diff options
Diffstat (limited to 'src/Movement/Kinematics/LinearDeltaKinematics.cpp')
| -rw-r--r-- | src/Movement/Kinematics/LinearDeltaKinematics.cpp | 25 |
1 files changed, 20 insertions, 5 deletions
diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.cpp b/src/Movement/Kinematics/LinearDeltaKinematics.cpp index 28ed94e4..ecfc093d 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.cpp +++ b/src/Movement/Kinematics/LinearDeltaKinematics.cpp @@ -134,7 +134,7 @@ void LinearDeltaKinematics::InverseTransform(float Ha, float Hb, float Hc, float } // Convert Cartesian coordinates to motor steps -bool LinearDeltaKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool allowModeChange) const +bool LinearDeltaKinematics::CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[], bool isCoordinated) const { //TODO return false if we can't transform the position for (size_t axis = 0; axis < min<size_t>(numVisibleAxes, DELTA_AXES); ++axis) @@ -163,20 +163,20 @@ void LinearDeltaKinematics::MotorStepsToCartesian(const int32_t motorPos[], cons } // Return true if the specified XY position is reachable by the print head reference point. -bool LinearDeltaKinematics::IsReachable(float x, float y) const +bool LinearDeltaKinematics::IsReachable(float x, float y, bool isCoordinated) const { return fsquare(x) + fsquare(y) < printRadiusSquared; } // Limit the Cartesian position that the user wants to move to -bool LinearDeltaKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed) const +bool LinearDeltaKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed, bool isCoordinated) const { const AxesBitmap allAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); bool limited = false; if ((axesHomed & allAxes) == allAxes) { // If axes have been homed on a delta printer and this isn't a homing move, check for movements outside limits. - // Skip this check if axes have not been homed, so that extruder-only moved are allowed before homing + // Skip this check if axes have not been homed, so that extruder-only moves are allowed before homing // Constrain the move to be within the build radius const float diagonalSquared = fsquare(coords[X_AXIS]) + fsquare(coords[Y_AXIS]); if (diagonalSquared > printRadiusSquared) @@ -735,7 +735,22 @@ void LinearDeltaKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, c if (highEnd) { const float hitPoint = GetHomedCarriageHeight(axis); - dda.SetDriveCoordinate(hitPoint * stepsPerMm[axis], axis); + dda.SetDriveCoordinate(lrintf(hitPoint * stepsPerMm[axis]), axis); + } +} + +// Limit the speed and acceleration of a move to values that the mechanics can handle. +// The speeds in Cartesian space have already been limited. +void LinearDeltaKinematics::LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector) const +{ + // Limit the speed in the XY plane to the lower of the X and Y maximum speeds, and similarly for the acceleration + const float xyFactor = sqrtf(fsquare(normalisedDirectionVector[X_AXIS]) + fsquare(normalisedDirectionVector[Y_AXIS])); + if (xyFactor > 0.01) + { + const Platform& platform = reprap.GetPlatform(); + const float maxSpeed = min<float>(platform.MaxFeedrate(X_AXIS), platform.MaxFeedrate(Y_AXIS)); + const float maxAcceleration = min<float>(platform.Acceleration(X_AXIS), platform.Acceleration(Y_AXIS)); + dda.LimitSpeedAndAcceleration(maxSpeed/xyFactor, maxAcceleration/xyFactor); } } |