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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by GitHub
parent 733d5fd57d
commit 7726af9c53
98 changed files with 5040 additions and 2256 deletions
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44
Marlin/src/gcode/motion/G2_G3.cpp
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@@ -63,7 +63,7 @@ void plan_arc(
case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
}
#else
constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS);
#endif
// Radius vector from center to current location
@@ -73,8 +73,8 @@ void plan_arc(
center_P = current_position[p_axis] - rvec.a,
center_Q = current_position[q_axis] - rvec.b,
rt_X = cart[p_axis] - center_P,
rt_Y = cart[q_axis] - center_Q,
start_L = current_position[l_axis];
rt_Y = cart[q_axis] - center_Q
OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]);
#ifdef MIN_ARC_SEGMENTS
uint16_t min_segments = MIN_ARC_SEGMENTS;
@@ -109,8 +109,9 @@ void plan_arc(
#endif
}
float linear_travel = cart[l_axis] - start_L;
#if HAS_Z_AXIS
float linear_travel = cart[l_axis] - start_L;
#endif
#if HAS_EXTRUDERS
float extruder_travel = cart.e - current_position.e;
#endif
@@ -118,9 +119,11 @@ void plan_arc(
// If circling around...
if (ENABLED(ARC_P_CIRCLES) && circles) {
const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder
part_per_circle = RADIANS(360) / total_angular, // Each circle's part of the total
l_per_circle = linear_travel * part_per_circle; // L movement per circle
part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total
#if HAS_Z_AXIS
const float l_per_circle = linear_travel * part_per_circle; // L movement per circle
#endif
#if HAS_EXTRUDERS
const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle
#endif
@@ -128,17 +131,15 @@ void plan_arc(
xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
for (uint16_t n = circles; n--;) {
TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis
temp_position[l_axis] += l_per_circle; // Destination L axis
TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle); // Destination L axis
plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle
}
linear_travel = cart[l_axis] - current_position[l_axis];
#if HAS_EXTRUDERS
extruder_travel = cart.e - current_position.e;
#endif
TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]);
TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e);
}
const float flat_mm = radius * angular_travel,
mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm);
if (mm_of_travel < 0.001f) return;
const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
@@ -187,17 +188,19 @@ void plan_arc(
// Vector rotation matrix values
xyze_pos_t raw;
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
sq_theta_per_segment = sq(theta_per_segment),
sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
#if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL)
const float linear_per_segment = linear_travel / segments;
#endif
#if HAS_EXTRUDERS
const float extruder_per_segment = extruder_travel / segments;
#endif
// Initialize the linear axis
raw[l_axis] = current_position[l_axis];
TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]);
// Initialize the extruder axis
TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
@@ -246,11 +249,8 @@ void plan_arc(
// Update raw location
raw[p_axis] = center_P + rvec.a;
raw[q_axis] = center_Q + rvec.b;
#if ENABLED(AUTO_BED_LEVELING_UBL)
raw[l_axis] = start_L;
UNUSED(linear_per_segment);
#else
raw[l_axis] += linear_per_segment;
#if HAS_Z_AXIS
raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment);
#endif
TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
@@ -268,7 +268,7 @@ void plan_arc(
// Ensure last segment arrives at target location.
raw = cart;
TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
apply_motion_limits(raw);
@@ -280,7 +280,7 @@ void plan_arc(
OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)
);
TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L));
current_position = raw;
} // plan_arc