From 8eaac0dab37b4376ac06f1fefd469cdd6bc80673 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Sat, 30 Jun 2018 13:44:27 -0500
Subject: [PATCH] Add delta feedrate scaling (#11153)
---
.../FLSUN/auto_calibrate/Configuration.h | 3 +
.../delta/FLSUN/kossel/Configuration.h | 3 +
.../delta/FLSUN/kossel_mini/Configuration.h | 3 +
.../delta/Hatchbox_Alpha/Configuration.h | 3 +
.../examples/delta/generic/Configuration.h | 3 +
.../delta/kossel_mini/Configuration.h | 3 +
.../examples/delta/kossel_pro/Configuration.h | 3 +
.../examples/delta/kossel_xl/Configuration.h | 3 +
Marlin/src/gcode/motion/G2_G3.cpp | 32 +++++++++--
Marlin/src/inc/Conditionals_post.h | 1 +
Marlin/src/module/motion.cpp | 56 +++++++++++++++----
Marlin/src/module/planner.cpp | 6 +-
Marlin/src/module/planner.h | 2 +-
13 files changed, 100 insertions(+), 21 deletions(-)
diff --git a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
index 10084ef040..60ae2d46af 100644
--- a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
@@ -522,6 +522,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
index 82ab7866dc..5ee4b81c90 100644
--- a/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h
@@ -522,6 +522,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
index c95791a122..d1e4654d29 100644
--- a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
@@ -522,6 +522,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h b/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
index 52429cb741..5955b14dad 100644
--- a/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
+++ b/Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h
@@ -527,6 +527,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/generic/Configuration.h b/Marlin/src/config/examples/delta/generic/Configuration.h
index 863ab7b3aa..b844f4a038 100644
--- a/Marlin/src/config/examples/delta/generic/Configuration.h
+++ b/Marlin/src/config/examples/delta/generic/Configuration.h
@@ -512,6 +512,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
index b0a8155ee1..0cfa45c122 100644
--- a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
@@ -512,6 +512,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
index 1a5190c129..d897f8ef89 100644
--- a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
@@ -498,6 +498,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
index 0d742089b2..f909345e01 100644
--- a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
@@ -516,6 +516,9 @@
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 160
+ // Convert feedrates to apply to the Effector instead of the Carriages
+ #define DELTA_FEEDRATE_SCALING
+
// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
index 4c2c5ac913..46cd9daa37 100644
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -35,7 +35,7 @@
#include "../../module/scara.h"
#endif
-#if ENABLED(SCARA_FEEDRATE_SCALING) && ENABLED(AUTO_BED_LEVELING_BILINEAR)
+#if HAS_FEEDRATE_SCALING && ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../../feature/bedlevel/abl/abl.h"
#endif
@@ -141,12 +141,16 @@ void plan_arc(
millis_t next_idle_ms = millis() + 200UL;
- #if ENABLED(SCARA_FEEDRATE_SCALING)
+ #if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
inverse_secs = inv_segment_length * fr_mm_s;
float oldA = planner.position_float[A_AXIS],
- oldB = planner.position_float[B_AXIS];
+ oldB = planner.position_float[B_AXIS]
+ #if ENABLED(DELTA_FEEDRATE_SCALING)
+ , oldC = planner.position_float[C_AXIS]
+ #endif
+ ;
#endif
#if N_ARC_CORRECTION > 1
@@ -192,14 +196,23 @@ void plan_arc(
clamp_to_software_endstops(raw);
+ #if HAS_FEEDRATE_SCALING
+ inverse_kinematics(raw);
+ ADJUST_DELTA(raw);
+ #endif
+
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
- inverse_kinematics(raw);
- ADJUST_DELTA(raw);
if (!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))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+ #elif ENABLED(DELTA_FEEDRATE_SCALING)
+ // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
+ // i.e., Complete the linear vector in the given time.
+ if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder))
+ break;
+ oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
@@ -212,12 +225,19 @@ void plan_arc(
}
// Ensure last segment arrives at target location.
- #if ENABLED(SCARA_FEEDRATE_SCALING)
+ #if HAS_FEEDRATE_SCALING
inverse_kinematics(cart);
ADJUST_DELTA(cart);
+ #endif
+
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2)
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
+ #elif ENABLED(DELTA_FEEDRATE_SCALING)
+ const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
+ if (diff2)
+ planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
planner.apply_leveling(pos);
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 8a9f5e8959..417fc59d96 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -1053,6 +1053,7 @@
#define PLANNER_LEVELING (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
#define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
#define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
+#define HAS_FEEDRATE_SCALING (ENABLED(SCARA_FEEDRATE_SCALING) || ENABLED(DELTA_FEEDRATE_SCALING))
#if ENABLED(AUTO_BED_LEVELING_UBL)
#undef LCD_BED_LEVELING
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index e8e3ee5bb7..edacc94d61 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -581,7 +581,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
ediff * inv_segments
};
- #if DISABLED(SCARA_FEEDRATE_SCALING)
+ #if !HAS_FEEDRATE_SCALING
const float cartesian_segment_mm = cartesian_mm * inv_segments;
#endif
@@ -589,14 +589,13 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
SERIAL_ECHOPAIR("mm=", cartesian_mm);
SERIAL_ECHOPAIR(" seconds=", seconds);
SERIAL_ECHOPAIR(" segments=", segments);
- #if DISABLED(SCARA_FEEDRATE_SCALING)
- SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
- #else
- SERIAL_EOL();
+ #if !HAS_FEEDRATE_SCALING
+ SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm);
#endif
+ SERIAL_EOL();
//*/
- #if ENABLED(SCARA_FEEDRATE_SCALING)
+ #if HAS_FEEDRATE_SCALING
// SCARA needs to scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float segment_length = cartesian_mm * inv_segments,
@@ -604,7 +603,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
inverse_secs = inv_segment_length * _feedrate_mm_s;
float oldA = planner.position_float[A_AXIS],
- oldB = planner.position_float[B_AXIS];
+ oldB = planner.position_float[B_AXIS]
+ #if ENABLED(DELTA_FEEDRATE_SCALING)
+ , oldC = planner.position_float[C_AXIS]
+ #endif
+ ;
/*
SERIAL_ECHOPGM("Scaled kinematic move: ");
@@ -613,7 +616,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
SERIAL_ECHOPAIR(") _feedrate_mm_s=", _feedrate_mm_s);
SERIAL_ECHOPAIR(" inverse_secs=", inverse_secs);
SERIAL_ECHOPAIR(" oldA=", oldA);
- SERIAL_ECHOLNPAIR(" oldB=", oldB);
+ SERIAL_ECHOPAIR(" oldB=", oldB);
+ #if ENABLED(DELTA_FEEDRATE_SCALING)
+ SERIAL_ECHOPAIR(" oldC=", oldC);
+ #endif
+ SERIAL_EOL();
safe_delay(5);
//*/
#endif
@@ -654,6 +661,19 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
safe_delay(5);
//*/
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+ #elif ENABLED(DELTA_FEEDRATE_SCALING)
+ // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
+ // i.e., Complete the linear vector in the given time.
+ if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder))
+ break;
+ /*
+ SERIAL_ECHO(segments);
+ SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
+ SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
+ SERIAL_ECHOLNPAIR(" F", SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs * 60);
+ safe_delay(5);
+ //*/
+ oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
#else
if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
break;
@@ -661,17 +681,31 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
}
// Ensure last segment arrives at target location.
- #if ENABLED(SCARA_FEEDRATE_SCALING)
+ #if HAS_FEEDRATE_SCALING
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
+ #endif
+
+ #if ENABLED(SCARA_FEEDRATE_SCALING)
const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
if (diff2) {
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
-
/*
SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB);
- SERIAL_ECHOLNPAIR(" F", (SQRT(diff2) * inverse_secs) * 60);
+ SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
+ SERIAL_EOL();
+ safe_delay(5);
+ //*/
+ }
+ #elif ENABLED(DELTA_FEEDRATE_SCALING)
+ const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
+ if (diff2) {
+ planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
+ /*
+ SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
+ SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB); SERIAL_ECHOPAIR(" cdiff=", delta[C_AXIS] - oldC);
+ SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
SERIAL_EOL();
safe_delay(5);
//*/
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 4152d2e0d6..7da5403c6b 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1567,9 +1567,9 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Fill the block with the specified movement
if (!_populate_block(block, false, target
- #if HAS_POSITION_FLOAT
- , target_float
- #endif
+ #if HAS_POSITION_FLOAT
+ , target_float
+ #endif
, fr_mm_s, extruder, millimeters
)) {
// Movement was not queued, probably because it was too short.
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 96382014cb..c3a912b46c 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -149,7 +149,7 @@ typedef struct {
} block_t;
-#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || ENABLED(SCARA_FEEDRATE_SCALING))
+#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || HAS_FEEDRATE_SCALING)
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))