diff options
Diffstat (limited to 'src/Movement/Move.cpp')
| -rw-r--r-- | src/Movement/Move.cpp | 64 |
1 files changed, 36 insertions, 28 deletions
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index e8c09e76..a768d391 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -8,6 +8,7 @@ #include "Move.h" #include "Platform.h" #include "RepRap.h" +#include "Kinematics/LinearDeltaKinematics.h" // temporary Move::Move() : currentDda(NULL), scheduledMoves(0), completedMoves(0) { @@ -156,7 +157,7 @@ void Move::Spin() // We have a new move if (simulationMode < 2) // in simulation mode 2 and higher, we don't process incoming moves beyond this point { - const bool doMotorMapping = (nextMove.moveType == 0) || (nextMove.moveType == 1 && !IsDeltaMode()); + const bool doMotorMapping = (nextMove.moveType == 0) || (nextMove.moveType == 1 && kinematics->GetHomingMode() == Kinematics::homeCartesianAxes); if (doMotorMapping) { AxisAndBedTransform(nextMove.coords, nextMove.xAxes, nextMove.moveType == 0); @@ -266,6 +267,12 @@ void Move::Spin() reprap.GetPlatform().ClassReport(longWait); } +// Try to push some babystepping through the lookahead queue +float Move::PushBabyStepping(float amount) +{ + return ddaRingAddPointer->AdvanceBabyStepping(amount); +} + // Change the kinematics to the specified type if it isn't already // If it is already correct leave its parameters alone. // This violates our rule on no dynamic memory allocation after the initialisation phase, @@ -295,8 +302,8 @@ bool Move::IsAccessibleProbePoint(float x, float y) const // Pause the print as soon as we can. // Returns the file position of the first queue move we are going to skip, or noFilePosition we we are not skipping any moves. // We update 'positions' to the positions and feed rate expected for the next move, and the amount of extrusion in the moves we skipped. -// If we are not skipping any moves then the feed rate is left alone, therefore the caller should set this up first. -FilePosition Move::PausePrint(float positions[DRIVES], float& pausedFeedRate, uint32_t xAxes) +// If we are not skipping any moves then the feed rate and iobits are left alone, therefore the caller should set them up first. +FilePosition Move::PausePrint(RestorePoint& rp, uint32_t xAxes) { // Find a move we can pause after. // Ideally, we would adjust a move if necessary and possible so that we can pause after it, but for now we don't do that. @@ -355,13 +362,17 @@ FilePosition Move::PausePrint(float positions[DRIVES], float& pausedFeedRate, ui // We are going to skip some moves. dda points to the last move we are going to print. for (size_t axis = 0; axis < numAxes; ++axis) { - positions[axis] = dda->GetEndCoordinate(axis, false); + rp.moveCoords[axis] = dda->GetEndCoordinate(axis, false); } for (size_t drive = numAxes; drive < DRIVES; ++drive) { - positions[drive] = 0.0; // clear out extruder movement + rp.moveCoords[drive] = 0.0; // clear out extruder movement } - pausedFeedRate = dda->GetRequestedSpeed(); + rp.feedRate = dda->GetRequestedSpeed(); + +#if SUPPORT_IOBITS + rp.ioBits = dda->GetIoBits(); +#endif // Free the DDAs for the moves we are going to skip, and work out how much extrusion they would have performed dda = ddaRingAddPointer; @@ -369,7 +380,7 @@ FilePosition Move::PausePrint(float positions[DRIVES], float& pausedFeedRate, ui { for (size_t drive = numAxes; drive < DRIVES; ++drive) { - positions[drive] += dda->GetEndCoordinate(drive, true); // update the amount of extrusion we are going to skip + rp.moveCoords[drive] += dda->GetEndCoordinate(drive, true); // update the amount of extrusion we are going to skip } (void)dda->Free(); dda = dda->GetNext(); @@ -379,7 +390,7 @@ FilePosition Move::PausePrint(float positions[DRIVES], float& pausedFeedRate, ui } else { - GetCurrentUserPosition(positions, 0, xAxes); // gets positions and clears out extrusion values + GetCurrentUserPosition(rp.moveCoords, 0, xAxes); // gets positions and clears out extrusion values } return fPos; @@ -458,6 +469,16 @@ void Move::Diagnostics(MessageType mtype) #endif } +// Set the current position to be this +void Move::SetNewPosition(const float positionNow[DRIVES], bool doBedCompensation) +{ + float newPos[DRIVES]; + memcpy(newPos, positionNow, sizeof(newPos)); // copy to local storage because Transform modifies it + AxisAndBedTransform(newPos, reprap.GetCurrentXAxes(), doBedCompensation); + SetLiveCoordinates(newPos); + SetPositions(newPos); +} + // These are the actual numbers we want in the positions, so don't transform them. void Move::SetPositions(const float move[DRIVES]) { @@ -789,7 +810,7 @@ bool Move::TryStartNextMove(uint32_t startTime) // This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'. void Move::HitLowStop(size_t axis, DDA* hitDDA) { - if (axis < reprap.GetGCodes().GetTotalAxes() && !IsDeltaMode()) // should always be true + if (axis < reprap.GetGCodes().GetTotalAxes() && !IsDeltaMode() && hitDDA->IsHomingAxes()) { JustHomed(axis, reprap.GetPlatform().AxisMinimum(axis), hitDDA); } @@ -798,7 +819,7 @@ void Move::HitLowStop(size_t axis, DDA* hitDDA) // This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'. void Move::HitHighStop(size_t axis, DDA* hitDDA) { - if (axis < reprap.GetGCodes().GetTotalAxes()) // should always be true + if (axis < reprap.GetGCodes().GetTotalAxes() && hitDDA->IsHomingAxes()) { const float hitPoint = (IsDeltaMode()) ? ((LinearDeltaKinematics*)kinematics)->GetHomedCarriageHeight(axis) // this is a delta printer, so the motor is at the homed carriage height for this drive @@ -810,15 +831,16 @@ void Move::HitHighStop(size_t axis, DDA* hitDDA) // This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'. void Move::JustHomed(size_t axisHomed, float hitPoint, DDA* hitDDA) { - if (IsCoreXYAxis(axisHomed)) + if (kinematics->DriveIsShared(axisHomed)) { - float tempCoordinates[XYZ_AXES]; - for (size_t axis = 0; axis < XYZ_AXES; ++axis) + float tempCoordinates[MaxAxes]; + const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes(); + for (size_t axis = 0; axis < numTotalAxes; ++axis) { tempCoordinates[axis] = hitDDA->GetEndCoordinate(axis, false); } tempCoordinates[axisHomed] = hitPoint; - hitDDA->SetPositions(tempCoordinates, XYZ_AXES); + hitDDA->SetPositions(tempCoordinates, numTotalAxes); } else { @@ -994,18 +1016,4 @@ void Move::PrintCurrentDda() const } } -// Return true if the specified axis shares its motors with another. Safe to call for extruders as well as axes. -bool Move::IsCoreXYAxis(size_t axis) const -{ - switch(kinematics->GetKinematicsType()) - { - case KinematicsType::coreXY: - return axis == X_AXIS || axis == Y_AXIS; - case KinematicsType::coreXZ: - return axis == X_AXIS || axis == Z_AXIS; - default: - return false; - } -} - // End |