From 5d28575d4d113aadf2f2c5a341b898e6a5b62d2a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Mon, 25 Feb 2019 14:28:01 -0600
Subject: [PATCH] Clean up some motion code
---
Marlin/src/feature/fwretract.cpp | 2 +-
Marlin/src/gcode/calibrate/G28.cpp | 4 +-
Marlin/src/module/motion.cpp | 61 +++++++++++-------------------
Marlin/src/module/motion.h | 8 +---
4 files changed, 26 insertions(+), 49 deletions(-)
diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp
index cb090af716..582614bb90 100644
--- a/Marlin/src/feature/fwretract.cpp
+++ b/Marlin/src/feature/fwretract.cpp
@@ -142,7 +142,7 @@ void FWRetract::retract(const bool retracting
set_destination_from_current();
#if ENABLED(RETRACT_SYNC_MIXING)
- uint8_t old_mixing_tool = mixer.get_current_vtool();
+ const uint8_t old_mixing_tool = mixer.get_current_vtool();
mixer.T(MIXER_AUTORETRACT_TOOL);
#endif
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 205ff7b091..fc5b5fedb7 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -263,9 +263,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
setup_for_endstop_or_probe_move();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
- #endif
+
endstops.enable(true); // Enable endstops for next homing move
#if ENABLED(DELTA)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 481719b742..b418f29884 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -253,8 +253,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
*/
-void line_to_current_position() {
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
+void line_to_current_position(const float &fr_mm_s/*=feedrate_mm_s*/) {
+ planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s, active_extruder);
}
/**
@@ -270,7 +270,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
/**
* Calculate delta, start a line, and set current_position to destination
*/
- void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) {
+ void prepare_uninterpolated_move_to_destination(const float &fr_mm_s/*=0.0*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
@@ -297,19 +297,18 @@ void buffer_line_to_destination(const float fr_mm_s) {
* Plan a move to (X, Y, Z) and set the current_position
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) {
- const float old_feedrate_mm_s = feedrate_mm_s;
-
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
#endif
- const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
+ const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS),
+ xy_feedrate = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
#if ENABLED(DELTA)
if (!position_is_reachable(rx, ry)) return;
- feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+ REMEMBER(fr, feedrate_mm_s, xy_feedrate);
set_destination_from_current(); // sync destination at the start
@@ -373,7 +372,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
destination[X_AXIS] = rx;
destination[Y_AXIS] = ry;
- prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
+ prepare_uninterpolated_move_to_destination(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > rz) {
@@ -385,27 +384,22 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < rz) {
- feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
- line_to_current_position();
+ line_to_current_position(z_feedrate);
}
- feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
- line_to_current_position();
+ line_to_current_position(xy_feedrate);
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > rz) {
- feedrate_mm_s = z_feedrate;
current_position[Z_AXIS] = rz;
- line_to_current_position();
+ line_to_current_position(z_feedrate);
}
#endif
- feedrate_mm_s = old_feedrate_mm_s;
-
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
@@ -423,31 +417,20 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm
}
//
-// Prepare to do endstop or probe moves
-// with custom feedrates.
+// Prepare to do endstop or probe moves with custom feedrates.
+// - Save / restore current feedrate and multiplier
//
-// - Save current feedrates
-// - Reset the rate multiplier
-//
-void bracket_probe_move(const bool before) {
- static float saved_feedrate_mm_s;
- static int16_t saved_feedrate_percentage;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
- #endif
- if (before) {
- saved_feedrate_mm_s = feedrate_mm_s;
- saved_feedrate_percentage = feedrate_percentage;
- feedrate_percentage = 100;
- }
- else {
- feedrate_mm_s = saved_feedrate_mm_s;
- feedrate_percentage = saved_feedrate_percentage;
- }
+static float saved_feedrate_mm_s;
+static int16_t saved_feedrate_percentage;
+void setup_for_endstop_or_probe_move() {
+ saved_feedrate_mm_s = feedrate_mm_s;
+ saved_feedrate_percentage = feedrate_percentage;
+ feedrate_percentage = 100;
+}
+void clean_up_after_endstop_or_probe_move() {
+ feedrate_mm_s = saved_feedrate_mm_s;
+ feedrate_percentage = saved_feedrate_percentage;
}
-
-void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
-void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
#if HAS_SOFTWARE_ENDSTOPS
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 515a684a3a..275fafe74e 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -149,7 +149,7 @@ void sync_plan_position_e();
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
*/
-void line_to_current_position();
+void line_to_current_position(const float &fr_mm_s=feedrate_mm_s);
/**
* Move the planner to the position stored in the destination array, which is
@@ -158,7 +158,7 @@ void line_to_current_position();
void buffer_line_to_destination(const float fr_mm_s);
#if IS_KINEMATIC
- void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0);
+ void prepare_uninterpolated_move_to_destination(const float &fr_mm_s=0);
#endif
void prepare_move_to_destination();
@@ -182,10 +182,6 @@ FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const float &fr_
void setup_for_endstop_or_probe_move();
void clean_up_after_endstop_or_probe_move();
-void bracket_probe_move(const bool before);
-void setup_for_endstop_or_probe_move();
-void clean_up_after_endstop_or_probe_move();
-
//
// Homing
//