PrintLine Class Reference

#include <motion.h>

Public Member Functions
bool	areParameterUpToDate ()
void	invalidateParameter ()
void	setParameterUpToDate ()
bool	isStartSpeedFixed ()
void	setStartSpeedFixed (bool newState)
void	fixStartAndEndSpeed ()
bool	isEndSpeedFixed ()
void	setEndSpeedFixed (bool newState)
bool	isWarmUp ()
uint8_t	getWaitForXLinesFilled ()
void	setWaitForXLinesFilled (uint8_t b)
bool	isExtruderForwardMove ()
void	block ()
void	unblock ()
bool	isBlocked ()
bool	isCheckEndstops ()
bool	isNominalMove ()
bool	setNominalMove ()
void	checkEndstops ()
void	setXMoveFinished ()
void	setYMoveFinished ()
void	setZMoveFinished ()
void	setXYMoveFinished ()
bool	isXPositiveMove ()
bool	isXNegativeMove ()
bool	isYPositiveMove ()
bool	isYNegativeMove ()
bool	isZPositiveMove ()
bool	isZNegativeMove ()
bool	isEPositiveMove ()
bool	isENegativeMove ()
bool	isXMove ()
bool	isYMove ()
bool	isXOrYMove ()
bool	isZMove ()
bool	isEMove ()
bool	isEOnlyMove ()
bool	isNoMove ()
bool	isXYZMove ()
bool	isMoveOfAxis (uint8_t axis)
void	setMoveOfAxis (uint8_t axis)
void	setPositiveDirectionForAxis (uint8_t axis)
void	updateAdvanceSteps (unsigned int v, uint8_t max_loops, bool accelerate)
bool	moveDecelerating ()
bool	moveAccelerating ()
bool	isFullstepping ()
bool	startXStep ()
bool	startYStep ()
void	startZStep ()
void	updateStepsParameter ()
float	safeSpeed ()
void	calculateMove (float axis_diff[], uint8_t pathOptimize)
void	logLine ()
long	getWaitTicks ()
void	setWaitTicks (long wait)
Static Public Member Functions
static void	resetPathPlanner ()
static bool	hasLines ()
static void	setCurrentLine ()
static void	removeCurrentLineForbidInterrupt ()
static void	pushLine ()
static PrintLine *	getNextWriteLine ()
static void	computeMaxJunctionSpeed (PrintLine *previous, PrintLine *current)
static long	bresenhamStep ()
static void	waitForXFreeLines (uint8_t b=1)
static void	forwardPlanner (uint8_t p)
static void	backwardPlanner (uint8_t p, uint8_t last)
static void	updateTrapezoids ()
static uint8_t	insertWaitMovesIfNeeded (uint8_t pathOptimize, uint8_t waitExtraLines)
static void	queueCartesianMove (uint8_t check_endstops, uint8_t pathOptimize)
static void	moveRelativeDistanceInSteps (long x, long y, long z, long e, float feedrate, bool waitEnd, bool check_endstop)
static void	previousPlannerIndex (uint8_t &p)
static void	nextPlannerIndex (uint8_t &p)
Data Fields
long	stepsRemaining
	Remaining steps, until move is finished.
Static Public Attributes
static PrintLine *	cur = 0
	Current printing line.
static volatile uint8_t	linesCount = 0
	Number of lines cached 0 = nothing to do.
Private Attributes
uint8_t	primaryAxis
volatile uint8_t	flags
long	timeInTicks
uint8_t	joinFlags
uint8_t	halfStep
	4 = disabled, 1 = halfstep, 2 = fulstep
uint8_t	dir
	Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined.
long	delta [4]
	Steps we want to move.
long	error [4]
	Error calculation for Bresenham algorithm.
float	speedX
	Speed in x direction at fullInterval in mm/s.
float	speedY
	Speed in y direction at fullInterval in mm/s.
float	speedZ
	Speed in z direction at fullInterval in mm/s.
float	speedE
	Speed in E direction at fullInterval in mm/s.
float	fullSpeed
	Desired speed mm/s.
float	invFullSpeed
	1.0/fullSpeed for fatser computation
float	accelerationDistance2
	Real 2.0*distanceÜacceleration mm²/s²
float	maxJunctionSpeed
	Max. junction speed between this and next segment.
float	startSpeed
	Staring speed in mm/s.
float	endSpeed
	Exit speed in mm/s.
float	minSpeed
float	distance
ticks_t	fullInterval
	interval at full speed in ticks/step.
unsigned int	accelSteps
	How much steps does it take, to reach the plateau.
unsigned int	decelSteps
	How much steps does it take, to reach the end speed.
unsigned long	accelerationPrim
	Acceleration along primary axis.
unsigned long	fAcceleration
	accelerationPrim*262144/F_CPU
speed_t	vMax
	Maximum reached speed in steps/s.
speed_t	vStart
	Starting speed in steps/s.
speed_t	vEnd
	End speed in steps/s.
Static Private Attributes
static volatile bool	nlFlag
static uint8_t	linesPos = 0
	Position for executing line movement.
static PrintLine	lines []
	Cache for print moves.
static uint8_t	linesWritePos = 0
	Position where we write the next cached line move.
Friends
class	UIDisplay

---

Member Function Documentation

bool areParameterUpToDate

(

)

[inline]

void backwardPlanner	(	uint8_t	start,
		uint8_t	last
	)		[inline, static]

Compute the maximum speed from the last entered move. The backwards planner traverses the moves from last to first looking at deceleration. The RHS of the accelerate/decelerate ramp.

start = last line inserted last = last element until we check

void block

(

)

[inline]

long bresenhamStep

(

)

[static]

void calculateMove	(	float	axis_diff[],
		uint8_t	pathOptimize
	)

void checkEndstops

(

)

[inline]

void computeMaxJunctionSpeed	(	PrintLine *	previous,
		PrintLine *	current
	)		[inline, static]

void fixStartAndEndSpeed

(

)

[inline]

void forwardPlanner

(

uint8_t

p

)

[inline, static]

static PrintLine* getNextWriteLine

(

)

[inline, static]

uint8_t getWaitForXLinesFilled

(

)

[inline]

long getWaitTicks

(

)

[inline]

static bool hasLines

(

)

[inline, static]

uint8_t insertWaitMovesIfNeeded	(	uint8_t	pathOptimize,
		uint8_t	waitExtraLines
	)		[static]

Check if move is new. If it is insert some dummy moves to allow the path optimizer to work since it does not act on the first two moves in the queue. The stepper timer will spot these moves and leave some time for processing.

void invalidateParameter

(

)

[inline]

bool isBlocked

(

)

[inline]

bool isCheckEndstops

(

)

[inline]

bool isEMove

(

)

[inline]

bool isEndSpeedFixed

(

)

[inline]

bool isENegativeMove

(

)

[inline]

bool isEOnlyMove

(

)

[inline]

bool isEPositiveMove

(

)

[inline]

bool isExtruderForwardMove

(

)

[inline]

bool isFullstepping

(

)

[inline]

bool isMoveOfAxis

(

uint8_t

axis

)

[inline]

bool isNominalMove

(

)

[inline]

bool isNoMove

(

)

[inline]

bool isStartSpeedFixed

(

)

[inline]

bool isWarmUp

(

)

[inline]

bool isXMove

(

)

[inline]

bool isXNegativeMove

(

)

[inline]

bool isXOrYMove

(

)

[inline]

bool isXPositiveMove

(

)

[inline]

bool isXYZMove

(

)

[inline]

bool isYMove

(

)

[inline]

bool isYNegativeMove

(

)

[inline]

bool isYPositiveMove

(

)

[inline]

bool isZMove

(

)

[inline]

bool isZNegativeMove

(

)

[inline]

bool isZPositiveMove

(

)

[inline]

void logLine

(

)

bool moveAccelerating

(

)

[inline]

bool moveDecelerating

(

)

[inline]

void moveRelativeDistanceInSteps	(	long	x,
		long	y,
		long	z,
		long	e,
		float	feedrate,
		bool	waitEnd,
		bool	checkEndstop
	)		[static]

Move printer the given number of steps. Puts the move into the queue. Used by e.g. homing commands.

static void nextPlannerIndex

(

uint8_t &

p

)

[inline, static]

static void previousPlannerIndex

(

uint8_t &

p

)

[inline, static]

static void pushLine

(

)

[inline, static]

void queueCartesianMove	(	uint8_t	check_endstops,
		uint8_t	pathOptimize
	)		[static]

Put a move to the current destination coordinates into the movement cache. If the cache is full, the method will wait, until a place gets free. During wait communication and temperature control is enabled.

Parameters:

check_endstops

Read endstop during move.

static void removeCurrentLineForbidInterrupt

(

)

[inline, static]

static void resetPathPlanner

(

)

[inline, static]

float safeSpeed

(

)

[inline]

static void setCurrentLine

(

)

[inline, static]

void setEndSpeedFixed

(

bool

newState

)

[inline]

void setMoveOfAxis

(

uint8_t

axis

)

[inline]

bool setNominalMove

(

)

[inline]

void setParameterUpToDate

(

)

[inline]

void setPositiveDirectionForAxis

(

uint8_t

axis

)

[inline]

void setStartSpeedFixed

(

bool

newState

)

[inline]

void setWaitForXLinesFilled

(

uint8_t

b

)

[inline]

void setWaitTicks

(

long

wait

)

[inline]

void setXMoveFinished

(

)

[inline]

void setXYMoveFinished

(

)

[inline]

void setYMoveFinished

(

)

[inline]

void setZMoveFinished

(

)

[inline]

bool startXStep

(

)

[inline]

bool startYStep

(

)

[inline]

void startZStep

(

)

[inline]

void unblock

(

)

[inline]

void updateAdvanceSteps	(	unsigned int	v,
		uint8_t	max_loops,
		bool	accelerate
	)		[inline]

void updateStepsParameter

(

)

Update parameter used by updateTrapezoids

Computes the acceleration/decelleration steps and advanced parameter associated.

void updateTrapezoids

(

)

[static]

This is the path planner.

It goes from the last entry and tries to increase the end speed of previous moves in a fashion that the maximum jerk is never exceeded. If a segment with reached maximum speed is met, the planner stops. Everything left from this is already optimal from previous updates. The first 2 entries in the queue are not checked. The first is the one that is already in print and the following will likely become active.

The method is called before lines_count is increased!

void waitForXFreeLines

(

uint8_t

b = 1

)

[static]

---

Friends And Related Function Documentation

friend class UIDisplay [friend]

---

Field Documentation

float accelerationDistance2 [private]

Real 2.0*distanceÜacceleration mm²/s²

unsigned long accelerationPrim [private]

Acceleration along primary axis.

unsigned int accelSteps [private]

How much steps does it take, to reach the plateau.

PrintLine * cur = 0 [static]

Current printing line.

unsigned int decelSteps [private]

How much steps does it take, to reach the end speed.

long delta[4] [private]

Steps we want to move.

uint8_t dir [private]

Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined.

float distance [private]

float endSpeed [private]

Exit speed in mm/s.

long error[4] [private]

Error calculation for Bresenham algorithm.

unsigned long fAcceleration [private]

accelerationPrim*262144/F_CPU

volatile uint8_t flags [private]

ticks_t fullInterval [private]

interval at full speed in ticks/step.

float fullSpeed [private]

Desired speed mm/s.

uint8_t halfStep [private]

4 = disabled, 1 = halfstep, 2 = fulstep

float invFullSpeed [private]

1.0/fullSpeed for fatser computation

uint8_t joinFlags [private]

PrintLine lines [static, private]

Cache for print moves.

volatile uint8_t linesCount = 0 [static]

Number of lines cached 0 = nothing to do.

uint8_t linesPos = 0 [static, private]

Position for executing line movement.

uint8_t linesWritePos = 0 [static, private]

Position where we write the next cached line move.

float maxJunctionSpeed [private]

Max. junction speed between this and next segment.

float minSpeed [private]

volatile bool nlFlag [static, private]

uint8_t primaryAxis [private]

float speedE [private]

Speed in E direction at fullInterval in mm/s.

float speedX [private]

Speed in x direction at fullInterval in mm/s.

float speedY [private]

Speed in y direction at fullInterval in mm/s.

float speedZ [private]

Speed in z direction at fullInterval in mm/s.

float startSpeed [private]

Staring speed in mm/s.

long stepsRemaining

Remaining steps, until move is finished.

long timeInTicks [private]

speed_t vEnd [private]

End speed in steps/s.

speed_t vMax [private]

Maximum reached speed in steps/s.

speed_t vStart [private]

Starting speed in steps/s.

---

The documentation for this class was generated from the following files:

• src/ArduinoAVR/Repetier/motion.h
• src/ArduinoAVR/Repetier/motion.cpp