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Tweaks to core motion code

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Scott Lahteine 2017-11-08 19:49:51 -06:00
parent 8805e24cc7
commit b0b4a20930
1 changed files with 24 additions and 22 deletions
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42
Marlin/src/module/motion.cpp
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@ -489,7 +489,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif #endif
#if IS_KINEMATIC && !UBL_DELTA #if !UBL_DELTA
#if IS_KINEMATIC
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(DELTA) #if ENABLED(DELTA)
@ -512,6 +513,9 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
* *
* This calls planner.buffer_line several times, adding * This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA. * small incremental moves for DELTA or SCARA.
*
* For Unified Bed Leveling (Delta or Segmented Cartesian)
* the ubl.prepare_segmented_line_to method replaces this.
*/ */
inline bool prepare_kinematic_move_to(float rtarget[XYZE]) { inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
@ -630,47 +634,45 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
return false; return false;
} }
#else // !IS_KINEMATIC || UBL_DELTA #else // !IS_KINEMATIC
/** /**
* Prepare a linear move in a Cartesian setup. * Prepare a linear move in a Cartesian setup.
* Bed Leveling will be applied to the move if enabled. *
* When a mesh-based leveling system is active, moves are segmented
* according to the configuration of the leveling system.
* *
* Returns true if current_position[] was set to destination[] * Returns true if current_position[] was set to destination[]
*/ */
inline bool prepare_move_to_destination_cartesian() { inline bool prepare_move_to_destination_cartesian() {
const float fr_scaled = MMS_SCALED(feedrate_mm_s);
#if HAS_MESH #if HAS_MESH
if (!planner.leveling_active) { if (planner.leveling_active) {
line_to_destination(fr_scaled);
return false;
}
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
ubl.line_to_destination_cartesian(fr_scaled, active_extruder); // UBL's motion routine needs to know about all moves, ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
return true; // even purely Z-Axis moves return true; // all moves, including Z-only moves.
#else #else
/**
* For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
* Otherwise fall through to do a direct single move.
*/
if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) { if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
#if ENABLED(MESH_BED_LEVELING) #if ENABLED(MESH_BED_LEVELING)
mesh_line_to_destination(fr_scaled); mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_line_to_destination(fr_scaled); bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
#endif #endif
return true; return true;
} }
else {
line_to_destination();
return false;
}
#endif #endif
#else }
line_to_destination();
#endif // HAS_MESH #endif // HAS_MESH
line_to_destination(MMS_SCALED(feedrate_mm_s));
return false; return false;
} }
#endif // !IS_KINEMATIC || UBL_DELTA #endif // !IS_KINEMATIC
#endif // !UBL_DELTA
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
bool extruder_duplication_enabled = false; // Used in Dual X mode 2 bool extruder_duplication_enabled = false; // Used in Dual X mode 2