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[1.1.x] Apply feedrate to nozzle movement for kinematic machines #9448

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Feb 4, 2018
Merged

[1.1.x] Apply feedrate to nozzle movement for kinematic machines #9448

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5b4e39a
Apply feedrate to nozzle movement for kinematic machines
tcm0116 Feb 3, 2018
d00eb4d
Language updates for parity
thinkyhead Feb 4, 2018
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16 changes: 10 additions & 6 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12370,6 +12370,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {

// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
Expand All @@ -12379,6 +12380,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {

// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);

// Get the raw current position as starting point
float raw[XYZE];
Expand All @@ -12393,12 +12395,12 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm);
}

// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder);
planner.buffer_line_kinematic(destination, fr_mm_s, active_extruder, cartesian_segment_mm);
}

#elif ENABLED(MESH_BED_LEVELING)
Expand Down Expand Up @@ -12595,6 +12597,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {

// The approximate length of each segment
const float inv_segments = 1.0 / float(segments),
cartesian_segment_mm = cartesian_mm * inv_segments,
segment_distance[XYZE] = {
xdiff * inv_segments,
ydiff * inv_segments,
Expand All @@ -12605,6 +12608,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);

#if ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s
Expand Down Expand Up @@ -12642,20 +12646,20 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
#endif
}

// Ensure last segment arrives at target location.
#if ENABLED(SCARA_FEEDRATE_SCALING)
inverse_kinematics(rtarget);
ADJUST_DELTA(rtarget);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder, cartesian_segment_mm);
#else
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
#endif

return false; // caller will update current_position
Expand Down
3 changes: 3 additions & 0 deletions Marlin/enum.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,9 @@ enum AxisEnum {
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)

typedef enum {
LINEARUNIT_MM,
Expand Down
11 changes: 9 additions & 2 deletions Marlin/language.h
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Original file line number Diff line number Diff line change
Expand Up @@ -240,8 +240,6 @@
#define MSG_KP " Kp: "
#define MSG_KI " Ki: "
#define MSG_KD " Kd: "
#define MSG_B "B:"
#define MSG_T "T:"
#define MSG_AT " @:"
#define MSG_PID_AUTOTUNE_FINISHED MSG_PID_AUTOTUNE " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h"
#define MSG_PID_DEBUG " PID_DEBUG "
Expand Down Expand Up @@ -282,6 +280,15 @@
#define MSG_Y "Y"
#define MSG_Z "Z"
#define MSG_E "E"
#if IS_KINEMATIC
#define MSG_A "A"
#define MSG_B "B"
#define MSG_C "C"
#else
#define MSG_A "X"
#define MSG_B "Y"
#define MSG_C "Z"
#endif
#define MSG_H1 "1"
#define MSG_H2 "2"
#define MSG_H3 "3"
Expand Down
24 changes: 18 additions & 6 deletions Marlin/language_an.h
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Original file line number Diff line number Diff line change
Expand Up @@ -96,9 +96,15 @@
#define MSG_SELECT _UxGT("Trigar")
#define MSG_ACC _UxGT("Aceleracion")
#define MSG_JERK _UxGT("Jerk")
#define MSG_VX_JERK _UxGT("Vx-jerk")
#define MSG_VY_JERK _UxGT("Vy-jerk")
#define MSG_VZ_JERK _UxGT("Vz-jerk")
#if IS_KINEMATIC
#define MSG_VA_JERK _UxGT("Va-jerk")
#define MSG_VB_JERK _UxGT("Vb-jerk")
#define MSG_VC_JERK _UxGT("Vc-jerk")
#else
#define MSG_VA_JERK _UxGT("Vx-jerk")
#define MSG_VB_JERK _UxGT("Vy-jerk")
#define MSG_VC_JERK _UxGT("Vz-jerk")
#endif
#define MSG_VE_JERK _UxGT("Ve-jerk")
#define MSG_VMAX _UxGT("Vmax")
#define MSG_VMIN _UxGT("Vmin")
Expand All @@ -108,9 +114,15 @@
#define MSG_A_RETRACT _UxGT("Acel. retrac.")
#define MSG_A_TRAVEL _UxGT("Acel. Viaje")
#define MSG_STEPS_PER_MM _UxGT("Trangos/mm")
#define MSG_XSTEPS _UxGT("X trangos/mm")
#define MSG_YSTEPS _UxGT("Y trangos/mm")
#define MSG_ZSTEPS _UxGT("Z trangos/mm")
#if IS_KINEMATIC
#define MSG_ASTEPS _UxGT("A trangos/mm")
#define MSG_BSTEPS _UxGT("B trangos/mm")
#define MSG_CSTEPS _UxGT("C trangos/mm")
#else
#define MSG_ASTEPS _UxGT("X trangos/mm")
#define MSG_BSTEPS _UxGT("Y trangos/mm")
#define MSG_CSTEPS _UxGT("Z trangos/mm")
#endif
#define MSG_ESTEPS _UxGT("E trangos/mm")
#define MSG_E1STEPS _UxGT("E1 trangos/mm")
#define MSG_E2STEPS _UxGT("E2 trangos/mm")
Expand Down
12 changes: 9 additions & 3 deletions Marlin/language_bg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,9 +83,15 @@
#define MSG_A_RETRACT _UxGT("A-откат")
#define MSG_A_TRAVEL _UxGT("A-travel")
#define MSG_STEPS_PER_MM _UxGT("Стъпки/mm")
#define MSG_XSTEPS _UxGT("X стъпки/mm")
#define MSG_YSTEPS _UxGT("Y стъпки/mm")
#define MSG_ZSTEPS _UxGT("Z стъпки/mm")
#if IS_KINEMATIC
#define MSG_ASTEPS _UxGT("Aстъпки/mm")
#define MSG_BSTEPS _UxGT("Bстъпки/mm")
#define MSG_CSTEPS _UxGT("Cстъпки/mm")
#else
#define MSG_ASTEPS _UxGT("Xстъпки/mm")
#define MSG_BSTEPS _UxGT("Yстъпки/mm")
#define MSG_CSTEPS _UxGT("Zстъпки/mm")
#endif
#define MSG_ESTEPS _UxGT("E стъпки/mm")
#define MSG_E1STEPS _UxGT("E1 стъпки/mm")
#define MSG_E2STEPS _UxGT("E2 стъпки/mm")
Expand Down
24 changes: 18 additions & 6 deletions Marlin/language_ca.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,9 +100,15 @@
#define MSG_SELECT _UxGT("Select")
#define MSG_ACC _UxGT("Accel")
#define MSG_JERK _UxGT("Jerk")
#define MSG_VX_JERK _UxGT("Vx-jerk")
#define MSG_VY_JERK _UxGT("Vy-jerk")
#define MSG_VZ_JERK _UxGT("Vz-jerk")
#if IS_KINEMATIC
#define MSG_VA_JERK _UxGT("Va-jerk")
#define MSG_VB_JERK _UxGT("Vb-jerk")
#define MSG_VC_JERK _UxGT("Vc-jerk")
#else
#define MSG_VA_JERK _UxGT("Vx-jerk")
#define MSG_VB_JERK _UxGT("Vy-jerk")
#define MSG_VC_JERK _UxGT("Vz-jerk")
#endif
#define MSG_VE_JERK _UxGT("Ve-jerk")
#define MSG_VMAX _UxGT("Vmax ")
#define MSG_VMIN _UxGT("Vmin")
Expand All @@ -111,9 +117,15 @@
#define MSG_A_RETRACT _UxGT("Accel. retracc")
#define MSG_A_TRAVEL _UxGT("Accel. Viatge")
#define MSG_STEPS_PER_MM _UxGT("Passos/mm")
#define MSG_XSTEPS _UxGT("Xpassos/mm")
#define MSG_YSTEPS _UxGT("Ypassos/mm")
#define MSG_ZSTEPS _UxGT("Zpassos/mm")
#if IS_KINEMATIC
#define MSG_ASTEPS _UxGT("Apassos/mm")
#define MSG_BSTEPS _UxGT("Bpassos/mm")
#define MSG_CSTEPS _UxGT("Cpassos/mm")
#else
#define MSG_ASTEPS _UxGT("Xpassos/mm")
#define MSG_BSTEPS _UxGT("Ypassos/mm")
#define MSG_CSTEPS _UxGT("Zpassos/mm")
#endif
#define MSG_ESTEPS _UxGT("Epassos/mm")
#define MSG_E1STEPS _UxGT("E1passos/mm")
#define MSG_E2STEPS _UxGT("E2passos/mm")
Expand Down
15 changes: 9 additions & 6 deletions Marlin/language_cn.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,9 +88,15 @@
#define MSG_PID_C "PID-C"
#define MSG_ACC "Accel"
#define MSG_JERK "Jerk"
#define MSG_VX_JERK "Vx-jerk"
#define MSG_VY_JERK "Vy-jerk"
#define MSG_VZ_JERK "Vz-jerk"
#if IS_KINEMATIC
#define MSG_VA_JERK "Va-jerk"
#define MSG_VB_JERK "Vb-jerk"
#define MSG_VC_JERK "Vc-jerk"
#else
#define MSG_VA_JERK "Vx-jerk"
#define MSG_VB_JERK "Vy-jerk"
#define MSG_VC_JERK "Vz-jerk"
#endif
#define MSG_VE_JERK "Ve-jerk"
#define MSG_VMAX "Vmax "
#define MSG_VMIN "Vmin"
Expand All @@ -99,9 +105,6 @@
#define MSG_A_RETRACT "A-retract"
#define MSG_A_TRAVEL "A-travel"
#define MSG_STEPS_PER_MM "Steps/mm"
#define MSG_XSTEPS "Xsteps/mm"
#define MSG_YSTEPS "Ysteps/mm"
#define MSG_ZSTEPS "Zsteps/mm"
#define MSG_ESTEPS "Esteps/mm"
#define MSG_E1STEPS "E1steps/mm"
#define MSG_E2STEPS "E2steps/mm"
Expand Down
42 changes: 27 additions & 15 deletions Marlin/language_cz.h
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Original file line number Diff line number Diff line change
Expand Up @@ -149,15 +149,15 @@
#define MSG_LEDS_ON _UxGT("Svetla Zap")
#define MSG_LEDS_OFF _UxGT("Svetla Vyp")
#define MSG_LED_PRESETS _UxGT("Svetla Predvolby")
#define MSG_SET_LEDS_RED _UxGT("Svetla Cervena")
#define MSG_SET_LEDS_ORANGE _UxGT("Svetla Oranzova")
#define MSG_SET_LEDS_YELLOW _UxGT("Svetla Zluta")
#define MSG_SET_LEDS_GREEN _UxGT("Svetla Zelena")
#define MSG_SET_LEDS_BLUE _UxGT("Svetla Modra")
#define MSG_SET_LEDS_INDIGO _UxGT("Svetla Indigo")
#define MSG_SET_LEDS_VIOLET _UxGT("Svetla Fialova")
#define MSG_SET_LEDS_WHITE _UxGT("Svetla Bila")
#define MSG_SET_LEDS_DEFAULT _UxGT("Svetla Vychozi")
#define MSG_SET_LEDS_RED _UxGT("Cervena")
#define MSG_SET_LEDS_ORANGE _UxGT("Oranzova")
#define MSG_SET_LEDS_YELLOW _UxGT("Zluta")
#define MSG_SET_LEDS_GREEN _UxGT("Zelena")
#define MSG_SET_LEDS_BLUE _UxGT("Modra")
#define MSG_SET_LEDS_INDIGO _UxGT("Indigo")
#define MSG_SET_LEDS_VIOLET _UxGT("Fialova")
#define MSG_SET_LEDS_WHITE _UxGT("Bila")
#define MSG_SET_LEDS_DEFAULT _UxGT("Vychozi")
#define MSG_CUSTOM_LEDS _UxGT("Vlastni svetla")
#define MSG_INTENSITY_R _UxGT("Cervena intenzita")
#define MSG_INTENSITY_G _UxGT("Zelena intezita")
Expand Down Expand Up @@ -196,9 +196,15 @@
#define MSG_SELECT _UxGT("Vybrat")
#define MSG_ACC _UxGT("Zrychl")
#define MSG_JERK _UxGT("Jerk")
#define MSG_VX_JERK _UxGT("Vx-jerk")
#define MSG_VY_JERK _UxGT("Vy-jerk")
#define MSG_VZ_JERK _UxGT("Vz-jerk")
#if IS_KINEMATIC
#define MSG_VA_JERK _UxGT("Va-jerk")
#define MSG_VB_JERK _UxGT("Vb-jerk")
#define MSG_VC_JERK _UxGT("Vc-jerk")
#else
#define MSG_VA_JERK _UxGT("Vx-jerk")
#define MSG_VB_JERK _UxGT("Vy-jerk")
#define MSG_VC_JERK _UxGT("Vz-jerk")
#endif
#define MSG_VE_JERK _UxGT("Ve-jerk")
#define MSG_VELOCITY _UxGT("Rychlost")
#define MSG_VMAX _UxGT("Vmax ")
Expand All @@ -209,9 +215,15 @@
#define MSG_A_RETRACT _UxGT("A-retrakt")
#define MSG_A_TRAVEL _UxGT("A-prejezd")
#define MSG_STEPS_PER_MM _UxGT("Kroku/mm")
#define MSG_XSTEPS _UxGT("Xkroku/mm")
#define MSG_YSTEPS _UxGT("Ykroku/mm")
#define MSG_ZSTEPS _UxGT("Zkroku/mm")
#if IS_KINEMATIC
#define MSG_ASTEPS _UxGT("Akroku/mm")
#define MSG_BSTEPS _UxGT("Bkroku/mm")
#define MSG_CSTEPS _UxGT("Ckroku/mm")
#else
#define MSG_ASTEPS _UxGT("Xkroku/mm")
#define MSG_BSTEPS _UxGT("Ykroku/mm")
#define MSG_CSTEPS _UxGT("Zkroku/mm")
#endif
#define MSG_ESTEPS _UxGT("Ekroku/mm")
#define MSG_E1STEPS _UxGT("E1kroku/mm")
#define MSG_E2STEPS _UxGT("E2kroku/mm")
Expand Down
42 changes: 27 additions & 15 deletions Marlin/language_cz_utf8.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,15 +151,15 @@
#define MSG_LEDS_ON _UxGT("Světla Zap")
#define MSG_LEDS_OFF _UxGT("Světla Vyp")
#define MSG_LED_PRESETS _UxGT("Světla Předvolby")
#define MSG_SET_LEDS_RED _UxGT("Světla Červená")
#define MSG_SET_LEDS_ORANGE _UxGT("Světla Oranžová")
#define MSG_SET_LEDS_YELLOW _UxGT("Světla Žlutá")
#define MSG_SET_LEDS_GREEN _UxGT("Světla Zelená")
#define MSG_SET_LEDS_BLUE _UxGT("Světla Modrá")
#define MSG_SET_LEDS_INDIGO _UxGT("Světla Indigo")
#define MSG_SET_LEDS_VIOLET _UxGT("Světla Fialová")
#define MSG_SET_LEDS_WHITE _UxGT("Světla Bílá")
#define MSG_SET_LEDS_DEFAULT _UxGT("Světla Výchozí")
#define MSG_SET_LEDS_RED _UxGT("Červená")
#define MSG_SET_LEDS_ORANGE _UxGT("Oranžová")
#define MSG_SET_LEDS_YELLOW _UxGT("Žlutá")
#define MSG_SET_LEDS_GREEN _UxGT("Zelená")
#define MSG_SET_LEDS_BLUE _UxGT("Modrá")
#define MSG_SET_LEDS_INDIGO _UxGT("Indigo")
#define MSG_SET_LEDS_VIOLET _UxGT("Fialová")
#define MSG_SET_LEDS_WHITE _UxGT("Bílá")
#define MSG_SET_LEDS_DEFAULT _UxGT("Výchozí")
#define MSG_CUSTOM_LEDS _UxGT("Vlastní světla")
#define MSG_INTENSITY_R _UxGT("Červená intenzita")
#define MSG_INTENSITY_G _UxGT("Zelená intezita")
Expand Down Expand Up @@ -198,9 +198,15 @@
#define MSG_SELECT _UxGT("Vybrat")
#define MSG_ACC _UxGT("Zrychl")
#define MSG_JERK _UxGT("Jerk")
#define MSG_VX_JERK _UxGT("Vx-jerk")
#define MSG_VY_JERK _UxGT("Vy-jerk")
#define MSG_VZ_JERK _UxGT("Vz-jerk")
#if IS_KINEMATIC
#define MSG_VA_JERK _UxGT("Va-jerk")
#define MSG_VB_JERK _UxGT("Vb-jerk")
#define MSG_VC_JERK _UxGT("Vc-jerk")
#else
#define MSG_VA_JERK _UxGT("Vx-jerk")
#define MSG_VB_JERK _UxGT("Vy-jerk")
#define MSG_VC_JERK _UxGT("Vz-jerk")
#endif
#define MSG_VE_JERK _UxGT("Ve-jerk")
#define MSG_VELOCITY _UxGT("Rychlost")
#define MSG_VMAX _UxGT("Vmax ")
Expand All @@ -211,9 +217,15 @@
#define MSG_A_RETRACT _UxGT("A-retrakt")
#define MSG_A_TRAVEL _UxGT("A-přejezd")
#define MSG_STEPS_PER_MM _UxGT("Kroků/mm")
#define MSG_XSTEPS _UxGT("Xkroků/mm")
#define MSG_YSTEPS _UxGT("Ykroků/mm")
#define MSG_ZSTEPS _UxGT("Zkroků/mm")
#if IS_KINEMATIC
#define MSG_ASTEPS _UxGT("Akroků/mm")
#define MSG_BSTEPS _UxGT("Bkroků/mm")
#define MSG_CSTEPS _UxGT("Ckroků/mm")
#else
#define MSG_ASTEPS _UxGT("Xkroků/mm")
#define MSG_BSTEPS _UxGT("Ykroků/mm")
#define MSG_CSTEPS _UxGT("Zkroků/mm")
#endif
#define MSG_ESTEPS _UxGT("Ekroků/mm")
#define MSG_E1STEPS _UxGT("E1kroků/mm")
#define MSG_E2STEPS _UxGT("E2kroků/mm")
Expand Down
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