From d8df9ffd61b112a21a1946a9b120e806886aa54e Mon Sep 17 00:00:00 2001
From: DerAndere <26200979+DerAndere1@users.noreply.github.com>
Date: Sun, 31 Jul 2022 03:49:15 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Fix=20kinematic=20feedrate=20(#2?=
=?UTF-8?q?4568)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Marlin/src/module/motion.cpp | 2 +-
Marlin/src/module/planner.cpp | 8 +++++---
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 0bf6dfb7d96..6101022fd49 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -1084,7 +1084,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
if (!position_is_reachable(destination)) return true;
// Get the linear distance in XYZ
- float cartesian_mm = diff.magnitude();
+ float cartesian_mm = xyz_float_t(diff).magnitude();
// If the move is very short, check the E move distance
TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index b4455ca5ec1..4bc81c1051f 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -2195,7 +2195,7 @@ bool Planner::_populate_block(
);
#if SECONDARY_LINEAR_AXES >= 1 && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM)
- if (NEAR_ZERO(distance_sqr)) {
+ if (UNEAR_ZERO(distance_sqr)) {
// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
distance_sqr = (0.0f
SECONDARY_AXIS_GANG(
@@ -2211,7 +2211,7 @@ bool Planner::_populate_block(
#endif
#if HAS_ROTATIONAL_AXES && NONE(FOAMCUTTER_XYUV, ARTICULATED_ROBOT_ARM)
- if (NEAR_ZERO(distance_sqr)) {
+ if (UNEAR_ZERO(distance_sqr)) {
// Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
TERN_(INCH_MODE_SUPPORT, cartesian_move = false);
distance_sqr = ROTATIONAL_AXIS_GANG(sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k), + sq(steps_dist_mm.u), + sq(steps_dist_mm.v), + sq(steps_dist_mm.w));
@@ -3154,7 +3154,9 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
PlannerHints ph = hints;
if (!hints.millimeters)
- ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
+ ph.millimeters = (cart_dist_mm.x || cart_dist_mm.y)
+ ? xyz_pos_t(cart_dist_mm).magnitude()
+ : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feedrate from mm/s to degrees/s