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Fix/Improve junction deviation

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- Respect axis max acceleration limits instead of forcing a fixed acceleration value.
- The `junction_unit_vec` ensures proper handling of entry and exit speeds even when the axes involved have different limits.
This commit is contained in:
Sebastianv650
2018-05-31 08:35:54 +02:00
committed by Scott Lahteine
parent c010b1f43f
commit 568b19e7d4
4 changed files with 43 additions and 7 deletions
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24
Marlin/planner.h
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@@ -788,6 +788,30 @@ class Planner {
static void recalculate_trapezoids();
static void recalculate();
#if ENABLED(JUNCTION_DEVIATION)
#if ENABLED(JUNCTION_DEVIATION_INCLUDE_E)
#define JD_AXES XYZE
#else
#define JD_AXES XYZ
#endif
FORCE_INLINE static void normalize_junction_vector(float (&vector)[JD_AXES]) {
float magnitude_sq = 0.0;
for (uint8_t idx = 0; idx < JD_AXES; idx++) if (vector[idx]) magnitude_sq += sq(vector[idx]);
const float inv_magnitude = 1.0 / SQRT(magnitude_sq);
for (uint8_t idx = 0; idx < JD_AXES; idx++) vector[idx] *= inv_magnitude;
}
FORCE_INLINE static float limit_value_by_axis_maximum(const float &max_value, float (&unit_vec)[JD_AXES]) {
float limit_value = max_value;
for (uint8_t idx = 0; idx < JD_AXES; idx++) if (unit_vec[idx]) // Avoid divide by zero
NOMORE(limit_value, ABS(max_acceleration_mm_per_s2[idx] / unit_vec[idx]));
return limit_value;
}
#endif // JUNCTION_DEVIATION
};
#define PLANNER_XY_FEEDRATE() (MIN(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))