From 949ee7afe93687e53d3e482f92e2cc55edf57940 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 26 May 2018 01:58:06 -0500 Subject: [PATCH] BEZIER_JERK_CONTROL => S_CURVE_ACCELERATION --- .travis.yml | 2 +- Marlin/Configuration.h | 5 ++--- Marlin/SanityCheck.h | 2 ++ .../AlephObjects/TAZ4/Configuration.h | 5 ++--- .../AliExpress/CL-260/Configuration.h | 5 ++--- .../Anet/A6/Configuration.h | 5 ++--- .../Anet/A8/Configuration.h | 5 ++--- .../BIBO/TouchX/Cyclops/Configuration.h | 5 ++--- .../BIBO/TouchX/default/Configuration.h | 5 ++--- .../BQ/Hephestos/Configuration.h | 5 ++--- .../BQ/Hephestos_2/Configuration.h | 5 ++--- .../BQ/WITBOX/Configuration.h | 5 ++--- .../Cartesio/Configuration.h | 5 ++--- .../Creality/CR-10/Configuration.h | 5 ++--- .../Creality/CR-10S/Configuration.h | 5 ++--- .../Creality/CR-10mini/Configuration.h | 5 ++--- .../Creality/CR-8/Configuration.h | 5 ++--- .../Creality/Ender-2/Configuration.h | 5 ++--- .../Creality/Ender-3/Configuration.h | 5 ++--- .../Creality/Ender-4/Configuration.h | 5 ++--- .../example_configurations/Felix/Configuration.h | 5 ++--- .../Felix/DUAL/Configuration.h | 5 ++--- .../FolgerTech/i3-2020/Configuration.h | 5 ++--- .../Geeetech/GT2560/Configuration.h | 5 ++--- .../Geeetech/I3_Pro_X-GT2560/Configuration.h | 5 ++--- .../Prusa i3 Pro B/bltouch/Configuration.h | 5 ++--- .../Prusa i3 Pro B/noprobe/Configuration.h | 5 ++--- .../Geeetech/Prusa i3 Pro C/Configuration.h | 5 ++--- .../Geeetech/Prusa i3 Pro W/Configuration.h | 5 ++--- .../Infitary/i3-M508/Configuration.h | 5 ++--- .../JGAurora/A5/Configuration.h | 5 ++--- .../Malyan/M150/Configuration.h | 5 ++--- .../Micromake/C1/basic/Configuration.h | 5 ++--- .../Micromake/C1/enhanced/Configuration.h | 5 ++--- .../RepRapPro/Huxley/Configuration.h | 5 ++--- .../RepRapWorld/Megatronics/Configuration.h | 5 ++--- .../RigidBot/Configuration.h | 5 ++--- .../example_configurations/SCARA/Configuration.h | 5 ++--- .../Sanguinololu/Configuration.h | 5 ++--- .../TinyBoy2/Configuration.h | 5 ++--- .../Tronxy/X1/Configuration.h | 5 ++--- .../Tronxy/X5S/Configuration.h | 5 ++--- .../Tronxy/XY100/Configuration.h | 5 ++--- .../Velleman/K8200/Configuration.h | 5 ++--- .../Velleman/K8400/Configuration.h | 5 ++--- .../Velleman/K8400/Dual-head/Configuration.h | 5 ++--- .../Wanhao/Duplicator 6/Configuration.h | 5 ++--- .../adafruit/ST7565/Configuration.h | 5 ++--- .../delta/FLSUN/auto_calibrate/Configuration.h | 5 ++--- .../delta/FLSUN/kossel/Configuration.h | 5 ++--- .../delta/FLSUN/kossel_mini/Configuration.h | 5 ++--- .../delta/Hatchbox_Alpha/Configuration.h | 5 ++--- .../delta/generic/Configuration.h | 5 ++--- .../delta/kossel_mini/Configuration.h | 5 ++--- .../delta/kossel_pro/Configuration.h | 5 ++--- .../delta/kossel_xl/Configuration.h | 5 ++--- .../gCreate/gMax1.5+/Configuration.h | 5 ++--- .../makibox/Configuration.h | 5 ++--- .../tvrrug/Round2/Configuration.h | 5 ++--- .../example_configurations/wt150/Configuration.h | 5 ++--- Marlin/planner.cpp | 16 ++++++++-------- Marlin/planner.h | 12 ++++++------ Marlin/stepper.cpp | 16 ++++++++-------- Marlin/stepper.h | 6 +++--- 64 files changed, 144 insertions(+), 200 deletions(-) diff --git a/.travis.yml b/.travis.yml index 568f9c6cd2..ca1b148863 100644 --- a/.travis.yml +++ b/.travis.yml @@ -118,7 +118,7 @@ script: # Add a Sled Z Probe, use UBL Cartesian moves, use Japanese language # - opt_set LANGUAGE kana_utf8 - - opt_enable Z_PROBE_SLED SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE BEZIER_JERK_CONTROL + - opt_enable Z_PROBE_SLED SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE S_CURVE_ACCELERATION - opt_disable SEGMENT_LEVELED_MOVES - opt_enable_adv BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING - build_marlin diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 4587c9f0d3..e3e112bb3e 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -612,15 +612,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index bf6d449cb7..b80016c2eb 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -273,6 +273,8 @@ #error "FILAMENT_CHANGE_LOAD_LENGTH is now FILAMENT_CHANGE_FAST_LOAD_LENGTH. Please update your configuration." #elif ENABLED(LEVEL_BED_CORNERS) && !defined(LEVEL_CORNERS_INSET) #error "LEVEL_BED_CORNERS requires a LEVEL_CORNERS_INSET value. Please update your Configuration.h." +#elif defined(BEZIER_JERK_CONTROL) + #error "BEZIER_JERK_CONTROL is now S_CURVE_ACCELERATION. Please update your configuration." #endif #define BOARD_MKS_13 -47 diff --git a/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h b/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h index 18729fd2c9..bf97967803 100644 --- a/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h +++ b/Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h @@ -637,15 +637,14 @@ #define DEFAULT_EJERK 10.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/AliExpress/CL-260/Configuration.h b/Marlin/example_configurations/AliExpress/CL-260/Configuration.h index fd17e2ffac..2cadaad045 100644 --- a/Marlin/example_configurations/AliExpress/CL-260/Configuration.h +++ b/Marlin/example_configurations/AliExpress/CL-260/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Anet/A6/Configuration.h b/Marlin/example_configurations/Anet/A6/Configuration.h index e81ec89bc9..ea9dae30b7 100644 --- a/Marlin/example_configurations/Anet/A6/Configuration.h +++ b/Marlin/example_configurations/Anet/A6/Configuration.h @@ -665,15 +665,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Anet/A8/Configuration.h b/Marlin/example_configurations/Anet/A8/Configuration.h index c0b422b613..b1bc51f63c 100644 --- a/Marlin/example_configurations/Anet/A8/Configuration.h +++ b/Marlin/example_configurations/Anet/A8/Configuration.h @@ -624,15 +624,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration.h b/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration.h index 742631b7c0..88c5e6ff06 100644 --- a/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration.h +++ b/Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/BIBO/TouchX/default/Configuration.h b/Marlin/example_configurations/BIBO/TouchX/default/Configuration.h index 5ceb56c0b9..6782c89a1c 100644 --- a/Marlin/example_configurations/BIBO/TouchX/default/Configuration.h +++ b/Marlin/example_configurations/BIBO/TouchX/default/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/BQ/Hephestos/Configuration.h b/Marlin/example_configurations/BQ/Hephestos/Configuration.h index db662bb792..e5ebfba6a8 100644 --- a/Marlin/example_configurations/BQ/Hephestos/Configuration.h +++ b/Marlin/example_configurations/BQ/Hephestos/Configuration.h @@ -605,15 +605,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h b/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h index a67943202e..8cf679a051 100644 --- a/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h +++ b/Marlin/example_configurations/BQ/Hephestos_2/Configuration.h @@ -618,15 +618,14 @@ #define DEFAULT_EJERK 1.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/BQ/WITBOX/Configuration.h b/Marlin/example_configurations/BQ/WITBOX/Configuration.h index f23163ede4..722ee4f780 100644 --- a/Marlin/example_configurations/BQ/WITBOX/Configuration.h +++ b/Marlin/example_configurations/BQ/WITBOX/Configuration.h @@ -605,15 +605,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h index 7cee7aa043..8beeefd95c 100644 --- a/Marlin/example_configurations/Cartesio/Configuration.h +++ b/Marlin/example_configurations/Cartesio/Configuration.h @@ -616,15 +616,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/CR-10/Configuration.h b/Marlin/example_configurations/Creality/CR-10/Configuration.h index 459c51b59a..9be6c1d4b1 100755 --- a/Marlin/example_configurations/Creality/CR-10/Configuration.h +++ b/Marlin/example_configurations/Creality/CR-10/Configuration.h @@ -627,15 +627,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/CR-10S/Configuration.h b/Marlin/example_configurations/Creality/CR-10S/Configuration.h index 46a1428c5c..63d3909a4a 100644 --- a/Marlin/example_configurations/Creality/CR-10S/Configuration.h +++ b/Marlin/example_configurations/Creality/CR-10S/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/CR-10mini/Configuration.h b/Marlin/example_configurations/Creality/CR-10mini/Configuration.h index 267b21ac26..4517951e31 100644 --- a/Marlin/example_configurations/Creality/CR-10mini/Configuration.h +++ b/Marlin/example_configurations/Creality/CR-10mini/Configuration.h @@ -636,15 +636,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/CR-8/Configuration.h b/Marlin/example_configurations/Creality/CR-8/Configuration.h index fa0df48493..a6e83b7fc4 100644 --- a/Marlin/example_configurations/Creality/CR-8/Configuration.h +++ b/Marlin/example_configurations/Creality/CR-8/Configuration.h @@ -627,15 +627,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/Ender-2/Configuration.h b/Marlin/example_configurations/Creality/Ender-2/Configuration.h index cfc3637fe6..2a59c53ef7 100644 --- a/Marlin/example_configurations/Creality/Ender-2/Configuration.h +++ b/Marlin/example_configurations/Creality/Ender-2/Configuration.h @@ -621,15 +621,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/Ender-3/Configuration.h b/Marlin/example_configurations/Creality/Ender-3/Configuration.h index 3ea4069e91..8d523047b9 100644 --- a/Marlin/example_configurations/Creality/Ender-3/Configuration.h +++ b/Marlin/example_configurations/Creality/Ender-3/Configuration.h @@ -621,15 +621,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Creality/Ender-4/Configuration.h b/Marlin/example_configurations/Creality/Ender-4/Configuration.h index 3a86ee1e6a..a617d5453d 100644 --- a/Marlin/example_configurations/Creality/Ender-4/Configuration.h +++ b/Marlin/example_configurations/Creality/Ender-4/Configuration.h @@ -627,15 +627,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h index 465935f739..2201b5c813 100644 --- a/Marlin/example_configurations/Felix/Configuration.h +++ b/Marlin/example_configurations/Felix/Configuration.h @@ -599,15 +599,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h index 46240434bd..f8fd2971a8 100644 --- a/Marlin/example_configurations/Felix/DUAL/Configuration.h +++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h @@ -599,15 +599,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/FolgerTech/i3-2020/Configuration.h b/Marlin/example_configurations/FolgerTech/i3-2020/Configuration.h index 9be0e33546..64a90a1048 100644 --- a/Marlin/example_configurations/FolgerTech/i3-2020/Configuration.h +++ b/Marlin/example_configurations/FolgerTech/i3-2020/Configuration.h @@ -623,15 +623,14 @@ #define DEFAULT_EJERK 4.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/GT2560/Configuration.h b/Marlin/example_configurations/Geeetech/GT2560/Configuration.h index d0399e2456..d2c008f23c 100644 --- a/Marlin/example_configurations/Geeetech/GT2560/Configuration.h +++ b/Marlin/example_configurations/Geeetech/GT2560/Configuration.h @@ -632,15 +632,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h b/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h index 53930797d3..80c78406b1 100644 --- a/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h +++ b/Marlin/example_configurations/Geeetech/I3_Pro_X-GT2560/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 4.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h index 493df31189..74b061ea6a 100644 --- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h +++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h @@ -632,15 +632,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h index 098a18568a..635d87fd92 100644 --- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h +++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h @@ -632,15 +632,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration.h index 5ee85ad1af..74468f55a6 100644 --- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration.h +++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro C/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration.h b/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration.h index 02daf4c4c6..c98ba025b6 100644 --- a/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration.h +++ b/Marlin/example_configurations/Geeetech/Prusa i3 Pro W/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Infitary/i3-M508/Configuration.h b/Marlin/example_configurations/Infitary/i3-M508/Configuration.h index c1c0223dcf..35e4a80e47 100644 --- a/Marlin/example_configurations/Infitary/i3-M508/Configuration.h +++ b/Marlin/example_configurations/Infitary/i3-M508/Configuration.h @@ -621,15 +621,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/JGAurora/A5/Configuration.h b/Marlin/example_configurations/JGAurora/A5/Configuration.h index b4f67bf81c..9bdf32c1ed 100644 --- a/Marlin/example_configurations/JGAurora/A5/Configuration.h +++ b/Marlin/example_configurations/JGAurora/A5/Configuration.h @@ -629,15 +629,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Malyan/M150/Configuration.h b/Marlin/example_configurations/Malyan/M150/Configuration.h index 23258d79da..20023535e4 100644 --- a/Marlin/example_configurations/Malyan/M150/Configuration.h +++ b/Marlin/example_configurations/Malyan/M150/Configuration.h @@ -637,15 +637,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Micromake/C1/basic/Configuration.h b/Marlin/example_configurations/Micromake/C1/basic/Configuration.h index f1371be996..4ae3ac116c 100644 --- a/Marlin/example_configurations/Micromake/C1/basic/Configuration.h +++ b/Marlin/example_configurations/Micromake/C1/basic/Configuration.h @@ -621,15 +621,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Micromake/C1/enhanced/Configuration.h b/Marlin/example_configurations/Micromake/C1/enhanced/Configuration.h index 90c40a9053..cca99dfe8e 100644 --- a/Marlin/example_configurations/Micromake/C1/enhanced/Configuration.h +++ b/Marlin/example_configurations/Micromake/C1/enhanced/Configuration.h @@ -621,15 +621,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/RepRapPro/Huxley/Configuration.h b/Marlin/example_configurations/RepRapPro/Huxley/Configuration.h index e4e293fe7d..728d4bfac2 100644 --- a/Marlin/example_configurations/RepRapPro/Huxley/Configuration.h +++ b/Marlin/example_configurations/RepRapPro/Huxley/Configuration.h @@ -657,15 +657,14 @@ Black rubber belt(MXL), 18 - tooth aluminium pulley : 87.489 step per mm (Huxley #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h index d44a1d513b..90dd517ae7 100644 --- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h +++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h index d99c3853c4..aeaae9ac81 100644 --- a/Marlin/example_configurations/RigidBot/Configuration.h +++ b/Marlin/example_configurations/RigidBot/Configuration.h @@ -615,15 +615,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h index b3de00bd03..c0f04ec301 100644 --- a/Marlin/example_configurations/SCARA/Configuration.h +++ b/Marlin/example_configurations/SCARA/Configuration.h @@ -630,15 +630,14 @@ #define DEFAULT_EJERK 3.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Sanguinololu/Configuration.h b/Marlin/example_configurations/Sanguinololu/Configuration.h index 66c76c5850..4f12e13445 100644 --- a/Marlin/example_configurations/Sanguinololu/Configuration.h +++ b/Marlin/example_configurations/Sanguinololu/Configuration.h @@ -648,15 +648,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/TinyBoy2/Configuration.h b/Marlin/example_configurations/TinyBoy2/Configuration.h index d0a62d99f4..7135fb86d9 100644 --- a/Marlin/example_configurations/TinyBoy2/Configuration.h +++ b/Marlin/example_configurations/TinyBoy2/Configuration.h @@ -668,15 +668,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Tronxy/X1/Configuration.h b/Marlin/example_configurations/Tronxy/X1/Configuration.h index adf35d4d94..dce00f73d9 100644 --- a/Marlin/example_configurations/Tronxy/X1/Configuration.h +++ b/Marlin/example_configurations/Tronxy/X1/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Tronxy/X5S/Configuration.h b/Marlin/example_configurations/Tronxy/X5S/Configuration.h index ae9dd4c05f..7c0f3aede4 100644 --- a/Marlin/example_configurations/Tronxy/X5S/Configuration.h +++ b/Marlin/example_configurations/Tronxy/X5S/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Tronxy/XY100/Configuration.h b/Marlin/example_configurations/Tronxy/XY100/Configuration.h index 8ee882ec1f..c6335c3af0 100644 --- a/Marlin/example_configurations/Tronxy/XY100/Configuration.h +++ b/Marlin/example_configurations/Tronxy/XY100/Configuration.h @@ -628,15 +628,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Velleman/K8200/Configuration.h b/Marlin/example_configurations/Velleman/K8200/Configuration.h index ec3e9763c6..1cf860b45f 100644 --- a/Marlin/example_configurations/Velleman/K8200/Configuration.h +++ b/Marlin/example_configurations/Velleman/K8200/Configuration.h @@ -646,15 +646,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Velleman/K8400/Configuration.h b/Marlin/example_configurations/Velleman/K8400/Configuration.h index 67dfeceb46..a2ecc4676d 100644 --- a/Marlin/example_configurations/Velleman/K8400/Configuration.h +++ b/Marlin/example_configurations/Velleman/K8400/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 20.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h index 55a1d4a500..35dacaa3da 100644 --- a/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h +++ b/Marlin/example_configurations/Velleman/K8400/Dual-head/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 20.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration.h b/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration.h index c34eb0c438..6a08b8fff0 100644 --- a/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration.h +++ b/Marlin/example_configurations/Wanhao/Duplicator 6/Configuration.h @@ -627,15 +627,14 @@ #define DEFAULT_EJERK 1.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h index 275f1349ac..699cbfb5e4 100644 --- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h +++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h @@ -617,15 +617,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h index cf81ea1b2d..c774a0abaa 100644 --- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h +++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h @@ -699,15 +699,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h index 1c3522c32b..6a5e3981e4 100644 --- a/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h +++ b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h @@ -699,15 +699,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h index cc371b5c8f..2c5cf2b0ee 100644 --- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h @@ -699,15 +699,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h b/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h index 7a8c0f3b0a..1a67d9012e 100644 --- a/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h +++ b/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h @@ -704,15 +704,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h index 3ecc23c8d9..bcf2a520d4 100644 --- a/Marlin/example_configurations/delta/generic/Configuration.h +++ b/Marlin/example_configurations/delta/generic/Configuration.h @@ -689,15 +689,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h index 5fc9f83904..b4d1e85d2a 100644 --- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h @@ -689,15 +689,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h index ef16a5fab2..96c2533ac3 100644 --- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h @@ -682,15 +682,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h index 2ca8b621cc..64f7f1be80 100644 --- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h +++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h @@ -692,15 +692,14 @@ #define DEFAULT_EJERK 20.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h b/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h index fdf8b200a1..c5b76a1bb0 100644 --- a/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h +++ b/Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h @@ -630,15 +630,14 @@ #define DEFAULT_EJERK 4.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h index 46a5feb34a..51e5e85af6 100644 --- a/Marlin/example_configurations/makibox/Configuration.h +++ b/Marlin/example_configurations/makibox/Configuration.h @@ -620,15 +620,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h index 89be3802a1..928e7c48ba 100644 --- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h +++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h @@ -612,15 +612,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/example_configurations/wt150/Configuration.h b/Marlin/example_configurations/wt150/Configuration.h index 91b1bf8ad6..7c549e0693 100644 --- a/Marlin/example_configurations/wt150/Configuration.h +++ b/Marlin/example_configurations/wt150/Configuration.h @@ -622,15 +622,14 @@ #define DEFAULT_EJERK 5.0 /** - * Realtime Jerk Control + * S-Curve Acceleration * * This option eliminates vibration during printing by fitting a Bézier * curve to move acceleration, producing much smoother direction changes. - * Because this is computationally-intensive, a 32-bit MCU is required. * * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained */ -//#define BEZIER_JERK_CONTROL +//#define S_CURVE_ACCELERATION //=========================================================================== //============================= Z Probe Options ============================= diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index ffbee93ad5..e635cf557d 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -221,7 +221,7 @@ void Planner::init() { delay_before_delivering = 0; } -#if ENABLED(BEZIER_JERK_CONTROL) +#if ENABLED(S_CURVE_ACCELERATION) // This routine, for AVR, returns 0x1000000 / d, but trying to get the inverse as // fast as possible. A fast converging iterative Newton-Raphson method is able to @@ -726,7 +726,7 @@ void Planner::init() { // Return the result return r11 | (uint16_t(r12) << 8) | (uint32_t(r13) << 16); } -#endif // BEZIER_JERK_CONTROL +#endif // S_CURVE_ACCELERATION #define MINIMAL_STEP_RATE 120 @@ -743,7 +743,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE)); NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE)); - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) uint32_t cruise_rate = initial_rate; #endif @@ -764,12 +764,12 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e accelerate_steps = MIN(uint32_t(MAX(accelerate_steps_float, 0)), block->step_event_count); plateau_steps = 0; - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) // We won't reach the cruising rate. Let's calculate the speed we will reach cruise_rate = final_speed(initial_rate, accel, accelerate_steps); #endif } - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) else // We have some plateau time, so the cruise rate will be the nominal rate cruise_rate = block->nominal_rate; #endif @@ -777,7 +777,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e // block->accelerate_until = accelerate_steps; // block->decelerate_after = accelerate_steps+plateau_steps; - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) // Jerk controlled speed requires to express speed versus time, NOT steps uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (HAL_STEPPER_TIMER_RATE), deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (HAL_STEPPER_TIMER_RATE); @@ -797,7 +797,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e block->accelerate_until = accelerate_steps; block->decelerate_after = accelerate_steps + plateau_steps; block->initial_rate = initial_rate; - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) block->acceleration_time = acceleration_time; block->deceleration_time = deceleration_time; block->acceleration_time_inverse = acceleration_time_inverse; @@ -2118,7 +2118,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, } block->acceleration_steps_per_s2 = accel; block->acceleration = accel / steps_per_mm; - #if DISABLED(BEZIER_JERK_CONTROL) + #if DISABLED(S_CURVE_ACCELERATION) block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE))); #endif #if ENABLED(LIN_ADVANCE) diff --git a/Marlin/planner.h b/Marlin/planner.h index 1c4f2a1e8e..d0723d6383 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -110,11 +110,11 @@ typedef struct { uint32_t accelerate_until, // The index of the step event on which to stop acceleration decelerate_after; // The index of the step event on which to start decelerating - #if ENABLED(BEZIER_JERK_CONTROL) - uint32_t cruise_rate; // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase - uint32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts - deceleration_time; - uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used + #if ENABLED(S_CURVE_ACCELERATION) + uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase + acceleration_time, // Acceleration time and deceleration time in STEP timer counts + deceleration_time, + acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used deceleration_time_inverse; #else uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation @@ -769,7 +769,7 @@ class Planner { return target_velocity_sqr - 2 * accel * distance; } - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) /** * Calculate the speed reached given initial speed, acceleration and distance */ diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index bd3f1b77da..00891a5f54 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -107,7 +107,7 @@ int32_t Stepper::counter_X = 0, uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block -#if ENABLED(BEZIER_JERK_CONTROL) +#if ENABLED(S_CURVE_ACCELERATION) int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler @@ -155,7 +155,7 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 }; uint32_t Stepper::ticks_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal; -#if DISABLED(BEZIER_JERK_CONTROL) +#if DISABLED(S_CURVE_ACCELERATION) uint32_t Stepper::acc_step_rate; // needed for deceleration start point #endif @@ -367,7 +367,7 @@ void Stepper::set_directions() { #endif // !LIN_ADVANCE } -#if ENABLED(BEZIER_JERK_CONTROL) +#if ENABLED(S_CURVE_ACCELERATION) /** * We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve. * This gives us a "linear pop" velocity curve; with pop being the sixth derivative of position: @@ -1091,7 +1091,7 @@ void Stepper::set_directions() { return (r2 | (uint16_t(r3) << 8)) | (uint32_t(r4) << 16); } -#endif // BEZIER_JERK_CONTROL +#endif // S_CURVE_ACCELERATION /** * Stepper Driver Interrupt @@ -1460,7 +1460,7 @@ uint32_t Stepper::stepper_block_phase_isr() { // Calculate new timer value if (step_events_completed <= current_block->accelerate_until) { - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) // Get the next speed to use (Jerk limited!) uint32_t acc_step_rate = acceleration_time < current_block->acceleration_time @@ -1491,7 +1491,7 @@ uint32_t Stepper::stepper_block_phase_isr() { else if (step_events_completed > current_block->decelerate_after) { uint32_t step_rate; - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) // If this is the 1st time we process the 2nd half of the trapezoid... if (!bezier_2nd_half) { // Initialize the Bézier speed curve @@ -1689,12 +1689,12 @@ uint32_t Stepper::stepper_block_phase_isr() { // make a note of the number of step loops required at nominal speed step_loops_nominal = step_loops; - #if DISABLED(BEZIER_JERK_CONTROL) + #if DISABLED(S_CURVE_ACCELERATION) // Set as deceleration point the initial rate of the block acc_step_rate = current_block->initial_rate; #endif - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) // Initialize the Bézier speed curve _calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse); diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 5cded30ed0..105d0473a7 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -117,7 +117,7 @@ class Stepper { static int32_t counter_X, counter_Y, counter_Z, counter_E; static uint32_t step_events_completed; // The number of step events executed in the current block - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) static int32_t bezier_A, // A coefficient in Bézier speed curve bezier_B, // B coefficient in Bézier speed curve bezier_C; // C coefficient in Bézier speed curve @@ -149,7 +149,7 @@ class Stepper { static uint8_t step_loops, step_loops_nominal; static uint32_t ticks_nominal; - #if DISABLED(BEZIER_JERK_CONTROL) + #if DISABLED(S_CURVE_ACCELERATION) static uint32_t acc_step_rate; // needed for deceleration start point #endif @@ -328,7 +328,7 @@ class Stepper { return timer; } - #if ENABLED(BEZIER_JERK_CONTROL) + #if ENABLED(S_CURVE_ACCELERATION) static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av); static int32_t _eval_bezier_curve(const uint32_t curr_step); #endif