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Remove delta interpolation concept

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Scott Lahteine 2017-03-17 06:32:11 -05:00
parent e46898f8e5
commit 1e57b0c269
1 changed files with 11 additions and 71 deletions
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82
Marlin/Marlin_main.cpp
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@ -9572,77 +9572,17 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
float logical[XYZE]; float logical[XYZE];
COPY(logical, current_position); COPY(logical, current_position);
#if ENABLED(USE_DELTA_IK_INTERPOLATION) // Calculate and execute the segments
for (uint16_t s = segments + 1; --s;) {
// Only interpolate XYZ. Advance E normally. LOOP_XYZE(i) logical[i] += segment_distance[i];
#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) logical[i] += ADDEND; #if ENABLED(DELTA)
DELTA_LOGICAL_IK(); // Delta can inline its kinematics
// Get the starting delta if interpolation is possible #else
if (segments >= 2) { inverse_kinematics(logical);
DELTA_IK(); #endif
ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled 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);
}
// 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
// Since segment_distance is only approximate, // Since segment_distance is only approximate,
// the final move must be to the exact destination. // the final move must be to the exact destination.