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🩹 Jerk correction for LIN_ADVANCE + CLASSIC_JERK (#26551)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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Mihai 2023-12-23 09:45:37 +02:00 committed by GitHub
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1 changed files with 51 additions and 34 deletions
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85
Marlin/src/module/planner.cpp
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@ -2490,9 +2490,9 @@ bool Planner::_populate_block(
* *
* extruder_advance_K[extruder] : There is an advance factor set for this extruder. * extruder_advance_K[extruder] : There is an advance factor set for this extruder.
* *
* dist.e > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) * dm.e : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
*/ */
use_advance_lead = esteps && extruder_advance_K[E_INDEX_N(extruder)] && dist.e > 0; use_advance_lead = esteps && extruder_advance_K[E_INDEX_N(extruder)] && dm.e;
if (use_advance_lead) { if (use_advance_lead) {
float e_D_ratio = (target_float.e - position_float.e) / float e_D_ratio = (target_float.e - position_float.e) /
@ -2770,54 +2770,71 @@ bool Planner::_populate_block(
* Heavily modified. Originally adapted from Průša firmware. * Heavily modified. Originally adapted from Průša firmware.
* https://github.com/prusa3d/Prusa-Firmware * https://github.com/prusa3d/Prusa-Firmware
*/ */
#ifndef TRAVEL_EXTRA_XYJERK #if defined(TRAVEL_EXTRA_XYJERK) || ENABLED(LIN_ADVANCE)
#define TRAVEL_EXTRA_XYJERK 0.0f xyze_float_t max_j = max_jerk;
#else
const xyze_float_t &max_j = max_jerk;
#endif #endif
const float extra_xyjerk = TERN0(HAS_EXTRUDERS, dist.e <= 0) ? TRAVEL_EXTRA_XYJERK : 0.0f;
if (!moves_queued || UNEAR_ZERO(previous_nominal_speed)) { #ifdef TRAVEL_EXTRA_XYJERK
// Compute "safe" speed, limited by a jerk to/from full halt. if (dist.e <= 0) {
max_j.x += TRAVEL_EXTRA_XYJERK;
float v_factor = 1.0f; max_j.y += TRAVEL_EXTRA_XYJERK;
LOOP_LOGICAL_AXES(i) {
const float jerk = ABS(current_speed[i]), // Starting from zero, change in speed for this axis
maxj = max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f); // The max jerk setting for this axis
if (jerk * v_factor > maxj) v_factor = maxj / jerk;
} }
vmax_junction_sqr = sq(block->nominal_speed * v_factor); #endif
NOLESS(minimum_planner_speed_sqr, vmax_junction_sqr);
#if ENABLED(LIN_ADVANCE)
// Advance affects E_AXIS speed and therefore jerk. Add a speed correction whenever
// LA is turned OFF. No correction is applied when LA is turned ON (because it didn't
// perform well; it takes more time/effort to push/melt filament than the reverse).
static uint32_t previous_advance_rate;
static float previous_e_mm_per_step;
if (dist.e < 0 && previous_advance_rate) {
// Retract move after a segment with LA that ended with an E speed decrease.
// Correct for this to allow a faster junction speed. Since the decrease always helps to
// get E to nominal retract speed, the equation simplifies to an increase in max jerk.
max_j.e += previous_advance_rate * previous_e_mm_per_step;
}
// Prepare for next segment.
previous_advance_rate = block->la_advance_rate;
previous_e_mm_per_step = mm_per_step[E_AXIS_N(extruder)];
#endif
xyze_float_t speed_diff = current_speed;
float vmax_junction;
const bool start_from_zero = !moves_queued || UNEAR_ZERO(previous_nominal_speed);
if (start_from_zero) {
// Limited by a jerk to/from full halt.
vmax_junction = block->nominal_speed;
} }
else { else {
// Compute the maximum velocity allowed at a joint of two successive segments. // Compute the maximum velocity allowed at a joint of two successive segments.
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum. // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
float vmax_junction, previous_speed_factor, current_speed_factor; // Scale per-axis velocities for the same vmax_junction.
if (block->nominal_speed < previous_nominal_speed) { if (block->nominal_speed < previous_nominal_speed) {
vmax_junction = block->nominal_speed; vmax_junction = block->nominal_speed;
previous_speed_factor = vmax_junction / previous_nominal_speed; const float previous_scale = vmax_junction / previous_nominal_speed;
current_speed_factor = 1.0f; LOOP_LOGICAL_AXES(i) speed_diff[i] -= previous_speed[i] * previous_scale;
} }
else { else {
vmax_junction = previous_nominal_speed; vmax_junction = previous_nominal_speed;
previous_speed_factor = 1.0f; const float current_scale = vmax_junction / block->nominal_speed;
current_speed_factor = vmax_junction / block->nominal_speed; LOOP_LOGICAL_AXES(i) speed_diff[i] = speed_diff[i] * current_scale - previous_speed[i];
} }
// Now limit the jerk in all axes.
float v_factor = 1.0f;
LOOP_LOGICAL_AXES(i) {
// Scale per-axis velocities for the same vmax_junction.
const float v_exit = previous_speed[i] * previous_speed_factor,
v_entry = current_speed[i] * current_speed_factor;
// Jerk is the per-axis velocity difference.
const float jerk = ABS(v_exit - v_entry),
maxj = max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f);
if (jerk * v_factor > maxj) v_factor = maxj / jerk;
}
vmax_junction_sqr = sq(vmax_junction * v_factor);
} }
// Now limit the jerk in all axes.
float v_factor = 1.0f;
LOOP_LOGICAL_AXES(i) {
// Jerk is the per-axis velocity difference.
const float jerk = ABS(speed_diff[i]), maxj = max_j[i];
if (jerk * v_factor > maxj) v_factor = maxj / jerk;
}
vmax_junction_sqr = sq(vmax_junction * v_factor);
if (start_from_zero) minimum_planner_speed_sqr = vmax_junction_sqr;
#endif // CLASSIC_JERK #endif // CLASSIC_JERK
// Max entry speed of this block equals the max exit speed of the previous block. // Max entry speed of this block equals the max exit speed of the previous block.