🐛 Fix G2/G3 Arcs stutter / JD speed (#24362)
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tombrazier
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1a6a604310
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@ -197,8 +197,8 @@ void plan_arc(
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// Feedrate for the move, scaled by the feedrate multiplier
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const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
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// Get the nominal segment length based on settings
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const float nominal_segment_mm = (
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// Get the ideal segment length for the move based on settings
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const float ideal_segment_mm = (
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#if ARC_SEGMENTS_PER_SEC // Length based on segments per second and feedrate
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constrain(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM)
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#else
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@ -206,19 +206,18 @@ void plan_arc(
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#endif
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);
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// Number of whole segments based on the nominal segment length
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const float nominal_segments = _MAX(FLOOR(flat_mm / nominal_segment_mm), min_segments);
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// Number of whole segments based on the ideal segment length
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const float nominal_segments = _MAX(FLOOR(flat_mm / ideal_segment_mm), min_segments),
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nominal_segment_mm = flat_mm / nominal_segments;
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// A new segment length based on the required minimum
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const float segment_mm = constrain(flat_mm / nominal_segments, MIN_ARC_SEGMENT_MM, MAX_ARC_SEGMENT_MM);
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// The number of whole segments in the arc, with best attempt to honor MIN_ARC_SEGMENT_MM and MAX_ARC_SEGMENT_MM
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const uint16_t segments = nominal_segment_mm > (MAX_ARC_SEGMENT_MM) ? CEIL(flat_mm / (MAX_ARC_SEGMENT_MM)) :
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nominal_segment_mm < (MIN_ARC_SEGMENT_MM) ? _MAX(1, FLOOR(flat_mm / (MIN_ARC_SEGMENT_MM))) :
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nominal_segments;
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// The number of whole segments in the arc, ignoring the remainder
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uint16_t segments = FLOOR(flat_mm / segment_mm);
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// Are the segments now too few to reach the destination?
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const float segmented_length = segment_mm * segments;
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const bool tooshort = segmented_length < flat_mm - 0.0001f;
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const float proportion = tooshort ? segmented_length / flat_mm : 1.0f;
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float inv_duration = (scaled_fr_mm_s / flat_mm) * segments;
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#endif
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/**
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* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
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@ -246,108 +245,106 @@ void plan_arc(
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* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
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* This is important when there are successive arc motions.
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*/
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// Vector rotation matrix values
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xyze_pos_t raw;
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const float theta_per_segment = proportion * angular_travel / segments,
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sq_theta_per_segment = sq(theta_per_segment),
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sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
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cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
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#if DISABLED(AUTO_BED_LEVELING_UBL)
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ARC_LIJKUVW_CODE(
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const float per_segment_L = proportion * travel_L / segments,
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const float per_segment_I = proportion * travel_I / segments,
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const float per_segment_J = proportion * travel_J / segments,
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const float per_segment_K = proportion * travel_K / segments,
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const float per_segment_U = proportion * travel_U / segments,
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const float per_segment_V = proportion * travel_V / segments,
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const float per_segment_W = proportion * travel_W / segments
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// do not calculate rotation parameters for trivial single-segment arcs
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if (segments > 1) {
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// Vector rotation matrix values
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const float theta_per_segment = angular_travel / segments,
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sq_theta_per_segment = sq(theta_per_segment),
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sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
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cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
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#if DISABLED(AUTO_BED_LEVELING_UBL)
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ARC_LIJKUVW_CODE(
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const float per_segment_L = travel_L / segments,
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const float per_segment_I = travel_I / segments,
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const float per_segment_J = travel_J / segments,
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const float per_segment_K = travel_K / segments,
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const float per_segment_U = travel_U / segments,
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const float per_segment_V = travel_V / segments,
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const float per_segment_W = travel_W / segments
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);
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#endif
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CODE_ITEM_E(const float extruder_per_segment = travel_E / segments);
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// Initialize all linear axes and E
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ARC_LIJKUVWE_CODE(
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raw[axis_l] = current_position[axis_l],
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raw.i = current_position.i,
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raw.j = current_position.j,
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raw.k = current_position.k,
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raw.u = current_position.u,
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raw.v = current_position.v,
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raw.w = current_position.w,
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raw.e = current_position.e
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);
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#endif
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CODE_ITEM_E(const float extruder_per_segment = proportion * travel_E / segments);
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// For shortened segments, run all but the remainder in the loop
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if (tooshort) segments++;
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// Initialize all linear axes and E
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ARC_LIJKUVWE_CODE(
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raw[axis_l] = current_position[axis_l],
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raw.i = current_position.i,
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raw.j = current_position.j,
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raw.k = current_position.k,
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raw.u = current_position.u,
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raw.v = current_position.v,
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raw.w = current_position.w,
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raw.e = current_position.e
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);
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#if ENABLED(SCARA_FEEDRATE_SCALING)
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const float inv_duration = scaled_fr_mm_s / segment_mm;
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#endif
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millis_t next_idle_ms = millis() + 200UL;
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#if N_ARC_CORRECTION > 1
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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#endif
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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const millis_t ms = millis();
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if (ELAPSED(ms, next_idle_ms)) {
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next_idle_ms = ms + 200UL;
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idle();
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}
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millis_t next_idle_ms = millis() + 200UL;
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#if N_ARC_CORRECTION > 1
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if (--arc_recalc_count) {
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// Apply vector rotation matrix to previous rvec.a / 1
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const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
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rvec.a = rvec.a * cos_T - rvec.b * sin_T;
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rvec.b = r_new_Y;
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int8_t arc_recalc_count = N_ARC_CORRECTION;
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#endif
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for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
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thermalManager.manage_heater();
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const millis_t ms = millis();
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if (ELAPSED(ms, next_idle_ms)) {
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next_idle_ms = ms + 200UL;
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idle();
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}
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else
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#endif
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{
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#if N_ARC_CORRECTION > 1
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arc_recalc_count = N_ARC_CORRECTION;
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if (--arc_recalc_count) {
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// Apply vector rotation matrix to previous rvec.a / 1
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const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
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rvec.a = rvec.a * cos_T - rvec.b * sin_T;
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rvec.b = r_new_Y;
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}
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else
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#endif
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{
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#if N_ARC_CORRECTION > 1
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arc_recalc_count = N_ARC_CORRECTION;
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#endif
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
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// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
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// To reduce stuttering, the sin and cos could be computed at different times.
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// For now, compute both at the same time.
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const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
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rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
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rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
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}
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// Update raw location
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raw[axis_p] = center_P + rvec.a;
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raw[axis_q] = center_Q + rvec.b;
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ARC_LIJKUVWE_CODE(
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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raw[axis_l] = start_L,
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raw.i = start_I, raw.j = start_J, raw.k = start_K,
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raw.u = start_U, raw.v = start_V, raw.w = start_V
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#else
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raw[axis_l] += per_segment_L,
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raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K,
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raw.u += per_segment_U, raw.v += per_segment_V, raw.w += per_segment_W
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#endif
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, raw.e += extruder_per_segment
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);
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apply_motion_limits(raw);
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#if HAS_LEVELING && !PLANNER_LEVELING
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planner.apply_leveling(raw);
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#endif
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
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// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
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// To reduce stuttering, the sin and cos could be computed at different times.
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// For now, compute both at the same time.
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const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
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rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
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rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
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if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)))
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break;
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}
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// Update raw location
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raw[axis_p] = center_P + rvec.a;
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raw[axis_q] = center_Q + rvec.b;
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ARC_LIJKUVWE_CODE(
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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raw[axis_l] = start_L,
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raw.i = start_I, raw.j = start_J, raw.k = start_K,
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raw.u = start_U, raw.v = start_V, raw.w = start_V
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#else
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raw[axis_l] += per_segment_L,
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raw.i += per_segment_I, raw.j += per_segment_J, raw.k += per_segment_K,
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raw.u += per_segment_U, raw.v += per_segment_V, raw.w += per_segment_W
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#endif
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, raw.e += extruder_per_segment
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);
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apply_motion_limits(raw);
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#if HAS_LEVELING && !PLANNER_LEVELING
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planner.apply_leveling(raw);
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#endif
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if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0 OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)))
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break;
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}
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// Ensure last segment arrives at target location.
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