Add delta feedrate scaling (#11153)

Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h

@@ -522,6 +522,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/FLSUN/kossel/Configuration.h

@@ -522,6 +522,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h

@@ -522,6 +522,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/Hatchbox_Alpha/Configuration.h

@@ -527,6 +527,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/generic/Configuration.h

@@ -512,6 +512,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_mini/Configuration.h

@@ -512,6 +512,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_pro/Configuration.h

@@ -498,6 +498,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/config/examples/delta/kossel_xl/Configuration.h

@@ -516,6 +516,9 @@
   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
+  // Convert feedrates to apply to the Effector instead of the Carriages
+  #define DELTA_FEEDRATE_SCALING
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 

Marlin/src/gcode/motion/G2_G3.cpp

@@ -35,7 +35,7 @@
   #include "../../module/scara.h"
 #endif
 
-#if ENABLED(SCARA_FEEDRATE_SCALING) && ENABLED(AUTO_BED_LEVELING_BILINEAR)
+#if HAS_FEEDRATE_SCALING && ENABLED(AUTO_BED_LEVELING_BILINEAR)
   #include "../../feature/bedlevel/abl/abl.h"
 #endif
 
@@ -141,12 +141,16 @@ void plan_arc(
 
   millis_t next_idle_ms = millis() + 200UL;
 
-  #if ENABLED(SCARA_FEEDRATE_SCALING)
+  #if HAS_FEEDRATE_SCALING
     // SCARA needs to scale the feed rate from mm/s to degrees/s
     const float inv_segment_length = 1.0 / (MM_PER_ARC_SEGMENT),
                 inverse_secs = inv_segment_length * fr_mm_s;
     float oldA = planner.position_float[A_AXIS],
-          oldB = planner.position_float[B_AXIS];
+          oldB = planner.position_float[B_AXIS]
+          #if ENABLED(DELTA_FEEDRATE_SCALING)
+            , oldC = planner.position_float[C_AXIS]
+          #endif
+          ;
   #endif
 
   #if N_ARC_CORRECTION > 1
@@ -192,14 +196,23 @@ void plan_arc(
 
     clamp_to_software_endstops(raw);
 
+    #if HAS_FEEDRATE_SCALING
+      inverse_kinematics(raw);
+      ADJUST_DELTA(raw);
+    #endif
+
     #if ENABLED(SCARA_FEEDRATE_SCALING)
       // For SCARA scale the feed rate from mm/s to degrees/s
       // i.e., Complete the angular vector in the given time.
-      inverse_kinematics(raw);
-      ADJUST_DELTA(raw);
       if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
         break;
       oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+    #elif ENABLED(DELTA_FEEDRATE_SCALING)
+      // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
+      // i.e., Complete the linear vector in the given time.
+      if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder))
+        break;
+      oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
     #elif HAS_UBL_AND_CURVES
       float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
       planner.apply_leveling(pos);
@@ -212,12 +225,19 @@ void plan_arc(
   }
 
   // Ensure last segment arrives at target location.
-  #if ENABLED(SCARA_FEEDRATE_SCALING)
+  #if HAS_FEEDRATE_SCALING
     inverse_kinematics(cart);
     ADJUST_DELTA(cart);
+  #endif
+
+  #if ENABLED(SCARA_FEEDRATE_SCALING)
     const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
     if (diff2)
       planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
+  #elif ENABLED(DELTA_FEEDRATE_SCALING)
+    const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
+    if (diff2)
+      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
   #elif HAS_UBL_AND_CURVES
     float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
     planner.apply_leveling(pos);

Marlin/src/inc/Conditionals_post.h

@@ -1053,6 +1053,7 @@
 #define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
 #define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
+#define HAS_FEEDRATE_SCALING (ENABLED(SCARA_FEEDRATE_SCALING) || ENABLED(DELTA_FEEDRATE_SCALING))
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #undef LCD_BED_LEVELING

Marlin/src/module/motion.cpp

@@ -581,7 +581,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
                   ediff * inv_segments
                 };
 
-    #if DISABLED(SCARA_FEEDRATE_SCALING)
+    #if !HAS_FEEDRATE_SCALING
       const float cartesian_segment_mm = cartesian_mm * inv_segments;
     #endif
 
@@ -589,14 +589,13 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
     SERIAL_ECHOPAIR("mm=", cartesian_mm);
     SERIAL_ECHOPAIR(" seconds=", seconds);
     SERIAL_ECHOPAIR(" segments=", segments);
-    #if DISABLED(SCARA_FEEDRATE_SCALING)
-      SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm);
-    #else
-      SERIAL_EOL();
+    #if !HAS_FEEDRATE_SCALING
+      SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm);
     #endif
+    SERIAL_EOL();
     //*/
 
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
+    #if HAS_FEEDRATE_SCALING
       // SCARA needs to scale the feed rate from mm/s to degrees/s
       // i.e., Complete the angular vector in the given time.
       const float segment_length = cartesian_mm * inv_segments,
@@ -604,7 +603,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
                   inverse_secs = inv_segment_length * _feedrate_mm_s;
 
       float oldA = planner.position_float[A_AXIS],
-            oldB = planner.position_float[B_AXIS];
+            oldB = planner.position_float[B_AXIS]
+            #if ENABLED(DELTA_FEEDRATE_SCALING)
+              , oldC = planner.position_float[C_AXIS]
+            #endif
+            ;
 
       /*
       SERIAL_ECHOPGM("Scaled kinematic move: ");
@@ -613,7 +616,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
       SERIAL_ECHOPAIR(") _feedrate_mm_s=", _feedrate_mm_s);
       SERIAL_ECHOPAIR(" inverse_secs=", inverse_secs);
       SERIAL_ECHOPAIR(" oldA=", oldA);
-      SERIAL_ECHOLNPAIR(" oldB=", oldB);
+      SERIAL_ECHOPAIR(" oldB=", oldB);
+      #if ENABLED(DELTA_FEEDRATE_SCALING)
+        SERIAL_ECHOPAIR(" oldC=", oldC);
+      #endif
+      SERIAL_EOL();
       safe_delay(5);
       //*/
     #endif
@@ -654,6 +661,19 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
         safe_delay(5);
         //*/
         oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+      #elif ENABLED(DELTA_FEEDRATE_SCALING)
+        // For DELTA scale the feed rate from Effector mm/s to Carriage mm/s
+        // i.e., Complete the linear vector in the given time.
+        if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs, active_extruder))
+          break;
+        /*
+        SERIAL_ECHO(segments);
+        SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
+        SERIAL_ECHOPAIR(" A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
+        SERIAL_ECHOLNPAIR(" F", SQRT(sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC)) * inverse_secs * 60);
+        safe_delay(5);
+        //*/
+        oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldC = delta[C_AXIS];
       #else
         if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
           break;
@@ -661,17 +681,31 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
     }
 
     // Ensure last segment arrives at target location.
-    #if ENABLED(SCARA_FEEDRATE_SCALING)
+    #if HAS_FEEDRATE_SCALING
       inverse_kinematics(rtarget);
       ADJUST_DELTA(rtarget);
+    #endif
+
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
       const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
       if (diff2) {
         planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], rtarget[Z_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
-
         /*
         SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]);
         SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB);
-        SERIAL_ECHOLNPAIR(" F", (SQRT(diff2) * inverse_secs) * 60);
+        SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
+        SERIAL_EOL();
+        safe_delay(5);
+        //*/
+      }
+    #elif ENABLED(DELTA_FEEDRATE_SCALING)
+      const float diff2 = sq(delta[A_AXIS] - oldA) + sq(delta[B_AXIS] - oldB) + sq(delta[C_AXIS] - oldC);
+      if (diff2) {
+        planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
+        /*
+        SERIAL_ECHOPAIR("final: A=", delta[A_AXIS]); SERIAL_ECHOPAIR(" B=", delta[B_AXIS]); SERIAL_ECHOPAIR(" C=", delta[C_AXIS]);
+        SERIAL_ECHOPAIR(" adiff=", delta[A_AXIS] - oldA); SERIAL_ECHOPAIR(" bdiff=", delta[B_AXIS] - oldB); SERIAL_ECHOPAIR(" cdiff=", delta[C_AXIS] - oldC);
+        SERIAL_ECHOLNPAIR(" F", SQRT(diff2) * inverse_secs * 60);
         SERIAL_EOL();
         safe_delay(5);
         //*/

Marlin/src/module/planner.cpp

@@ -1567,9 +1567,9 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
 
   // Fill the block with the specified movement
   if (!_populate_block(block, false, target
-  #if HAS_POSITION_FLOAT
-    , target_float
-  #endif
+    #if HAS_POSITION_FLOAT
+      , target_float
+    #endif
     , fr_mm_s, extruder, millimeters
   )) {
     // Movement was not queued, probably because it was too short.

Marlin/src/module/planner.h

@@ -149,7 +149,7 @@ typedef struct {
 
 } block_t;
 
-#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || ENABLED(SCARA_FEEDRATE_SCALING))
+#define HAS_POSITION_FLOAT (ENABLED(LIN_ADVANCE) || HAS_FEEDRATE_SCALING)
 
 #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))