From 91db7930dc7c8e429f579549544183ac94c59200 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 1 Mar 2018 04:30:41 -0600
Subject: [PATCH] Drop SCARA_FEEDRATE_SCALING
The updated planner takes the length of the move, so this pre-calculation is no longer needed.
---
.../src/config/examples/SCARA/Configuration.h | 1 -
Marlin/src/gcode/motion/G2_G3.cpp | 27 ++-----------------
Marlin/src/module/motion.cpp | 25 ++---------------
3 files changed, 4 insertions(+), 49 deletions(-)
diff --git a/Marlin/src/config/examples/SCARA/Configuration.h b/Marlin/src/config/examples/SCARA/Configuration.h
index 88b89ab888..f927c57381 100644
--- a/Marlin/src/config/examples/SCARA/Configuration.h
+++ b/Marlin/src/config/examples/SCARA/Configuration.h
@@ -73,7 +73,6 @@
#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
//#define DEBUG_SCARA_KINEMATICS
- //#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
index 46dbd8b4f0..6ba2aa41a6 100644
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -141,14 +141,6 @@ void plan_arc(
int8_t arc_recalc_count = N_ARC_CORRECTION;
#endif
- #if ENABLED(SCARA_FEEDRATE_SCALING)
- // SCARA needs to scale the feed rate from mm/s to degrees/s
- const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
- inverse_secs = inv_segment_length * fr_mm_s;
- float oldA = stepper.get_axis_position_degrees(A_AXIS),
- oldB = stepper.get_axis_position_degrees(B_AXIS);
- #endif
-
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.manage_heater();
@@ -188,26 +180,11 @@ void plan_arc(
clamp_to_software_endstops(raw);
- #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.
- inverse_kinematics(raw);
- ADJUST_DELTA(raw);
- 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);
- oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
- #else
- planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
- #endif
+ planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
}
// Ensure last segment arrives at target location.
- #if ENABLED(SCARA_FEEDRATE_SCALING)
- inverse_kinematics(cart);
- ADJUST_DELTA(cart);
- planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
- #else
- planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
- #endif
+ planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 819faf1ef6..a12a987163 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -593,14 +593,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
// 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
- const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
- inverse_secs = inv_segment_length * _feedrate_mm_s;
- float oldA = stepper.get_axis_position_degrees(A_AXIS),
- oldB = stepper.get_axis_position_degrees(B_AXIS);
- #endif
-
// Get the current position as starting point
float raw[XYZE];
COPY(raw, current_position);
@@ -625,24 +617,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif
ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
- #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, 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, cartesian_segment_mm);
- #endif
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
}
// 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, cartesian_segment_mm);
- #else
- planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
- #endif
+ planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder, cartesian_segment_mm);
return false; // caller will update current_position
}
--
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