add a junctin deviation for Z only moves, and allow it to be totally disabled for...

default is use the junction deviation for z moves

diff --git a/ConfigSamples/Smoothieboard/config b/ConfigSamples/Smoothieboard/config
index 3af0b86..669f738 100644 (file)
--- a/ConfigSamples/Smoothieboard/config
+++ b/ConfigSamples/Smoothieboard/config
@@ -16,13 +16,14 @@ gamma_steps_per_mm                           1600             # Steps per mm for
 # Planner module configuration : Look-ahead and acceleration configuration
 planner_queue_size                           32               # DO NOT CHANGE THIS UNLESS YOU KNOW EXACTLY WHAT YOU ARE DOING
 acceleration                                 3000             # Acceleration in mm/second/second.
-#z_acceleration                              500              # Acceleration for Z only moves in mm/s^2, 0 disables it, disabled by default. DO NOT SET ON A DELTA
+#z_acceleration                              500              # Acceleration for Z only moves in mm/s^2, 0 uses acceleration which is the default. DO NOT SET ON A DELTA
 acceleration_ticks_per_second                1000             # Number of times per second the speed is updated
 junction_deviation                           0.05             # Similar to the old "max_jerk", in millimeters,
-                                                              # see https://github.com/grbl/grbl/blob/master/planner.c#L409
+                                                              # see https://github.com/grbl/grbl/blob/master/planner.c
                                                               # and https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.8
                                                               # Lower values mean being more careful, higher values means being
                                                               # faster and have more jerk
+#z_junction_deviation                        0.0              # for Z only moves, -1 uses junction_deviation, zero disables junction_deviation on z moves DO NOT SET ON A DELTA
 #minimum_planner_speed                       0.0              # sets the minimum planner speed in mm/sec
 
 # Stepper module configuration

diff --git a/src/modules/robot/Planner.cpp b/src/modules/robot/Planner.cpp
index 2b2a7e2..372e4c9 100644 (file)
--- a/src/modules/robot/Planner.cpp
+++ b/src/modules/robot/Planner.cpp
@@ -30,6 +30,7 @@ using namespace std;
 #define z_acceleration_checksum        CHECKSUM("z_acceleration")
 #define max_jerk_checksum              CHECKSUM("max_jerk")
 #define junction_deviation_checksum    CHECKSUM("junction_deviation")
+#define z_junction_deviation_checksum  CHECKSUM("z_junction_deviation")
 #define minimum_planner_speed_checksum CHECKSUM("minimum_planner_speed")
 
 // The Planner does the acceleration math for the queue of Blocks ( movements ).
@@ -46,7 +47,8 @@ void Planner::config_load(){
     this->acceleration = THEKERNEL->config->value(acceleration_checksum)->by_default(100.0F )->as_number(); // Acceleration is in mm/s^2
     this->z_acceleration = THEKERNEL->config->value(z_acceleration_checksum)->by_default(0.0F )->as_number(); // disabled by default
 
-    this->junction_deviation = THEKERNEL->config->value(junction_deviation_checksum)->by_default(  0.05F)->as_number();
+    this->junction_deviation = THEKERNEL->config->value(junction_deviation_checksum)->by_default(0.05F)->as_number();
+    this->z_junction_deviation = THEKERNEL->config->value(z_junction_deviation_checksum)->by_default(-1)->as_number(); // disabled by default
     this->minimum_planner_speed = THEKERNEL->config->value(minimum_planner_speed_checksum)->by_default(0.0f)->as_number();
 }
 
@@ -54,7 +56,7 @@ void Planner::config_load(){
 // Append a block to the queue, compute it's speed factors
 void Planner::append_block( float actuator_pos[], float rate_mm_s, float distance, float unit_vec[] )
 {
-    float acceleration;
+    float acceleration, junction_deviation;
 
     // Create ( recycle ) a new block
     Block* block = THEKERNEL->conveyor->queue.head_ref();
@@ -74,12 +76,14 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
         block->steps[i] = labs(steps);
     }
 
+    acceleration= this->acceleration;
+    junction_deviation= this->junction_deviation;
+
     // use either regular acceleration or a z only move accleration
-    if(this->z_acceleration > 0.0F && block->steps[ALPHA_STEPPER] == 0 && block->steps[BETA_STEPPER] == 0) {
+    if(block->steps[ALPHA_STEPPER] == 0 && block->steps[BETA_STEPPER] == 0) {
         // z only move
-        acceleration= this->z_acceleration;
-    } else{
-        acceleration= this->acceleration;
+        if(this->z_acceleration > 0.0F) acceleration= this->z_acceleration;
+        if(this->z_junction_deviation >= 0.0F) junction_deviation= this->z_junction_deviation;
     }
 
     // Max number of steps, for all axes
@@ -121,7 +125,7 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
     {
         float previous_nominal_speed = THEKERNEL->conveyor->queue.item_ref(THEKERNEL->conveyor->queue.prev(THEKERNEL->conveyor->queue.head_i))->nominal_speed;
 
-        if (previous_nominal_speed > 0.0F) {
+        if (previous_nominal_speed > 0.0F && junction_deviation > 0.0F) {
             // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
             // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
             float cos_theta = - this->previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
@@ -135,7 +139,7 @@ void Planner::append_block( float actuator_pos[], float rate_mm_s, float distanc
                 if (cos_theta > -0.95F) {
                     // Compute maximum junction velocity based on maximum acceleration and junction deviation
                     float sin_theta_d2 = sqrtf(0.5F * (1.0F - cos_theta)); // Trig half angle identity. Always positive.
-                    vmax_junction = min(vmax_junction, sqrtf(acceleration * this->junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));
+                    vmax_junction = min(vmax_junction, sqrtf(acceleration * junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));
                 }
             }
         }

diff --git a/src/modules/robot/Planner.h b/src/modules/robot/Planner.h
index fb7a504..3c1684c 100644 (file)
--- a/src/modules/robot/Planner.h
+++ b/src/modules/robot/Planner.h
@@ -30,6 +30,7 @@ private:
     float acceleration;          // Setting
     float z_acceleration;        // Setting
     float junction_deviation;    // Setting
+    float z_junction_deviation;  // Setting
     float minimum_planner_speed; // Setting
 };