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♻️ Refactor Linear / Logical / Distinct Axes (#21953)

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* More patches supporting EXTRUDERS 0
* Extend types in prep for more axes
This commit is contained in:
Scott Lahteine
2021-05-24 16:38:57 -05:00
committed by GitHub
parent 0d7075b90c
commit dd4990252e
43 changed files with 1142 additions and 788 deletions
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31
Marlin/src/gcode/motion/G2_G3.cpp
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@@ -109,23 +109,32 @@ void plan_arc(
#endif
}
float linear_travel = cart[l_axis] - start_L,
extruder_travel = cart.e - current_position.e;
float linear_travel = cart[l_axis] - start_L;
#if HAS_EXTRUDERS
float extruder_travel = cart.e - current_position.e;
#endif
// 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
e_per_circle = extruder_travel * part_per_circle; // E movement per circle
l_per_circle = linear_travel * part_per_circle; // L movement per circle
#if HAS_EXTRUDERS
const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle
#endif
xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position
for (uint16_t n = circles; n--;) {
temp_position.e += e_per_circle; // Destination E axis
TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E 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];
extruder_travel = cart.e - current_position.e;
#if HAS_EXTRUDERS
extruder_travel = cart.e - current_position.e;
#endif
}
const float flat_mm = radius * angular_travel,
@@ -179,16 +188,19 @@ void plan_arc(
xyze_pos_t raw;
const float theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_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_EXTRUDERS
const float extruder_per_segment = extruder_travel / segments;
#endif
// Initialize the linear axis
raw[l_axis] = current_position[l_axis];
// Initialize the extruder axis
raw.e = current_position.e;
TERN_(HAS_EXTRUDERS, raw.e = current_position.e);
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / seg_length;
@@ -240,7 +252,8 @@ void plan_arc(
#else
raw[l_axis] += linear_per_segment;
#endif
raw.e += extruder_per_segment;
TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment);
apply_motion_limits(raw);