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Update planner.cpp

Changed level and leveling to compensation
John Davis 10 years ago
parent
commit
ac204028e7
1 changed files with 16 additions and 16 deletions
  1. 16
    16
      Marlin/planner.cpp

+ 16
- 16
Marlin/planner.cpp View File

75
 float mintravelfeedrate;
75
 float mintravelfeedrate;
76
 unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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 unsigned long axis_steps_per_sqr_second[NUM_AXIS];
77
 
77
 
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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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+#ifdef ENABLE_AUTO_BED_COMPENSATION
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+// this holds the required transform to compensate for bed compensation
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+matrix_3x3 plan_bed_compensation_matrix = {
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 	1.0, 0.0, 0.0,
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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, 1.0, 0.0,
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 	0.0, 0.0, 1.0,
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 	0.0, 0.0, 1.0,
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 };
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 };
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-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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+#endif // #ifdef ENABLE_AUTO_BED_COMPENSATION
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86
 
87
 // The current position of the tool in absolute steps
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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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 long position[NUM_AXIS];   //rescaled from extern when axis_steps_per_unit are changed by gcode
528
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
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 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
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 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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 // calculation the caller must also provide the physical length of the line in millimeters.
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 // calculation the caller must also provide the physical length of the line in millimeters.
531
-#ifdef ENABLE_AUTO_BED_LEVELING
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+#ifdef ENABLE_AUTO_BED_COMPENSATION
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 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
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 void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
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 #else
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 #else
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 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
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 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
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-#endif  //ENABLE_AUTO_BED_LEVELING
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+#endif  //ENABLE_AUTO_BED_COMPENSATION
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 {
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 {
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   // Calculate the buffer head after we push this byte
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   // Calculate the buffer head after we push this byte
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   int next_buffer_head = next_block_index(block_buffer_head);
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   int next_buffer_head = next_block_index(block_buffer_head);
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     lcd_update();
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     lcd_update();
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   }
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   }
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548
 
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-#ifdef ENABLE_AUTO_BED_LEVELING
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-  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
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-#endif // ENABLE_AUTO_BED_LEVELING
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+#ifdef ENABLE_AUTO_BED_COMPENSATION
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+  apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
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+#endif // ENABLE_AUTO_BED_COMPENSATION
552
 
552
 
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   // The target position of the tool in absolute steps
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   // The target position of the tool in absolute steps
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   // Calculate target position in absolute steps
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   // Calculate target position in absolute steps
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   st_wake_up();
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   st_wake_up();
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 }
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 }
1023
 
1023
 
1024
-#ifdef ENABLE_AUTO_BED_LEVELING
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+#ifdef ENABLE_AUTO_BED_COMPENSATION
1025
 vector_3 plan_get_position() {
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 vector_3 plan_get_position() {
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 	vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
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 	vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
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1027
 
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 	//position.debug("in plan_get position");
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 	//position.debug("in plan_get position");
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-	//plan_bed_level_matrix.debug("in plan_get bed_level");
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-	matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
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+	//plan_bed_compensation_matrix.debug("in plan_get bed_compensation");
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+	matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_compensation_matrix);
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 	//inverse.debug("in plan_get inverse");
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 	//inverse.debug("in plan_get inverse");
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 	position.apply_rotation(inverse);
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 	position.apply_rotation(inverse);
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 	//position.debug("after rotation");
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 	//position.debug("after rotation");
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1034
 
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 	return position;
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 	return position;
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 }
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 }
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-#endif // ENABLE_AUTO_BED_LEVELING
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+#endif // ENABLE_AUTO_BED_COMPENSATION
1038
 
1038
 
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-#ifdef ENABLE_AUTO_BED_LEVELING
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+#ifdef ENABLE_AUTO_BED_COMPENSATION
1040
 void plan_set_position(float x, float y, float z, const float &e)
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 void plan_set_position(float x, float y, float z, const float &e)
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 {
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 {
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-  apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
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+  apply_rotation_xyz(plan_bed_compensation_matrix, x, y, z);
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 #else
1043
 #else
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 void plan_set_position(const float &x, const float &y, const float &z, const float &e)
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 void plan_set_position(const float &x, const float &y, const float &z, const float &e)
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 {
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 {
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-#endif // ENABLE_AUTO_BED_LEVELING
1046
+#endif // ENABLE_AUTO_BED_COMPENSATION
1047
 
1047
 
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   position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
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   position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
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   position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
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   position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);

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