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Merge pull request #7917 from thinkyhead/bf1_lcd_segmented_moves
[1.1.x] Segmented manual moves for kinematics
This commit is contained in:
Scott Lahteine
GitHub
commit
98c7bde514
@ -460,6 +460,13 @@ uint16_t max_display_update_time = 0;
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#define manual_move_e_index 0
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#endif
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#if IS_KINEMATIC
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bool processing_manual_move = false;
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float manual_move_offset = 0.0;
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#else
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constexpr bool processing_manual_move = false;
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#endif
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#if PIN_EXISTS(SD_DETECT)
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uint8_t lcd_sd_status;
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#endif
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@ -2732,14 +2739,60 @@ void kill_screen(const char* lcd_msg) {
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#endif // DELTA_CALIBRATION_MENU
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#if IS_KINEMATIC
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extern float feedrate_mm_s;
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extern float destination[XYZE];
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void set_destination_to_current();
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void prepare_move_to_destination();
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#endif
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/**
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* If the most recent manual move hasn't been fed to the planner yet,
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* and the planner can accept one, send immediately
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*/
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inline void manage_manual_move() {
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if (processing_manual_move) return;
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if (manual_move_axis != (int8_t)NO_AXIS && ELAPSED(millis(), manual_move_start_time) && !planner.is_full()) {
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planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
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manual_move_axis = (int8_t)NO_AXIS;
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#if IS_KINEMATIC
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const float old_feedrate = feedrate_mm_s;
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feedrate_mm_s = MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]);
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#if EXTRUDERS > 1
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const int8_t old_extruder = active_extruder;
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active_extruder = manual_move_e_index;
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#endif
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// Set movement on a single axis
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set_destination_to_current();
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destination[manual_move_axis] += manual_move_offset;
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// Reset for the next move
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manual_move_offset = 0.0;
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manual_move_axis = (int8_t)NO_AXIS;
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// DELTA and SCARA machines use segmented moves, which could fill the planner during the call to
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// move_to_destination. This will cause idle() to be called, which can then call this function while the
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// previous invocation is being blocked. Modifications to manual_move_offset shouldn't be made while
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// processing_manual_move is true or the planner will get out of sync.
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processing_manual_move = true;
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prepare_move_to_destination(); // will call set_current_to_destination
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processing_manual_move = false;
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feedrate_mm_s = old_feedrate;
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#if EXTRUDERS > 1
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active_extruder = old_extruder;
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#endif
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#else
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planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
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manual_move_axis = (int8_t)NO_AXIS;
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#endif
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}
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}
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@ -2771,9 +2824,10 @@ void kill_screen(const char* lcd_msg) {
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void _lcd_move_xyz(const char* name, AxisEnum axis) {
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if (lcd_clicked) { return lcd_goto_previous_menu(); }
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ENCODER_DIRECTION_NORMAL();
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if (encoderPosition) {
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if (encoderPosition && !processing_manual_move) {
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refresh_cmd_timeout();
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// Start with no limits to movement
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float min = current_position[axis] - 1000,
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max = current_position[axis] + 1000;
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@ -2789,29 +2843,43 @@ void kill_screen(const char* lcd_msg) {
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}
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#endif
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// Get the new position
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current_position[axis] += float((int32_t)encoderPosition) * move_menu_scale;
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// Delta limits XY based on the current offset from center
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// This assumes the center is 0,0
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#if ENABLED(DELTA)
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if (axis != Z_AXIS) {
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max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis]));
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max = SQRT(sq((float)(DELTA_PRINTABLE_RADIUS)) - sq(current_position[Y_AXIS - axis])); // (Y_AXIS - axis) == the other axis
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min = -max;
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}
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#endif
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// Limit only when trying to move towards the limit
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if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
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if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
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// Get the new position
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const float diff = float((int32_t)encoderPosition) * move_menu_scale;
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#if IS_KINEMATIC
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manual_move_offset += diff;
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// Limit only when trying to move towards the limit
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if ((int32_t)encoderPosition < 0) NOLESS(manual_move_offset, min - current_position[axis]);
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if ((int32_t)encoderPosition > 0) NOMORE(manual_move_offset, max - current_position[axis]);
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#else
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current_position[axis] += diff;
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// Limit only when trying to move towards the limit
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if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
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if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
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#endif
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encoderPosition = 0;
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manual_move_to_current(axis);
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encoderPosition = 0;
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lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
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}
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if (lcdDrawUpdate)
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lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(current_position[axis]) : ftostr43sign(current_position[axis]));
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if (lcdDrawUpdate) {
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const float pos = current_position[axis]
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#if IS_KINEMATIC
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+ manual_move_offset
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#endif
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;
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lcd_implementation_drawedit(name, move_menu_scale >= 0.1 ? ftostr41sign(pos) : ftostr43sign(pos));
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}
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}
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void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
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void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); }
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@ -2824,16 +2892,23 @@ void kill_screen(const char* lcd_msg) {
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if (lcd_clicked) { return lcd_goto_previous_menu(); }
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ENCODER_DIRECTION_NORMAL();
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if (encoderPosition) {
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current_position[E_AXIS] += float((int32_t)encoderPosition) * move_menu_scale;
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encoderPosition = 0;
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manual_move_to_current(E_AXIS
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#if E_MANUAL > 1
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, eindex
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if (!processing_manual_move) {
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const float diff = float((int32_t)encoderPosition) * move_menu_scale;
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#if IS_KINEMATIC
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manual_move_offset += diff;
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#else
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current_position[E_AXIS] += diff;
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#endif
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);
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lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
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manual_move_to_current(E_AXIS
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#if E_MANUAL > 1
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, eindex
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#endif
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);
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lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
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}
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encoderPosition = 0;
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}
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if (lcdDrawUpdate) {
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if (lcdDrawUpdate && !processing_manual_move) {
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PGM_P pos_label;
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#if E_MANUAL == 1
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pos_label = PSTR(MSG_MOVE_E);
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@ -2852,7 +2927,11 @@ void kill_screen(const char* lcd_msg) {
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#endif // E_MANUAL > 2
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}
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#endif // E_MANUAL > 1
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lcd_implementation_drawedit(pos_label, ftostr41sign(current_position[E_AXIS]));
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lcd_implementation_drawedit(pos_label, ftostr41sign(current_position[E_AXIS]
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#if IS_KINEMATIC
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+ manual_move_offset
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#endif
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));
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}
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}
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