From ecec5c5e58296ca72854d7cbbdec671e7a298b68 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 17 May 2016 18:05:37 -0700
Subject: [PATCH] Bezier style and DELTA patch
---
Marlin/planner_bezier.cpp | 35 ++++++++++++++++++++++-------------
1 file changed, 22 insertions(+), 13 deletions(-)
diff --git a/Marlin/planner_bezier.cpp b/Marlin/planner_bezier.cpp
index 5e820c4040..b72478d75e 100644
--- a/Marlin/planner_bezier.cpp
+++ b/Marlin/planner_bezier.cpp
@@ -113,9 +113,9 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
float second1 = target[Y_AXIS] + offset[3];
float t = 0.0;
- float tmp[4];
- tmp[X_AXIS] = position[X_AXIS];
- tmp[Y_AXIS] = position[Y_AXIS];
+ float bez_target[4];
+ bez_target[X_AXIS] = position[X_AXIS];
+ bez_target[Y_AXIS] = position[Y_AXIS];
float step = MAX_STEP;
uint8_t idle_counter = 0;
@@ -141,8 +141,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
float candidate_t = 0.5 * (t + new_t);
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
- float interp_pos0 = 0.5 * (tmp[X_AXIS] + new_pos0);
- float interp_pos1 = 0.5 * (tmp[Y_AXIS] + new_pos1);
+ float interp_pos0 = 0.5 * (bez_target[X_AXIS] + new_pos0);
+ float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@@ -157,8 +157,8 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
if (candidate_t >= 1.0) break;
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
- float interp_pos0 = 0.5 * (tmp[X_AXIS] + candidate_pos0);
- float interp_pos1 = 0.5 * (tmp[Y_AXIS] + candidate_pos1);
+ float interp_pos0 = 0.5 * (bez_target[X_AXIS] + candidate_pos0);
+ float interp_pos1 = 0.5 * (bez_target[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
@@ -180,14 +180,23 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
t = new_t;
// Compute and send new position
- tmp[X_AXIS] = new_pos0;
- tmp[Y_AXIS] = new_pos1;
+ bez_target[X_AXIS] = new_pos0;
+ bez_target[Y_AXIS] = new_pos1;
// FIXME. The following two are wrong, since the parameter t is
// not linear in the distance.
- tmp[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
- tmp[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
- clamp_to_software_endstops(tmp);
- planner.buffer_line(tmp[X_AXIS], tmp[Y_AXIS], tmp[Z_AXIS], tmp[E_AXIS], feed_rate, extruder);
+ bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
+ bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
+ clamp_to_software_endstops(bez_target);
+
+ #if ENABLED(DELTA) || ENABLED(SCARA)
+ calculate_delta(bez_target);
+ #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+ adjust_delta(bez_target);
+ #endif
+ planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder);
+ #else
+ planner.buffer_line(bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS], bez_target[E_AXIS], feed_rate, extruder);
+ #endif
}
}