Merge pull request #6045 from thinkyhead/rc_remove_raw_kinematics
Remove delta optimization concepts… for now
This commit is contained in:
Scott Lahteine
commit
af644871bf
6 changed files with 18 additions and 107 deletions
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@ -9145,7 +9145,7 @@ void ok_to_send() {
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) \
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)
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#define DELTA_RAW_IK() do { \
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#define DELTA_RAW_IK() do { \
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delta[A_AXIS] = DELTA_Z(A_AXIS); \
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delta[B_AXIS] = DELTA_Z(B_AXIS); \
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delta[C_AXIS] = DELTA_Z(C_AXIS); \
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@ -9512,112 +9512,21 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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// If there's only 1 segment, loops will be skipped entirely.
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--segments;
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// Using "raw" coordinates saves 6 float subtractions
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// per segment, saving valuable CPU cycles
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// Get the logical current position as starting point
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float logical[XYZE];
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COPY(logical, current_position);
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#if ENABLED(USE_RAW_KINEMATICS)
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// Get the raw current position as starting point
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float raw[XYZE] = {
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RAW_CURRENT_POSITION(X_AXIS),
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RAW_CURRENT_POSITION(Y_AXIS),
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RAW_CURRENT_POSITION(Z_AXIS),
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current_position[E_AXIS]
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};
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#define DELTA_VAR raw
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// Delta can inline its kinematics
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// Calculate and execute the segments
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for (uint16_t s = segments + 1; --s;) {
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LOOP_XYZE(i) logical[i] += segment_distance[i];
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#if ENABLED(DELTA)
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#define DELTA_IK() DELTA_RAW_IK()
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DELTA_LOGICAL_IK(); // Delta can inline its kinematics
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#else
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#define DELTA_IK() inverse_kinematics(raw)
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inverse_kinematics(logical);
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#endif
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#else
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// Get the logical current position as starting point
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float logical[XYZE];
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COPY(logical, current_position);
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#define DELTA_VAR logical
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// Delta can inline its kinematics
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#if ENABLED(DELTA)
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#define DELTA_IK() DELTA_LOGICAL_IK()
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#else
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#define DELTA_IK() inverse_kinematics(logical)
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#endif
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#endif
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#if ENABLED(USE_DELTA_IK_INTERPOLATION)
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// Only interpolate XYZ. Advance E normally.
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#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
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// Get the starting delta if interpolation is possible
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if (segments >= 2) {
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DELTA_IK();
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ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
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}
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// Loop using decrement
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for (uint16_t s = segments + 1; --s;) {
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// Are there at least 2 moves left?
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if (s >= 2) {
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// Save the previous delta for interpolation
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float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
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// Get the delta 2 segments ahead (rather than the next)
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DELTA_NEXT(segment_distance[i] + segment_distance[i]);
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// Advance E normally
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DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
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// Get the exact delta for the move after this
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DELTA_IK();
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ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
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// Move to the interpolated delta position first
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planner.buffer_line(
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(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
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(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
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(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
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DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
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);
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// Advance E once more for the next move
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DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
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// Do an extra decrement of the loop
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--s;
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}
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else {
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// Get the last segment delta. (Used when segments is odd)
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DELTA_NEXT(segment_distance[i]);
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DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
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DELTA_IK();
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ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
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}
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// Move to the non-interpolated position
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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#else
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#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
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// For non-interpolated delta calculate every segment
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for (uint16_t s = segments + 1; --s;) {
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DELTA_NEXT(segment_distance[i]);
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DELTA_IK();
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ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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#endif
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ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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// Since segment_distance is only approximate,
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// the final move must be to the exact destination.
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@ -232,6 +232,8 @@
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#if ENABLED(DELTA)
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#if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
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#error "You probably want to use Max Endstops for DELTA!"
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#elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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#error "DELTA is incompatible with ENABLE_LEVELING_FADE_HEIGHT. Please disable it."
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#endif
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#if ABL_GRID
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#if (ABL_GRID_MAX_POINTS_X & 1) == 0 || (ABL_GRID_MAX_POINTS_Y & 1) == 0
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@ -932,7 +932,7 @@
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// Gradually reduce leveling correction until a set height is reached,
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// at which point movement will be level to the machine's XY plane.
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// The height can be set with M420 Z<height>
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#define ENABLE_LEVELING_FADE_HEIGHT
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//#define ENABLE_LEVELING_FADE_HEIGHT
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//
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// Experimental Subdivision of the grid by Catmull-Rom method.
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@ -916,7 +916,7 @@
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// Gradually reduce leveling correction until a set height is reached,
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// at which point movement will be level to the machine's XY plane.
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// The height can be set with M420 Z<height>
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#define ENABLE_LEVELING_FADE_HEIGHT
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//#define ENABLE_LEVELING_FADE_HEIGHT
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//
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// Experimental Subdivision of the grid by Catmull-Rom method.
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@ -918,7 +918,7 @@
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// Gradually reduce leveling correction until a set height is reached,
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// at which point movement will be level to the machine's XY plane.
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// The height can be set with M420 Z<height>
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#define ENABLE_LEVELING_FADE_HEIGHT
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//#define ENABLE_LEVELING_FADE_HEIGHT
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//
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// Experimental Subdivision of the grid by Catmull-Rom method.
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@ -922,7 +922,7 @@
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// Gradually reduce leveling correction until a set height is reached,
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// at which point movement will be level to the machine's XY plane.
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// The height can be set with M420 Z<height>
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#define ENABLE_LEVELING_FADE_HEIGHT
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//#define ENABLE_LEVELING_FADE_HEIGHT
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//
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// Experimental Subdivision of the grid by Catmull-Rom method.
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