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Explode conditions common to corexy and cartesian

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Scott Lahteine 2015-06-15 17:34:04 -07:00 committed by Richard Wackerbarth
parent c7dd5527b4
commit fa00e1d97f
1 changed files with 14 additions and 10 deletions
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20
Marlin/planner.cpp
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@ -541,13 +541,14 @@ float junction_deviation = 0.1;
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps[A_AXIS] = labs(dx + dy); block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy); block->steps[B_AXIS] = labs(dx - dy);
block->steps[Z_AXIS] = labs(dz);
#else #else
// default non-h-bot planning // default non-h-bot planning
block->steps[X_AXIS] = labs(dx); block->steps[X_AXIS] = labs(dx);
block->steps[Y_AXIS] = labs(dy); block->steps[Y_AXIS] = labs(dy);
block->steps[Z_AXIS] = labs(dz);
#endif #endif
block->steps[Z_AXIS] = labs(dz);
block->steps[E_AXIS] = labs(de); block->steps[E_AXIS] = labs(de);
block->steps[E_AXIS] *= volumetric_multiplier[extruder]; block->steps[E_AXIS] *= volumetric_multiplier[extruder];
block->steps[E_AXIS] *= extruder_multiplier[extruder]; block->steps[E_AXIS] *= extruder_multiplier[extruder];
@ -568,13 +569,14 @@ float junction_deviation = 0.1;
#ifdef COREXY #ifdef COREXY
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) db |= BIT(Y_HEAD); // ...and Y if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
if (dz < 0) db |= BIT(Z_AXIS);
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
#else #else
if (dx < 0) db |= BIT(X_AXIS); if (dx < 0) db |= BIT(X_AXIS);
if (dy < 0) db |= BIT(Y_AXIS); if (dy < 0) db |= BIT(Y_AXIS);
#endif
if (dz < 0) db |= BIT(Z_AXIS); if (dz < 0) db |= BIT(Z_AXIS);
#endif
if (de < 0) db |= BIT(E_AXIS); if (de < 0) db |= BIT(E_AXIS);
block->direction_bits = db; block->direction_bits = db;
@ -586,14 +588,16 @@ float junction_deviation = 0.1;
enable_x(); enable_x();
enable_y(); enable_y();
} }
#ifndef Z_LATE_ENABLE
if (block->steps[Z_AXIS]) enable_z();
#endif
#else #else
if (block->steps[X_AXIS]) enable_x(); if (block->steps[X_AXIS]) enable_x();
if (block->steps[Y_AXIS]) enable_y(); if (block->steps[Y_AXIS]) enable_y();
#endif
#ifndef Z_LATE_ENABLE #ifndef Z_LATE_ENABLE
if (block->steps[Z_AXIS]) enable_z(); if (block->steps[Z_AXIS]) enable_z();
#endif #endif
#endif
// Enable extruder(s) // Enable extruder(s)
if (block->steps[E_AXIS]) { if (block->steps[E_AXIS]) {
@ -676,14 +680,15 @@ float junction_deviation = 0.1;
float delta_mm[6]; float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS]; delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS]; delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS]; delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS]; delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#else #else
float delta_mm[4]; float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS]; delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS]; delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
#endif
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS]; delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
#endif
delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0; delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) { if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
@ -692,11 +697,10 @@ float junction_deviation = 0.1;
else { else {
block->millimeters = sqrt( block->millimeters = sqrt(
#ifdef COREXY #ifdef COREXY
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
#else #else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif #endif
+ square(delta_mm[Z_AXIS])
); );
} }
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides