From 38110e220d0885dbcd5593948a2ff48c9c8bd008 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Mon, 9 Oct 2017 19:54:15 -0500
Subject: [PATCH] Segmented manual moves for kinematics
---
Marlin/ultralcd.cpp | 123 ++++++++++++++++++++++++++++++++++++--------
1 file changed, 101 insertions(+), 22 deletions(-)
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index dcfcb350b8..83ce9d2fe4 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -460,6 +460,13 @@ uint16_t max_display_update_time = 0;
#define manual_move_e_index 0
#endif
+ #if IS_KINEMATIC
+ bool processing_manual_move = false;
+ float manual_move_offset = 0.0;
+ #else
+ constexpr bool processing_manual_move = false;
+ #endif
+
#if PIN_EXISTS(SD_DETECT)
uint8_t lcd_sd_status;
#endif
@@ -2732,14 +2739,60 @@ void kill_screen(const char* lcd_msg) {
#endif // DELTA_CALIBRATION_MENU
+ #if IS_KINEMATIC
+ extern float feedrate_mm_s;
+ extern float destination[XYZE];
+ void set_destination_to_current();
+ void prepare_move_to_destination();
+ #endif
+
/**
* If the most recent manual move hasn't been fed to the planner yet,
* and the planner can accept one, send immediately
*/
inline void manage_manual_move() {
+
+ if (processing_manual_move) return;
+
if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
- planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
- manual_move_axis = (int8_t)NO_AXIS;
+
+ #if IS_KINEMATIC
+
+ const float old_feedrate = feedrate_mm_s;
+ feedrate_mm_s = MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]);
+
+ #if EXTRUDERS > 1
+ const int8_t old_extruder = active_extruder;
+ active_extruder = manual_move_e_index;
+ #endif
+
+ // Set movement on a single axis
+ set_destination_to_current();
+ destination[manual_move_axis] += manual_move_offset;
+
+ // Reset for the next move
+ manual_move_offset = 0.0;
+ manual_move_axis = (int8_t)NO_AXIS;
+
+ // DELTA and SCARA machines use segmented moves, which could fill the planner during the call to
+ // move_to_destination. This will cause idle() to be called, which can then call this function while the
+ // previous invocation is being blocked. Modifications to manual_move_offset shouldn't be made while
+ // processing_manual_move is true or the planner will get out of sync.
+ processing_manual_move = true;
+ prepare_move_to_destination(); // will call set_current_to_destination
+ processing_manual_move = false;
+
+ feedrate_mm_s = old_feedrate;
+ #if EXTRUDERS > 1
+ active_extruder = old_extruder;
+ #endif
+
+ #else
+
+ planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
+ manual_move_axis = (int8_t)NO_AXIS;
+
+ #endif
}
}
@@ -2771,9 +2824,10 @@ void kill_screen(const char* lcd_msg) {
void _lcd_move_xyz(const char* name, AxisEnum axis) {
if (lcd_clicked) { return lcd_goto_previous_menu(); }
ENCODER_DIRECTION_NORMAL();
- if (encoderPosition) {
+ if (encoderPosition && !processing_manual_move) {
refresh_cmd_timeout();
+ // Start with no limits to movement
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
@@ -2789,29 +2843,43 @@ void kill_screen(const char* lcd_msg) {
}
#endif
- // Get the new position
- current_position[axis] += float((int32_t)encoderPosition) * move_menu_scale;
-
// Delta limits XY based on the current offset from center
// This assumes the center is 0,0
#if ENABLED(DELTA)
if (axis != Z_AXIS) {
- max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis]));
+ max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
min = -max;
}
#endif
- // Limit only when trying to move towards the limit
- if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
- if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
+ // Get the new position
+ const float diff = float((int32_t)encoderPosition) * move_menu_scale;
+ #if IS_KINEMATIC
+ manual_move_offset += diff;
+ // Limit only when trying to move towards the limit
+ if ((int32_t)encoderPosition < 0) NOLESS(manual_move_offset, min - current_position[axis]);
+ if ((int32_t)encoderPosition > 0) NOMORE(manual_move_offset, max - current_position[axis]);
+ #else
+ current_position[axis] += diff;
+ // Limit only when trying to move towards the limit
+ if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
+ if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
+ #endif
+
+ encoderPosition = 0;
manual_move_to_current(axis);
- encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
}
- if (lcdDrawUpdate)
- lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(current_position[axis]) : ftostr43sign(current_position[axis]));
+ if (lcdDrawUpdate) {
+ const float pos = current_position[axis]
+ #if IS_KINEMATIC
+ + manual_move_offset
+ #endif
+ ;
+ lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(pos) : ftostr43sign(pos));
+ }
}
void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); }
@@ -2824,16 +2892,23 @@ void kill_screen(const char* lcd_msg) {
if (lcd_clicked) { return lcd_goto_previous_menu(); }
ENCODER_DIRECTION_NORMAL();
if (encoderPosition) {
- current_position[E_AXIS] += float((int32_t)encoderPosition) * move_menu_scale;
- encoderPosition = 0;
- manual_move_to_current(E_AXIS
- #if E_MANUAL > 1
- , eindex
+ if (!processing_manual_move) {
+ const float diff = float((int32_t)encoderPosition) * move_menu_scale;
+ #if IS_KINEMATIC
+ manual_move_offset += diff;
+ #else
+ current_position[E_AXIS] += diff;
#endif
- );
- lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
+ manual_move_to_current(E_AXIS
+ #if E_MANUAL > 1
+ , eindex
+ #endif
+ );
+ lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
+ }
+ encoderPosition = 0;
}
- if (lcdDrawUpdate) {
+ if (lcdDrawUpdate && !processing_manual_move) {
PGM_P pos_label;
#if E_MANUAL == 1
pos_label = PSTR(MSG_MOVE_E);
@@ -2852,7 +2927,11 @@ void kill_screen(const char* lcd_msg) {
#endif // E_MANUAL > 2
}
#endif // E_MANUAL > 1
- lcd_implementation_drawedit(pos_label, ftostr41sign(current_position[E_AXIS]));
+ lcd_implementation_drawedit(pos_label, ftostr41sign(current_position[E_AXIS]
+ #if IS_KINEMATIC
+ + manual_move_offset
+ #endif
+ ));
}
}