segment arrives at target location.
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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inverse_kinematics(rtarget);
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ADJUST_DELTA(rtarget);
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planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
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#else
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planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
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planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
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#endif
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return false; // caller will update current_position
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return false; // caller will update current_position
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}
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}
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