422a958a34
For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS. But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y. So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
1100 lines
41 KiB
C++
1100 lines
41 KiB
C++
/*
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planner.c - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
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/*
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Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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s == speed, a == acceleration, t == time, d == distance
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Basic definitions:
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Speed[s_, a_, t_] := s + (a*t)
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Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
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Distance to reach a specific speed with a constant acceleration:
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Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
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d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
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Speed after a given distance of travel with constant acceleration:
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Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
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m -> Sqrt[2 a d + s^2]
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DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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When to start braking (di) to reach a specified destionation speed (s2) after accelerating
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from initial speed s1 without ever stopping at a plateau:
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Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
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di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*/
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "language.h"
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//===========================================================================
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//=============================public variables ============================
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//===========================================================================
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unsigned long minsegmenttime;
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float max_feedrate[NUM_AXIS]; // set the max speeds
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float axis_steps_per_unit[NUM_AXIS];
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unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
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float minimumfeedrate;
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float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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float max_z_jerk;
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float max_e_jerk;
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float mintravelfeedrate;
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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#ifdef ENABLE_AUTO_BED_LEVELING
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// this holds the required transform to compensate for bed level
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matrix_3x3 plan_bed_level_matrix = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0,
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};
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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// The current position of the tool in absolute steps
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long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
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static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
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static float previous_nominal_speed; // Nominal speed of previous path line segment
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#ifdef AUTOTEMP
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float autotemp_max=250;
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float autotemp_min=210;
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float autotemp_factor=0.1;
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bool autotemp_enabled=false;
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#endif
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unsigned char g_uc_extruder_last_move[3] = {0,0,0};
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//===========================================================================
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//=================semi-private variables, used in inline functions =====
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//===========================================================================
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block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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volatile unsigned char block_buffer_tail; // Index of the block to process now
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//===========================================================================
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//=============================private variables ============================
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//===========================================================================
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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float extrude_min_temp=EXTRUDE_MINTEMP;
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
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#endif
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#ifdef FILAMENT_SENSOR
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static char meas_sample; //temporary variable to hold filament measurement sample
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#endif
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// Returns the index of the next block in the ring buffer
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// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
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static int8_t next_block_index(int8_t block_index) {
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block_index++;
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if (block_index == BLOCK_BUFFER_SIZE) {
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block_index = 0;
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}
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return(block_index);
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}
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// Returns the index of the previous block in the ring buffer
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static int8_t prev_block_index(int8_t block_index) {
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if (block_index == 0) {
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block_index = BLOCK_BUFFER_SIZE;
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}
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block_index--;
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return(block_index);
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}
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//===========================================================================
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//=============================functions ============================
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//===========================================================================
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
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{
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if (acceleration!=0) {
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return((target_rate*target_rate-initial_rate*initial_rate)/
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(2.0*acceleration));
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}
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else {
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return 0.0; // acceleration was 0, set acceleration distance to 0
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}
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}
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
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{
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if (acceleration!=0) {
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return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
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(4.0*acceleration) );
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}
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else {
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return 0.0; // acceleration was 0, set intersection distance to 0
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}
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}
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
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unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
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unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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if(initial_rate <120) {
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initial_rate=120;
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}
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if(final_rate < 120) {
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final_rate=120;
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}
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long acceleration = block->acceleration_st;
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int32_t accelerate_steps =
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ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
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int32_t decelerate_steps =
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floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
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// Calculate the size of Plateau of Nominal Rate.
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int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// have to use intersection_distance() to calculate when to abort acceleration and start braking
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// in order to reach the final_rate exactly at the end of this block.
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if (plateau_steps < 0) {
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accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
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accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
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accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
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plateau_steps = 0;
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}
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#ifdef ADVANCE
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volatile long initial_advance = block->advance*entry_factor*entry_factor;
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volatile long final_advance = block->advance*exit_factor*exit_factor;
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#endif // ADVANCE
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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if(block->busy == false) { // Don't update variables if block is busy.
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps+plateau_steps;
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block->initial_rate = initial_rate;
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block->final_rate = final_rate;
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#ifdef ADVANCE
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block->initial_advance = initial_advance;
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block->final_advance = final_advance;
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#endif //ADVANCE
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}
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CRITICAL_SECTION_END;
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}
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
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// acceleration within the allotted distance.
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FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
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return sqrt(target_velocity*target_velocity-2*acceleration*distance);
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}
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// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// velocities of the respective blocks.
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//inline float junction_jerk(block_t *before, block_t *after) {
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// return sqrt(
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// pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
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//}
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!current) {
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return;
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}
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if (next) {
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
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// check for maximum allowable speed reductions to ensure maximum possible planned speed.
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if (current->entry_speed != current->max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
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current->entry_speed = min( current->max_entry_speed,
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max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
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}
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else {
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current->entry_speed = current->max_entry_speed;
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}
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current->recalculate_flag = true;
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}
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} // Skip last block. Already initialized and set for recalculation.
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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void planner_reverse_pass() {
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uint8_t block_index = block_buffer_head;
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//Make a local copy of block_buffer_tail, because the interrupt can alter it
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CRITICAL_SECTION_START;
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unsigned char tail = block_buffer_tail;
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CRITICAL_SECTION_END
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if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
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block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != tail) {
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block_index = prev_block_index(block_index);
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block[2]= block[1];
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block[1]= block[0];
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block[0] = &block_buffer[block_index];
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planner_reverse_pass_kernel(block[0], block[1], block[2]);
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}
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}
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}
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!previous) {
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return;
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}
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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if (!previous->nominal_length_flag) {
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if (previous->entry_speed < current->entry_speed) {
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double entry_speed = min( current->entry_speed,
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max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
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// Check for junction speed change
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if (current->entry_speed != entry_speed) {
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current->entry_speed = entry_speed;
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current->recalculate_flag = true;
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}
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}
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}
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the forward pass.
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void planner_forward_pass() {
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uint8_t block_index = block_buffer_tail;
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != block_buffer_head) {
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block[0] = block[1];
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block[1] = block[2];
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block[2] = &block_buffer[block_index];
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planner_forward_pass_kernel(block[0],block[1],block[2]);
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block_index = next_block_index(block_index);
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}
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planner_forward_pass_kernel(block[1], block[2], NULL);
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}
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// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
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// entry_factor for each junction. Must be called by planner_recalculate() after
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// updating the blocks.
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void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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block_t *current;
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block_t *next = NULL;
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while(block_index != block_buffer_head) {
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current = next;
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next = &block_buffer[block_index];
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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if (current->recalculate_flag || next->recalculate_flag) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
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next->entry_speed/current->nominal_speed);
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current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
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}
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}
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block_index = next_block_index( block_index );
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}
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// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
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if(next != NULL) {
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calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
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MINIMUM_PLANNER_SPEED/next->nominal_speed);
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next->recalculate_flag = false;
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}
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}
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// Recalculates the motion plan according to the following algorithm:
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//
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
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// so that:
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// a. The junction jerk is within the set limit
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// acceleration.
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// 2. Go over every block in chronological order and dial down junction speed reduction values if
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// a. The speed increase within one block would require faster accelleration than the one, true
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// constant acceleration.
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//
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// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
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// the set limit. Finally it will:
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//
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// 3. Recalculate trapezoids for all blocks.
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void planner_recalculate() {
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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}
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void plan_init() {
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block_buffer_head = 0;
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block_buffer_tail = 0;
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memset(position, 0, sizeof(position)); // clear position
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previous_speed[0] = 0.0;
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previous_speed[1] = 0.0;
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previous_speed[2] = 0.0;
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previous_speed[3] = 0.0;
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previous_nominal_speed = 0.0;
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}
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#ifdef AUTOTEMP
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void getHighESpeed()
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{
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static float oldt=0;
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if(!autotemp_enabled){
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return;
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}
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if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
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return; //do nothing
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}
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float high=0.0;
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uint8_t block_index = block_buffer_tail;
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while(block_index != block_buffer_head) {
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if((block_buffer[block_index].steps_x != 0) ||
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(block_buffer[block_index].steps_y != 0) ||
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(block_buffer[block_index].steps_z != 0)) {
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float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
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//se; mm/sec;
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if(se>high)
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{
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high=se;
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}
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}
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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float g=autotemp_min+high*autotemp_factor;
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float t=g;
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if(t<autotemp_min)
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t=autotemp_min;
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if(t>autotemp_max)
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t=autotemp_max;
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if(oldt>t)
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{
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t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
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}
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oldt=t;
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setTargetHotend0(t);
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}
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#endif
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void check_axes_activity()
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{
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unsigned char x_active = 0;
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unsigned char y_active = 0;
|
|
unsigned char z_active = 0;
|
|
unsigned char e_active = 0;
|
|
unsigned char tail_fan_speed = fanSpeed;
|
|
#ifdef BARICUDA
|
|
unsigned char tail_valve_pressure = ValvePressure;
|
|
unsigned char tail_e_to_p_pressure = EtoPPressure;
|
|
#endif
|
|
block_t *block;
|
|
|
|
if(block_buffer_tail != block_buffer_head)
|
|
{
|
|
uint8_t block_index = block_buffer_tail;
|
|
tail_fan_speed = block_buffer[block_index].fan_speed;
|
|
#ifdef BARICUDA
|
|
tail_valve_pressure = block_buffer[block_index].valve_pressure;
|
|
tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
|
|
#endif
|
|
while(block_index != block_buffer_head)
|
|
{
|
|
block = &block_buffer[block_index];
|
|
if(block->steps_x != 0) x_active++;
|
|
if(block->steps_y != 0) y_active++;
|
|
if(block->steps_z != 0) z_active++;
|
|
if(block->steps_e != 0) e_active++;
|
|
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
|
|
}
|
|
}
|
|
if((DISABLE_X) && (x_active == 0)) disable_x();
|
|
if((DISABLE_Y) && (y_active == 0)) disable_y();
|
|
if((DISABLE_Z) && (z_active == 0)) disable_z();
|
|
if((DISABLE_E) && (e_active == 0))
|
|
{
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
}
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
#ifdef FAN_KICKSTART_TIME
|
|
static unsigned long fan_kick_end;
|
|
if (tail_fan_speed) {
|
|
if (fan_kick_end == 0) {
|
|
// Just starting up fan - run at full power.
|
|
fan_kick_end = millis() + FAN_KICKSTART_TIME;
|
|
tail_fan_speed = 255;
|
|
} else if (fan_kick_end > millis())
|
|
// Fan still spinning up.
|
|
tail_fan_speed = 255;
|
|
} else {
|
|
fan_kick_end = 0;
|
|
}
|
|
#endif//FAN_KICKSTART_TIME
|
|
#ifdef FAN_SOFT_PWM
|
|
fanSpeedSoftPwm = tail_fan_speed;
|
|
#else
|
|
analogWrite(FAN_PIN,tail_fan_speed);
|
|
#endif//!FAN_SOFT_PWM
|
|
#endif//FAN_PIN > -1
|
|
#ifdef AUTOTEMP
|
|
getHighESpeed();
|
|
#endif
|
|
|
|
#ifdef BARICUDA
|
|
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
|
|
analogWrite(HEATER_1_PIN,tail_valve_pressure);
|
|
#endif
|
|
|
|
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
|
|
analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
|
|
float junction_deviation = 0.1;
|
|
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
|
|
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
|
|
// calculation the caller must also provide the physical length of the line in millimeters.
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
|
|
#else
|
|
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
|
|
#endif //ENABLE_AUTO_BED_LEVELING
|
|
{
|
|
// Calculate the buffer head after we push this byte
|
|
int next_buffer_head = next_block_index(block_buffer_head);
|
|
|
|
// If the buffer is full: good! That means we are well ahead of the robot.
|
|
// Rest here until there is room in the buffer.
|
|
while(block_buffer_tail == next_buffer_head)
|
|
{
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
// The target position of the tool in absolute steps
|
|
// Calculate target position in absolute steps
|
|
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
|
|
long target[4];
|
|
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
|
|
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
|
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
|
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
|
|
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
|
if(target[E_AXIS]!=position[E_AXIS])
|
|
{
|
|
if(degHotend(active_extruder)<extrude_min_temp)
|
|
{
|
|
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
|
|
}
|
|
|
|
#ifdef PREVENT_LENGTHY_EXTRUDE
|
|
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
|
|
{
|
|
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
// Prepare to set up new block
|
|
block_t *block = &block_buffer[block_buffer_head];
|
|
|
|
// Mark block as not busy (Not executed by the stepper interrupt)
|
|
block->busy = false;
|
|
|
|
// Number of steps for each axis
|
|
#ifndef COREXY
|
|
// default non-h-bot planning
|
|
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
|
|
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
|
|
#else
|
|
// corexy planning
|
|
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
|
block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
|
|
block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
|
|
#endif
|
|
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
|
|
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
|
|
block->steps_e *= volumetric_multiplier[active_extruder];
|
|
block->steps_e *= extrudemultiply;
|
|
block->steps_e /= 100;
|
|
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
|
|
|
|
// Bail if this is a zero-length block
|
|
if (block->step_event_count <= dropsegments)
|
|
{
|
|
return;
|
|
}
|
|
|
|
block->fan_speed = fanSpeed;
|
|
#ifdef BARICUDA
|
|
block->valve_pressure = ValvePressure;
|
|
block->e_to_p_pressure = EtoPPressure;
|
|
#endif
|
|
|
|
// Compute direction bits for this block
|
|
block->direction_bits = 0;
|
|
#ifndef COREXY
|
|
if (target[X_AXIS] < position[X_AXIS])
|
|
{
|
|
block->direction_bits |= (1<<X_AXIS);
|
|
}
|
|
if (target[Y_AXIS] < position[Y_AXIS])
|
|
{
|
|
block->direction_bits |= (1<<Y_AXIS);
|
|
}
|
|
#else
|
|
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
|
|
{
|
|
block->direction_bits |= (1<<X_AXIS);
|
|
}
|
|
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
|
|
{
|
|
block->direction_bits |= (1<<Y_AXIS);
|
|
}
|
|
#endif
|
|
if (target[Z_AXIS] < position[Z_AXIS])
|
|
{
|
|
block->direction_bits |= (1<<Z_AXIS);
|
|
}
|
|
if (target[E_AXIS] < position[E_AXIS])
|
|
{
|
|
block->direction_bits |= (1<<E_AXIS);
|
|
}
|
|
|
|
block->active_extruder = extruder;
|
|
|
|
//enable active axes
|
|
#ifdef COREXY
|
|
if((block->steps_x != 0) || (block->steps_y != 0))
|
|
{
|
|
enable_x();
|
|
enable_y();
|
|
}
|
|
#else
|
|
if(block->steps_x != 0) enable_x();
|
|
if(block->steps_y != 0) enable_y();
|
|
#endif
|
|
#ifndef Z_LATE_ENABLE
|
|
if(block->steps_z != 0) enable_z();
|
|
#endif
|
|
|
|
// Enable extruder(s)
|
|
if(block->steps_e != 0)
|
|
{
|
|
if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
|
|
{
|
|
|
|
if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
|
|
if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
|
|
if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
|
|
|
|
switch(extruder)
|
|
{
|
|
case 0:
|
|
enable_e0();
|
|
g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
|
|
|
|
if(g_uc_extruder_last_move[1] == 0) disable_e1();
|
|
if(g_uc_extruder_last_move[2] == 0) disable_e2();
|
|
break;
|
|
case 1:
|
|
enable_e1();
|
|
g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
|
|
|
|
if(g_uc_extruder_last_move[0] == 0) disable_e0();
|
|
if(g_uc_extruder_last_move[2] == 0) disable_e2();
|
|
break;
|
|
case 2:
|
|
enable_e2();
|
|
g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
|
|
|
|
if(g_uc_extruder_last_move[0] == 0) disable_e0();
|
|
if(g_uc_extruder_last_move[1] == 0) disable_e1();
|
|
break;
|
|
}
|
|
}
|
|
else //enable all
|
|
{
|
|
enable_e0();
|
|
enable_e1();
|
|
enable_e2();
|
|
}
|
|
}
|
|
|
|
if (block->steps_e == 0)
|
|
{
|
|
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
|
|
}
|
|
else
|
|
{
|
|
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
|
|
}
|
|
|
|
/* This part of the code calculates the total length of the movement.
|
|
For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
|
|
But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
|
|
and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
|
|
So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
|
|
Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
|
|
*/
|
|
#ifndef COREXY
|
|
float delta_mm[4];
|
|
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
|
|
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
|
|
#else
|
|
float delta_mm[6];
|
|
delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
|
|
delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
|
|
delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
|
|
delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
|
|
#endif
|
|
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
|
|
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
|
|
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
|
|
{
|
|
block->millimeters = fabs(delta_mm[E_AXIS]);
|
|
}
|
|
else
|
|
{
|
|
#ifndef COREXY
|
|
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
|
|
#else
|
|
block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
|
|
#endif
|
|
}
|
|
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
|
|
|
|
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
|
|
float inverse_second = feed_rate * inverse_millimeters;
|
|
|
|
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
|
|
|
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
#ifdef OLD_SLOWDOWN
|
|
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
|
|
feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
|
|
#endif
|
|
|
|
#ifdef SLOWDOWN
|
|
// segment time im micro seconds
|
|
unsigned long segment_time = lround(1000000.0/inverse_second);
|
|
if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
|
|
{
|
|
if (segment_time < minsegmenttime)
|
|
{ // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
segment_time = lround(1000000.0/inverse_second);
|
|
#endif
|
|
}
|
|
}
|
|
#endif
|
|
// END OF SLOW DOWN SECTION
|
|
|
|
|
|
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
|
|
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
|
|
|
|
#ifdef FILAMENT_SENSOR
|
|
//FMM update ring buffer used for delay with filament measurements
|
|
|
|
|
|
if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
|
|
{
|
|
delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
|
|
|
|
while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
|
|
delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
|
|
while (delay_dist<0)
|
|
delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
|
|
|
|
delay_index1=delay_dist/10.0; //calculate index
|
|
|
|
//ensure the number is within range of the array after converting from floating point
|
|
if(delay_index1<0)
|
|
delay_index1=0;
|
|
else if (delay_index1>MAX_MEASUREMENT_DELAY)
|
|
delay_index1=MAX_MEASUREMENT_DELAY;
|
|
|
|
if(delay_index1 != delay_index2) //moved index
|
|
{
|
|
meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
|
|
}
|
|
while( delay_index1 != delay_index2)
|
|
{
|
|
delay_index2 = delay_index2 + 1;
|
|
if(delay_index2>MAX_MEASUREMENT_DELAY)
|
|
delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
|
|
if(delay_index2<0)
|
|
delay_index2=0;
|
|
else if (delay_index2>MAX_MEASUREMENT_DELAY)
|
|
delay_index2=MAX_MEASUREMENT_DELAY;
|
|
|
|
measurement_delay[delay_index2]=meas_sample;
|
|
}
|
|
|
|
|
|
}
|
|
#endif
|
|
|
|
|
|
// Calculate and limit speed in mm/sec for each axis
|
|
float current_speed[4];
|
|
float speed_factor = 1.0; //factor <=1 do decrease speed
|
|
for(int i=0; i < 4; i++)
|
|
{
|
|
current_speed[i] = delta_mm[i] * inverse_second;
|
|
if(fabs(current_speed[i]) > max_feedrate[i])
|
|
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
|
|
}
|
|
|
|
// Max segement time in us.
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
|
|
// Check and limit the xy direction change frequency
|
|
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
|
|
old_direction_bits = block->direction_bits;
|
|
segment_time = lround((float)segment_time / speed_factor);
|
|
|
|
if((direction_change & (1<<X_AXIS)) == 0)
|
|
{
|
|
x_segment_time[0] += segment_time;
|
|
}
|
|
else
|
|
{
|
|
x_segment_time[2] = x_segment_time[1];
|
|
x_segment_time[1] = x_segment_time[0];
|
|
x_segment_time[0] = segment_time;
|
|
}
|
|
if((direction_change & (1<<Y_AXIS)) == 0)
|
|
{
|
|
y_segment_time[0] += segment_time;
|
|
}
|
|
else
|
|
{
|
|
y_segment_time[2] = y_segment_time[1];
|
|
y_segment_time[1] = y_segment_time[0];
|
|
y_segment_time[0] = segment_time;
|
|
}
|
|
long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
|
|
long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
|
|
long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
|
|
if(min_xy_segment_time < MAX_FREQ_TIME)
|
|
speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
|
|
#endif
|
|
|
|
// Correct the speed
|
|
if( speed_factor < 1.0)
|
|
{
|
|
for(unsigned char i=0; i < 4; i++)
|
|
{
|
|
current_speed[i] *= speed_factor;
|
|
}
|
|
block->nominal_speed *= speed_factor;
|
|
block->nominal_rate *= speed_factor;
|
|
}
|
|
|
|
// Compute and limit the acceleration rate for the trapezoid generator.
|
|
float steps_per_mm = block->step_event_count/block->millimeters;
|
|
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
|
|
{
|
|
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
|
}
|
|
else
|
|
{
|
|
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
|
// Limit acceleration per axis
|
|
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
|
|
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
|
|
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
|
|
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
|
|
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
|
|
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
|
|
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
|
|
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
|
|
}
|
|
block->acceleration = block->acceleration_st / steps_per_mm;
|
|
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
|
|
|
|
#if 0 // Use old jerk for now
|
|
// Compute path unit vector
|
|
double unit_vec[3];
|
|
|
|
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
|
|
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
|
|
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
|
|
|
|
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
|
|
// Let a circle be tangent to both previous and current path line segments, where the junction
|
|
// deviation is defined as the distance from the junction to the closest edge of the circle,
|
|
// colinear with the circle center. The circular segment joining the two paths represents the
|
|
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
|
|
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
|
|
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
|
|
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
|
|
// nonlinearities of both the junction angle and junction velocity.
|
|
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
|
|
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
|
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
|
|
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
|
|
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
|
|
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
|
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
|
|
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
|
|
|
|
// Skip and use default max junction speed for 0 degree acute junction.
|
|
if (cos_theta < 0.95) {
|
|
vmax_junction = min(previous_nominal_speed,block->nominal_speed);
|
|
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
|
if (cos_theta > -0.95) {
|
|
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
|
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
|
|
vmax_junction = min(vmax_junction,
|
|
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
// Start with a safe speed
|
|
float vmax_junction = max_xy_jerk/2;
|
|
float vmax_junction_factor = 1.0;
|
|
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
|
|
vmax_junction = min(vmax_junction, max_z_jerk/2);
|
|
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
|
|
vmax_junction = min(vmax_junction, max_e_jerk/2);
|
|
vmax_junction = min(vmax_junction, block->nominal_speed);
|
|
float safe_speed = vmax_junction;
|
|
|
|
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
|
|
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
|
|
// if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
|
|
vmax_junction = block->nominal_speed;
|
|
// }
|
|
if (jerk > max_xy_jerk) {
|
|
vmax_junction_factor = (max_xy_jerk/jerk);
|
|
}
|
|
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
|
|
vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
|
|
}
|
|
if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
|
|
vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
|
|
}
|
|
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
|
|
}
|
|
block->max_entry_speed = vmax_junction;
|
|
|
|
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
|
|
double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
|
|
block->entry_speed = min(vmax_junction, v_allowable);
|
|
|
|
// Initialize planner efficiency flags
|
|
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
|
|
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
|
|
// the current block and next block junction speeds are guaranteed to always be at their maximum
|
|
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
|
|
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
|
|
// the reverse and forward planners, the corresponding block junction speed will always be at the
|
|
// the maximum junction speed and may always be ignored for any speed reduction checks.
|
|
if (block->nominal_speed <= v_allowable) {
|
|
block->nominal_length_flag = true;
|
|
}
|
|
else {
|
|
block->nominal_length_flag = false;
|
|
}
|
|
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
|
|
|
// Update previous path unit_vector and nominal speed
|
|
memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
|
|
previous_nominal_speed = block->nominal_speed;
|
|
|
|
|
|
#ifdef ADVANCE
|
|
// Calculate advance rate
|
|
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
|
|
block->advance_rate = 0;
|
|
block->advance = 0;
|
|
}
|
|
else {
|
|
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
|
|
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
|
|
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
|
|
block->advance = advance;
|
|
if(acc_dist == 0) {
|
|
block->advance_rate = 0;
|
|
}
|
|
else {
|
|
block->advance_rate = advance / (float)acc_dist;
|
|
}
|
|
}
|
|
/*
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("advance :");
|
|
SERIAL_ECHO(block->advance/256.0);
|
|
SERIAL_ECHOPGM("advance rate :");
|
|
SERIAL_ECHOLN(block->advance_rate/256.0);
|
|
*/
|
|
#endif // ADVANCE
|
|
|
|
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
|
|
safe_speed/block->nominal_speed);
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
// Update position
|
|
memcpy(position, target, sizeof(target)); // position[] = target[]
|
|
|
|
planner_recalculate();
|
|
|
|
st_wake_up();
|
|
}
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
vector_3 plan_get_position() {
|
|
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
|
|
|
|
//position.debug("in plan_get position");
|
|
//plan_bed_level_matrix.debug("in plan_get bed_level");
|
|
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
|
|
//inverse.debug("in plan_get inverse");
|
|
position.apply_rotation(inverse);
|
|
//position.debug("after rotation");
|
|
|
|
return position;
|
|
}
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
void plan_set_position(float x, float y, float z, const float &e)
|
|
{
|
|
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
|
|
#else
|
|
void plan_set_position(const float &x, const float &y, const float &z, const float &e)
|
|
{
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
|
|
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
|
|
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
|
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
|
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
|
|
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
|
|
previous_speed[0] = 0.0;
|
|
previous_speed[1] = 0.0;
|
|
previous_speed[2] = 0.0;
|
|
previous_speed[3] = 0.0;
|
|
}
|
|
|
|
void plan_set_e_position(const float &e)
|
|
{
|
|
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
st_set_e_position(position[E_AXIS]);
|
|
}
|
|
|
|
uint8_t movesplanned()
|
|
{
|
|
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
|
}
|
|
|
|
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
|
void set_extrude_min_temp(float temp)
|
|
{
|
|
extrude_min_temp=temp;
|
|
}
|
|
#endif
|
|
|
|
// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
|
|
void reset_acceleration_rates()
|
|
{
|
|
for(int8_t i=0; i < NUM_AXIS; i++)
|
|
{
|
|
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
|
|
}
|
|
}
|