From 1e57b0c26915cc3648e40e258a6c6634ebc54ae9 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 17 Mar 2017 06:32:11 -0500
Subject: [PATCH] Remove delta interpolation concept
---
Marlin/Marlin_main.cpp | 82 ++++++------------------------------------
1 file changed, 11 insertions(+), 71 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 386058b672..704bd3be58 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -9572,77 +9572,17 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
float logical[XYZE];
COPY(logical, current_position);
- #if ENABLED(USE_DELTA_IK_INTERPOLATION)
-
- // Only interpolate XYZ. Advance E normally.
- #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) logical[i] += ADDEND;
-
- // Get the starting delta if interpolation is possible
- if (segments >= 2) {
- DELTA_IK();
- ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
- }
-
- // Loop using decrement
- for (uint16_t s = segments + 1; --s;) {
- // Are there at least 2 moves left?
- if (s >= 2) {
- // Save the previous delta for interpolation
- float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
-
- // Get the delta 2 segments ahead (rather than the next)
- DELTA_NEXT(segment_distance[i] + segment_distance[i]);
-
- // Advance E normally
- logical[E_AXIS] += segment_distance[E_AXIS];
-
- // Get the exact delta for the move after this
- DELTA_IK();
- ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
-
- // Move to the interpolated delta position first
- planner.buffer_line(
- (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
- (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
- (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
- logical[E_AXIS], _feedrate_mm_s, active_extruder
- );
-
- // Advance E once more for the next move
- logical[E_AXIS] += segment_distance[E_AXIS];
-
- // Do an extra decrement of the loop
- --s;
- }
- else {
- // Get the last segment delta. (Used when segments is odd)
- DELTA_NEXT(segment_distance[i]);
- logical[E_AXIS] += segment_distance[E_AXIS];
- DELTA_IK();
- ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
- }
-
- // Move to the non-interpolated position
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
- }
-
- #else
-
- #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
-
- // For non-interpolated delta calculate every segment
- for (uint16_t s = segments + 1; --s;) {
- DELTA_NEXT(segment_distance[i]);
- #if ENABLED(DELTA)
- DELTA_LOGICAL_IK(); // Delta can inline its kinematics
- #else
- inverse_kinematics(logical);
- #endif
- ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
- }
-
- #endif
+ // Calculate and execute the segments
+ for (uint16_t s = segments + 1; --s;) {
+ LOOP_XYZE(i) logical[i] += segment_distance[i];
+ #if ENABLED(DELTA)
+ DELTA_LOGICAL_IK(); // Delta can inline its kinematics
+ #else
+ inverse_kinematics(logical);
+ #endif
+ ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
+ }
// Since segment_distance is only approximate,
// the final move must be to the exact destination.