rotational axes in degrees, feedrate interpretation like LinuxCNC.

The time a move with feedrate F takes is now as follows: if any of X, Y, Z move (whether other axes are moved or not) t = sqrt(dX^2 + dY^2 + dZ^2)/F else, if none of XYZ move but any secondary linear axes move (wether rotational axes are moved or not): t = sqrt(dU^2 + dV^2 + dW^2)/F else, if only rotary axes are moved: t = sqrt(dA^2 + dB^2 + dC^2)/F
MarlinFirmware · Dec 18, 2021 · 1988c2e · 1988c2e
1 parent 3236df3
commit 1988c2e
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Showing 11 changed files with 325 additions and 147 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -150,7 +150,7 @@
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
 /**
- * Define the number of coordinated linear axes.
+ * Define the number of coordinated axes.
  * See /~https://github.com/DerAndere1/Marlin/wiki
  * Each linear axis gets its own stepper control and endstop:
  *
@@ -179,22 +179,28 @@
  * I (AXIS4), J (AXIS5), K (AXIS6), U (AXIS7), V (AXIS8), W (AXIS9).
  */
 #if LINEAR_AXES >= 4
+  #define HAS_ROTATIONAL_AXIS4 0
   #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
 #endif
 #if LINEAR_AXES >= 5
-  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define HAS_ROTATIONAL_AXIS5 0
+  #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
 #endif
 #if LINEAR_AXES >= 6
-  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define HAS_ROTATIONAL_AXIS6 1
+  #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
 #endif
 #if LINEAR_AXES >= 7
-  #define AXIS7_NAME 'U' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define HAS_ROTATIONAL_AXIS7 0
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
 #endif
 #if LINEAR_AXES >= 8
-  #define AXIS8_NAME 'V' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define HAS_ROTATIONAL_AXIS8 0
+  #define AXIS8_NAME 'V' // :['V', 'W']
 #endif
 #if LINEAR_AXES >= 9
-  #define AXIS9_NAME 'W' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define HAS_ROTATIONAL_AXIS9 0
+  #define AXIS9_NAME 'W' // :['W']
 #endif
 
 // @section extruder
@@ -959,14 +965,14 @@
 //#define DISTINCT_E_FACTORS
 
 /**
- * Default Axis Steps Per Unit (steps/mm)
+ * Default Axis Steps Per Unit (steps/mm for linear axes, steps/° for rotational axes)
  * Override with M92
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (mm/s for linear axes, °/s for rotational axes)
  * Override with M203
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
@@ -978,7 +984,7 @@
 #endif
 
 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (mm/(s^2) for linear axes, °/(s^2) for rotational axes)
  * (Maximum start speed for accelerated moves)
  * Override with M201
  *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
@@ -991,7 +997,7 @@
 #endif
 
 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (mm/(s^2) for linear axes, °/(s^2) for rotational axes)
  * Override with M204
  *
  *   M204 P    Acceleration
@@ -1003,7 +1009,7 @@
 #define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves
 
 /**
- * Default Jerk limits (mm/s)
+ * Default Jerk limits (mm/(s^2))
  * Override with M205 X Y Z E
  *
  * "Jerk" specifies the minimum speed change that requires acceleration.
@@ -1432,7 +1438,7 @@
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200
 
-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (mm for linear axes, ° for rotational axes) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1819,7 +1825,7 @@
   #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif
 
-// Homing speeds (mm/min)
+// Homing speeds (mm/min for linear axes, °/min for rotational axes)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
 // Validate that endstops are triggered on homing moves

diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -828,12 +828,12 @@
  * the position of the toolhead relative to the workspace.
  */
 
-//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (mm) Backoff from endstops before sensorless homing
+//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (mm for linear axes, ° for rotational axes) Backoff from endstops before sensorless homing
 
-#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
+#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm for linear axes, ° for rotational axes) Backoff from endstops after first bump
 #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 
-//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
+//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm for linear axes, ° for rotational axes) Backoff from endstops after homing
 
 //#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
@@ -1038,8 +1038,8 @@
 #define DISABLE_INACTIVE_E true
 
 // Default Minimum Feedrates for printing and travel moves
-#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s) Minimum feedrate. Set with M205 S.
-#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s) Minimum travel feedrate. Set with M205 T.
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // (mm/s. °/s for moves involving only rotational axes) Minimum feedrate. Set with M205 S.
+#define DEFAULT_MINTRAVELFEEDRATE     0.0     // (mm/s. °/s for moves involving only rotational axes) Minimum travel feedrate. Set with M205 T.
 
 // Minimum time that a segment needs to take as the buffer gets emptied
 #define DEFAULT_MINSEGMENTTIME        20000   // (µs) Set with M205 B.
@@ -1075,7 +1075,7 @@
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
+  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm for linear axes, ° for rotational axes) One value for each linear axis
   #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
 
   // Add steps for motor direction changes on CORE kinematics
@@ -3067,10 +3067,10 @@
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
   #define Z4_HYBRID_THRESHOLD      3
-  #define I_HYBRID_THRESHOLD       3
-  #define J_HYBRID_THRESHOLD       3
-  #define K_HYBRID_THRESHOLD       3
-  #define U_HYBRID_THRESHOLD       3
+  #define I_HYBRID_THRESHOLD       3  // [mm/s for linear axis, °/s for rotational axis]
+  #define J_HYBRID_THRESHOLD       3  // [mm/s for linear axis, °/s for rotational axis]
+  #define K_HYBRID_THRESHOLD       3  // [mm/s for linear axis, °/s for rotational axis]
+  #define U_HYBRID_THRESHOLD       3  // [mm/s]
   #define V_HYBRID_THRESHOLD       3
   #define W_HYBRID_THRESHOLD       3
   #define E0_HYBRID_THRESHOLD     30

diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
@@ -407,11 +407,7 @@
 #endif
 
 #if LINEAR_AXES >= 5
-  #if AXIS5_NAME == 'A'
-    #define AXIS5_STR "A"
-    #define STR_J_MIN "a_min"
-    #define STR_J_MAX "a_max"
-  #elif AXIS5_NAME == 'B'
+  #if AXIS5_NAME == 'B'
     #define AXIS5_STR "B"
     #define STR_J_MIN "b_min"
     #define STR_J_MAX "b_max"
@@ -439,15 +435,7 @@
 #endif
 
 #if LINEAR_AXES >= 6
-  #if AXIS6_NAME == 'A'
-    #define AXIS6_STR "A"
-    #define STR_K_MIN "a_min"
-    #define STR_K_MAX "a_max"
-  #elif AXIS6_NAME == 'B'
-    #define AXIS6_STR "B"
-    #define STR_K_MIN "b_min"
-    #define STR_K_MAX "b_max"
-  #elif AXIS6_NAME == 'C'
+  #if AXIS6_NAME == 'C'
     #define AXIS6_STR "C"
     #define STR_K_MIN "c_min"
     #define STR_K_MAX "c_max"
@@ -471,19 +459,7 @@
 #endif
 
 #if LINEAR_AXES >= 7
-  #if AXIS7_NAME == 'A'
-    #define AXIS7_STR "A"
-    #define STR_U_MIN "a_min"
-    #define STR_U_MAX "a_max"
-  #elif AXIS7_NAME == 'B'
-    #define AXIS7_STR "B"
-    #define STR_U_MIN "b_min"
-    #define STR_U_MAX "b_max"
-  #elif AXIS7_NAME == 'C'
-    #define AXIS7_STR "C"
-    #define STR_U_MIN "c_min"
-    #define STR_U_MAX "c_max"
-  #elif AXIS7_NAME == 'U'
+  #if AXIS7_NAME == 'U'
     #define AXIS7_STR "U"
     #define STR_U_MIN "u_min"
     #define STR_U_MAX "u_max"
@@ -503,23 +479,7 @@
 #endif
 
 #if LINEAR_AXES >= 8
-  #if AXIS8_NAME == 'A'
-    #define AXIS8_STR "A"
-    #define STR_V_MIN "a_min"
-    #define STR_V_MAX "a_max"
-  #elif AXIS8_NAME == 'B'
-    #define AXIS8_STR "B"
-    #define STR_V_MIN "b_min"
-    #define STR_V_MAX "b_max"
-  #elif AXIS8_NAME == 'C'
-    #define AXIS8_STR "C"
-    #define STR_V_MIN "c_min"
-    #define STR_V_MAX "c_max"
-  #elif AXIS8_NAME == 'U'
-    #define AXIS8_STR "U"
-    #define STR_V_MIN "u_min"
-    #define STR_V_MAX "u_max"
-  #elif AXIS8_NAME == 'V'
+  #if AXIS8_NAME == 'V'
     #define AXIS8_STR "V"
     #define STR_V_MIN "v_min"
     #define STR_V_MAX "v_max"
@@ -535,27 +495,7 @@
 #endif
 
 #if LINEAR_AXES >= 9
-  #if AXIS9_NAME == 'A'
-    #define AXIS9_STR "A"
-    #define STR_W_MIN "a_min"
-    #define STR_W_MAX "a_max"
-  #elif AXIS9_NAME == 'B'
-    #define AXIS9_STR "B"
-    #define STR_W_MIN "b_min"
-    #define STR_W_MAX "b_max"
-  #elif AXIS9_NAME == 'C'
-    #define AXIS9_STR "C"
-    #define STR_W_MIN "c_min"
-    #define STR_W_MAX "c_max"
-  #elif AXIS9_NAME == 'U'
-    #define AXIS9_STR "U"
-    #define STR_W_MIN "u_min"
-    #define STR_W_MAX "u_max"
-  #elif AXIS9_NAME == 'V'
-    #define AXIS9_STR "V"
-    #define STR_W_MIN "v_min"
-    #define STR_W_MAX "v_max"
-  #elif AXIS9_NAME == 'W'
+  #if AXIS9_NAME == 'W'
     #define AXIS9_STR "W"
     #define STR_W_MIN "w_min"
     #define STR_W_MAX "w_max"

diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp
@@ -134,6 +134,7 @@ void GcodeSuite::M201() {
 
 void GcodeSuite::M201_report(const bool forReplay/*=true*/) {
   report_heading_etc(forReplay, F(STR_MAX_ACCELERATION));
+  // TODO (DerAndere): Add support for rotational axes with distance in degrees
   SERIAL_ECHOLNPGM_P(
     LIST_N(DOUBLE(LINEAR_AXES),
       PSTR("  M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]),
@@ -281,7 +282,7 @@ void GcodeSuite::M205() {
       if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()),
       if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()),
       if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()),
-      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()),
+      if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()), // TODO (DerAndere): Rotational axes in degrees
       if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.value_linear_units()),
       if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.value_linear_units()),
       if (parser.seenval(AXIS7_NAME)) planner.set_max_jerk(U_AXIS, parser.value_linear_units()),

diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp
@@ -96,22 +96,46 @@ void GcodeSuite::M217() {
     if (parser.seenval('X')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.x = constrain(v, X_MIN_POS, X_MAX_POS); }
     if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); }
     #if LINEAR_AXES >= 4
-      if (parser.seenval('I')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS4
+        if (parser.seenval('I')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }      
+      #else
+        if (parser.seenval('I')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }  // TODO (DerAndere): Rotational axes in degrees
+      #endif
     #endif
     #if LINEAR_AXES >= 5
-      if (parser.seenval('J')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS5
+        if (parser.seenval('J')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }      
+      #else
+        if (parser.seenval('J')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
+      #endif
     #endif
     #if LINEAR_AXES >= 6
-      if (parser.seenval('K')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS6
+        if (parser.seenval('K')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }      
+      #else
+        if (parser.seenval('K')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+      #endif
     #endif
     #if LINEAR_AXES >= 7
-      if (parser.seenval('C')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS7
+        if (parser.seenval('C')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); }      
+      #else
+        if (parser.seenval('C')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); }
+      #endif
     #endif
     #if LINEAR_AXES >= 8
-      if (parser.seenval('H')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS8
+        if (parser.seenval('H')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); }      
+      #else
+        if (parser.seenval('H')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); }
+      #endif
     #endif
     #if LINEAR_AXES >= 9
-      if (parser.seenval('O')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); }
+      #if HAS_ROTATIONAL_AXIS9
+        if (parser.seenval('O')) { const int16_t v = parser.value_int(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); }      
+      #else
+        if (parser.seenval('O')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); }
+      #endif
     #endif
   #endif
 
@@ -179,22 +203,46 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
       SERIAL_ECHOPGM_P(SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x));
       SERIAL_ECHOPGM_P(SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y));
       #if LINEAR_AXES >= 4
-        SERIAL_ECHOPGM_P(" I", LINEAR_UNIT(toolchange_settings.change_point.i));
+        #if HAS_ROTATIONAL_AXIS4
+          SERIAL_ECHOPGM_P(" I", toolchange_settings.change_point.i);
+        #else        
+          SERIAL_ECHOPGM_P(" I", LINEAR_UNIT(toolchange_settings.change_point.i));
+        #endif
       #endif
       #if LINEAR_AXES >= 5
-        SERIAL_ECHOPGM_P(" J", LINEAR_UNIT(toolchange_settings.change_point.j));
+        #if HAS_ROTATIONAL_AXIS5
+          SERIAL_ECHOPGM_P(" J", toolchange_settings.change_point.j);
+        #else        
+          SERIAL_ECHOPGM_P(" J", LINEAR_UNIT(toolchange_settings.change_point.j));
+        #endif
       #endif
       #if LINEAR_AXES >= 6
-        SERIAL_ECHOPGM_P(" K", LINEAR_UNIT(toolchange_settings.change_point.k));
+        #if HAS_ROTATIONAL_AXIS6
+          SERIAL_ECHOPGM_P(" K", toolchange_settings.change_point.k);
+        #else        
+          SERIAL_ECHOPGM_P(" K", LINEAR_UNIT(toolchange_settings.change_point.k));
+        #endif
       #endif
       #if LINEAR_AXES >= 7
-        SERIAL_ECHOPGM_P(" C", LINEAR_UNIT(toolchange_settings.change_point.u));
+        #if HAS_ROTATIONAL_AXIS7
+          SERIAL_ECHOPGM_P(" C", toolchange_settings.change_point.u);
+        #else   
+          SERIAL_ECHOPGM_P(" C", LINEAR_UNIT(toolchange_settings.change_point.u));
+        #endif
       #endif
       #if LINEAR_AXES >= 8
-        SERIAL_ECHOPGM_P(" H", LINEAR_UNIT(toolchange_settings.change_point.v));
+        #if HAS_ROTATIONAL_AXIS8
+          SERIAL_ECHOPGM_P(" H", toolchange_settings.change_point.v);
+        #else   
+          SERIAL_ECHOPGM_P(" H", LINEAR_UNIT(toolchange_settings.change_point.v));
+        #endif
       #endif
       #if LINEAR_AXES >= 9
-        SERIAL_ECHOPGM_P(" O", LINEAR_UNIT(toolchange_settings.change_point.w));
+        #if HAS_ROTATIONAL_AXIS9
+          SERIAL_ECHOPGM_P(" O", toolchange_settings.change_point.w);
+        #else
+          SERIAL_ECHOPGM_P(" O", LINEAR_UNIT(toolchange_settings.change_point.w));
+        #endif
       #endif
     #endif
 

diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp
@@ -92,6 +92,7 @@ void GcodeSuite::M92() {
 
 void GcodeSuite::M92_report(const bool forReplay/*=true*/, const int8_t e/*=-1*/) {
   report_heading_etc(forReplay, F(STR_STEPS_PER_UNIT));
+  // TODO (DerAndere): Add support for rotational axes with distance in degrees
   SERIAL_ECHOPGM_P(LIST_N(DOUBLE(LINEAR_AXES),
     PSTR("  M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]),
     SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]),