From 5d28575d4d113aadf2f2c5a341b898e6a5b62d2a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 25 Feb 2019 14:28:01 -0600 Subject: [PATCH] Clean up some motion code --- Marlin/src/feature/fwretract.cpp | 2 +- Marlin/src/gcode/calibrate/G28.cpp | 4 +- Marlin/src/module/motion.cpp | 61 +++++++++++------------------- Marlin/src/module/motion.h | 8 +--- 4 files changed, 26 insertions(+), 49 deletions(-) diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp index cb090af71..582614bb9 100644 --- a/Marlin/src/feature/fwretract.cpp +++ b/Marlin/src/feature/fwretract.cpp @@ -142,7 +142,7 @@ void FWRetract::retract(const bool retracting set_destination_from_current(); #if ENABLED(RETRACT_SYNC_MIXING) - uint8_t old_mixing_tool = mixer.get_current_vtool(); + const uint8_t old_mixing_tool = mixer.get_current_vtool(); mixer.T(MIXER_AUTORETRACT_TOOL); #endif diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 205ff7b09..fc5b5fedb 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -263,9 +263,7 @@ void GcodeSuite::G28(const bool always_home_all) { #endif setup_for_endstop_or_probe_move(); - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); - #endif + endstops.enable(true); // Enable endstops for next homing move #if ENABLED(DELTA) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 481719b74..b418f2988 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -253,8 +253,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { * Move the planner to the current position from wherever it last moved * (or from wherever it has been told it is located). */ -void line_to_current_position() { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); +void line_to_current_position(const float &fr_mm_s/*=feedrate_mm_s*/) { + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s, active_extruder); } /** @@ -270,7 +270,7 @@ void buffer_line_to_destination(const float fr_mm_s) { /** * Calculate delta, start a line, and set current_position to destination */ - void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) { + void prepare_uninterpolated_move_to_destination(const float &fr_mm_s/*=0.0*/) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination); #endif @@ -297,19 +297,18 @@ void buffer_line_to_destination(const float fr_mm_s) { * Plan a move to (X, Y, Z) and set the current_position */ void do_blocking_move_to(const float rx, const float ry, const float rz, const float &fr_mm_s/*=0.0*/) { - const float old_feedrate_mm_s = feedrate_mm_s; - #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz); #endif - const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); + const float z_feedrate = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS), + xy_feedrate = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; #if ENABLED(DELTA) if (!position_is_reachable(rx, ry)) return; - feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; + REMEMBER(fr, feedrate_mm_s, xy_feedrate); set_destination_from_current(); // sync destination at the start @@ -373,7 +372,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f destination[X_AXIS] = rx; destination[Y_AXIS] = ry; - prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S); + prepare_uninterpolated_move_to_destination(xy_feedrate); // If Z needs to lower, do it after moving XY if (destination[Z_AXIS] > rz) { @@ -385,27 +384,22 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < rz) { - feedrate_mm_s = z_feedrate; current_position[Z_AXIS] = rz; - line_to_current_position(); + line_to_current_position(z_feedrate); } - feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; current_position[X_AXIS] = rx; current_position[Y_AXIS] = ry; - line_to_current_position(); + line_to_current_position(xy_feedrate); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > rz) { - feedrate_mm_s = z_feedrate; current_position[Z_AXIS] = rz; - line_to_current_position(); + line_to_current_position(z_feedrate); } #endif - feedrate_mm_s = old_feedrate_mm_s; - #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to"); #endif @@ -423,31 +417,20 @@ void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm } // -// Prepare to do endstop or probe moves -// with custom feedrates. +// Prepare to do endstop or probe moves with custom feedrates. +// - Save / restore current feedrate and multiplier // -// - Save current feedrates -// - Reset the rate multiplier -// -void bracket_probe_move(const bool before) { - static float saved_feedrate_mm_s; - static int16_t saved_feedrate_percentage; - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position); - #endif - if (before) { - saved_feedrate_mm_s = feedrate_mm_s; - saved_feedrate_percentage = feedrate_percentage; - feedrate_percentage = 100; - } - else { - feedrate_mm_s = saved_feedrate_mm_s; - feedrate_percentage = saved_feedrate_percentage; - } +static float saved_feedrate_mm_s; +static int16_t saved_feedrate_percentage; +void setup_for_endstop_or_probe_move() { + saved_feedrate_mm_s = feedrate_mm_s; + saved_feedrate_percentage = feedrate_percentage; + feedrate_percentage = 100; +} +void clean_up_after_endstop_or_probe_move() { + feedrate_mm_s = saved_feedrate_mm_s; + feedrate_percentage = saved_feedrate_percentage; } - -void setup_for_endstop_or_probe_move() { bracket_probe_move(true); } -void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); } #if HAS_SOFTWARE_ENDSTOPS diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 515a684a3..275fafe74 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -149,7 +149,7 @@ void sync_plan_position_e(); * Move the planner to the current position from wherever it last moved * (or from wherever it has been told it is located). */ -void line_to_current_position(); +void line_to_current_position(const float &fr_mm_s=feedrate_mm_s); /** * Move the planner to the position stored in the destination array, which is @@ -158,7 +158,7 @@ void line_to_current_position(); void buffer_line_to_destination(const float fr_mm_s); #if IS_KINEMATIC - void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0); + void prepare_uninterpolated_move_to_destination(const float &fr_mm_s=0); #endif void prepare_move_to_destination(); @@ -182,10 +182,6 @@ FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZE], const float &fr_ void setup_for_endstop_or_probe_move(); void clean_up_after_endstop_or_probe_move(); -void bracket_probe_move(const bool before); -void setup_for_endstop_or_probe_move(); -void clean_up_after_endstop_or_probe_move(); - // // Homing //