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https://github.com/MarlinFirmware/Marlin.git
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Generalize kinematics function names
This commit is contained in:
Scott Lahteine
parent
9c4ad7d7ef
commit
d5e2d523c7
@ -315,7 +315,7 @@ float code_value_temp_diff();
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extern float delta_diagonal_rod_trim_tower_1;
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extern float delta_diagonal_rod_trim_tower_2;
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extern float delta_diagonal_rod_trim_tower_3;
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void calculate_delta(float cartesian[3]);
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void inverse_kinematics(float cartesian[3]);
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void recalc_delta_settings(float radius, float diagonal_rod);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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extern int delta_grid_spacing[2];
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@ -323,8 +323,8 @@ float code_value_temp_diff();
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#endif
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#elif ENABLED(SCARA)
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extern float axis_scaling[3]; // Build size scaling
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void calculate_delta(float cartesian[3]);
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void calculate_SCARA_forward_Transform(float f_scara[3]);
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void inverse_kinematics(float cartesian[3]);
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void forward_kinematics_SCARA(float f_scara[3]);
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#endif
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#if ENABLED(Z_DUAL_ENDSTOPS)
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@ -613,7 +613,7 @@ static void report_current_position();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
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#endif
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calculate_delta(current_position);
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inverse_kinematics(current_position);
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planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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}
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
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@ -1528,7 +1528,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
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* Works out real Homeposition angles using inverse kinematics,
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* and calculates homing offset using forward kinematics
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*/
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calculate_delta(homeposition);
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inverse_kinematics(homeposition);
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// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
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@ -1540,7 +1540,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
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// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
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calculate_SCARA_forward_Transform(delta);
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forward_kinematics_SCARA(delta);
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// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
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@ -1658,7 +1658,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
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if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
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#endif
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refresh_cmd_timeout();
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calculate_delta(destination);
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inverse_kinematics(destination);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
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set_current_to_destination();
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}
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@ -5886,7 +5886,7 @@ inline void gcode_M303() {
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//gcode_get_destination(); // For X Y Z E F
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delta[X_AXIS] = delta_x;
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delta[Y_AXIS] = delta_y;
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calculate_SCARA_forward_Transform(delta);
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forward_kinematics_SCARA(delta);
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destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
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destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
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prepare_move_to_destination();
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@ -6275,7 +6275,7 @@ inline void gcode_M503() {
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// Define runplan for move axes
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#if ENABLED(DELTA)
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#define RUNPLAN(RATE_MM_S) calculate_delta(destination); \
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#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
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#else
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#define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S));
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@ -6397,7 +6397,7 @@ inline void gcode_M503() {
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#if ENABLED(DELTA)
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// Move XYZ to starting position, then E
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calculate_delta(lastpos);
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inverse_kinematics(lastpos);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
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#else
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@ -7737,7 +7737,7 @@ void clamp_to_software_endstops(float target[3]) {
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delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
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}
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void calculate_delta(float cartesian[3]) {
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void inverse_kinematics(float cartesian[3]) {
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delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
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- sq(delta_tower1_x - cartesian[X_AXIS])
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@ -7764,14 +7764,14 @@ void clamp_to_software_endstops(float target[3]) {
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float delta_safe_distance_from_top() {
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float cartesian[3] = { 0 };
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calculate_delta(cartesian);
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inverse_kinematics(cartesian);
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float distance = delta[TOWER_3];
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cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
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calculate_delta(cartesian);
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inverse_kinematics(cartesian);
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return abs(distance - delta[TOWER_3]);
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}
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void forwardKinematics(float z1, float z2, float z3) {
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void forward_kinematics_DELTA(float z1, float z2, float z3) {
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//As discussed in Wikipedia "Trilateration"
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//we are establishing a new coordinate
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//system in the plane of the three carriage points.
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@ -7840,12 +7840,12 @@ void clamp_to_software_endstops(float target[3]) {
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cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
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};
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void forwardKinematics(float point[3]) {
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forwardKinematics(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
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void forward_kinematics_DELTA(float point[3]) {
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forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
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}
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void set_cartesian_from_steppers() {
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forwardKinematics(stepper.get_axis_position_mm(X_AXIS),
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forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
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stepper.get_axis_position_mm(Y_AXIS),
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stepper.get_axis_position_mm(Z_AXIS));
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}
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@ -7973,7 +7973,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
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#if ENABLED(DELTA) || ENABLED(SCARA)
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inline bool prepare_delta_move_to(float target[NUM_AXIS]) {
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inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
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float difference[NUM_AXIS];
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for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
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@ -7996,14 +7996,14 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
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for (int8_t i = 0; i < NUM_AXIS; i++)
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target[i] = current_position[i] + difference[i] * fraction;
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calculate_delta(target);
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inverse_kinematics(target);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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if (!bed_leveling_in_progress) adjust_delta(target);
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#endif
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//DEBUG_POS("prepare_delta_move_to", target);
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//DEBUG_POS("prepare_delta_move_to", delta);
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//DEBUG_POS("prepare_kinematic_move_to", target);
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//DEBUG_POS("prepare_kinematic_move_to", delta);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
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}
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@ -8012,10 +8012,6 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
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#endif // DELTA || SCARA
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#if ENABLED(SCARA)
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inline bool prepare_scara_move_to(float target[NUM_AXIS]) { return prepare_delta_move_to(target); }
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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inline bool prepare_move_to_destination_dualx() {
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@ -8114,10 +8110,8 @@ void prepare_move_to_destination() {
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prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
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#endif
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#if ENABLED(SCARA)
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if (!prepare_scara_move_to(destination)) return;
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#elif ENABLED(DELTA)
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if (!prepare_delta_move_to(destination)) return;
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#if ENABLED(DELTA) || ENABLED(SCARA)
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if (!prepare_kinematic_move_to(destination)) return;
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#else
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#if ENABLED(DUAL_X_CARRIAGE)
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if (!prepare_move_to_destination_dualx()) return;
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@ -8253,7 +8247,7 @@ void prepare_move_to_destination() {
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clamp_to_software_endstops(arc_target);
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#if ENABLED(DELTA) || ENABLED(SCARA)
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calculate_delta(arc_target);
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inverse_kinematics(arc_target);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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adjust_delta(arc_target);
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#endif
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@ -8265,7 +8259,7 @@ void prepare_move_to_destination() {
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// Ensure last segment arrives at target location.
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#if ENABLED(DELTA) || ENABLED(SCARA)
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calculate_delta(target);
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inverse_kinematics(target);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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adjust_delta(target);
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#endif
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@ -8333,7 +8327,7 @@ void prepare_move_to_destination() {
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#if ENABLED(SCARA)
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void calculate_SCARA_forward_Transform(float f_scara[3]) {
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void forward_kinematics_SCARA(float f_scara[3]) {
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// Perform forward kinematics, and place results in delta[3]
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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@ -8359,10 +8353,11 @@ void prepare_move_to_destination() {
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//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
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}
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void calculate_delta(float cartesian[3]) {
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//reverse kinematics.
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// Perform reversed kinematics, and place results in delta[3]
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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void inverse_kinematics(float cartesian[3]) {
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// Inverse kinematics.
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// Perform SCARA IK and place results in delta[3].
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// The maths and first version were done by QHARLEY.
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// Integrated, tweaked by Joachim Cerny in June 2014.
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float SCARA_pos[2];
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static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
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@ -189,7 +189,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
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clamp_to_software_endstops(bez_target);
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#if ENABLED(DELTA) || ENABLED(SCARA)
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calculate_delta(bez_target);
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inverse_kinematics(bez_target);
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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adjust_delta(bez_target);
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#endif
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@ -564,7 +564,7 @@ void kill_screen(const char* lcd_msg) {
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inline void line_to_current(AxisEnum axis) {
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#if ENABLED(DELTA)
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calculate_delta(current_position);
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inverse_kinematics(current_position);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
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#else // !DELTA
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[axis]), active_extruder);
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@ -1301,7 +1301,7 @@ void kill_screen(const char* lcd_msg) {
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inline void manage_manual_move() {
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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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#if ENABLED(DELTA)
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calculate_delta(current_position);
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inverse_kinematics(current_position);
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
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#else
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(manual_feedrate_mm_m[manual_move_axis]), manual_move_e_index);
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