From a294ec3836fed485e478325f4bf976acfadf6939 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Sat, 30 Jun 2018 13:44:37 -0500
Subject: [PATCH] Add delta feedrate scaling (#11152)
---
Marlin/Conditionals_post.h | 1 +
Marlin/Marlin_main.cpp | 85 +++++++++++++++----
.../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 +
.../delta/generic/Configuration.h | 3 +
.../delta/kossel_mini/Configuration.h | 3 +
.../delta/kossel_pro/Configuration.h | 3 +
.../delta/kossel_xl/Configuration.h | 3 +
Marlin/planner.cpp | 6 +-
Marlin/planner.h | 2 +-
12 files changed, 99 insertions(+), 19 deletions(-)
diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index 54f8925ff09..924ac46ba6f 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -978,6 +978,7 @@
#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/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 22b7704fa6d..d1b264899b4 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -13348,7 +13348,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
ediff * inv_segments
};
- #if DISABLED(SCARA_FEEDRATE_SCALING)
+ #if !HAS_FEEDRATE_SCALING
const float cartesian_segment_mm = cartesian_mm * inv_segments;
#endif
@@ -13356,14 +13356,13 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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,
@@ -13371,7 +13370,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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: ");
@@ -13380,7 +13383,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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
@@ -13421,6 +13428,19 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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;
@@ -13428,16 +13448,31 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}
// 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);
//*/
@@ -13723,12 +13758,16 @@ void prepare_move_to_destination() {
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
@@ -13774,14 +13813,23 @@ void prepare_move_to_destination() {
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);
@@ -13794,12 +13842,19 @@ void prepare_move_to_destination() {
}
// 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/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
index 69771cfca8e..cc5b592be72 100644
--- a/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h
@@ -513,6 +513,9 @@
// 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/example_configurations/delta/FLSUN/kossel/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h
index 3bea5acc5f9..0e09ab6971b 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel/Configuration.h
@@ -513,6 +513,9 @@
// 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/example_configurations/delta/FLSUN/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
index 58750f4323c..4306ced11e5 100644
--- a/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h
@@ -513,6 +513,9 @@
// 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/example_configurations/delta/Hatchbox_Alpha/Configuration.h b/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h
index c40186801c9..6512e307fa0 100644
--- a/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h
+++ b/Marlin/example_configurations/delta/Hatchbox_Alpha/Configuration.h
@@ -518,6 +518,9 @@
// 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/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index a8d9131d2ea..83ab271990e 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -503,6 +503,9 @@
// 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/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index 2cc55ce53c8..52008eaab88 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -503,6 +503,9 @@
// 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/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 381b20f8bde..0e3173a7db9 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -489,6 +489,9 @@
// 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/example_configurations/delta/kossel_xl/Configuration.h b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
index 23417c83f0f..1066fd8867d 100644
--- a/Marlin/example_configurations/delta/kossel_xl/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_xl/Configuration.h
@@ -507,6 +507,9 @@
// 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/planner.cpp b/Marlin/planner.cpp
index 1ca9f51c38f..96668da9abd 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1550,9 +1550,9 @@ 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/planner.h b/Marlin/planner.h
index 1c98d44c37b..3255a2cf3db 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -144,7 +144,7 @@ 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))