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Disable SCARA feedrate scaling by default

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2.0.x
Scott Lahteine 8 years ago
parent f04d1096d4
commit 911a87e006
2 changed files with 4 additions and 3 deletions
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6
Marlin/Marlin_main.cpp
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@ -11136,7 +11136,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// SERIAL_ECHOPAIR(" seconds=", seconds); // SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments); // SERIAL_ECHOLNPAIR(" segments=", segments);
#if IS_SCARA #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
// SCARA needs to scale the feed rate from mm/s to degrees/s // SCARA needs to scale the feed rate from mm/s to degrees/s
const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
feed_factor = inv_segment_length * _feedrate_mm_s; feed_factor = inv_segment_length * _feedrate_mm_s;
@ -11163,7 +11163,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
#if IS_SCARA #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s // For SCARA scale the feed rate from mm/s to degrees/s
// Use ratio between the length of the move and the larger angle change // Use ratio between the length of the move and the larger angle change
const float adiff = abs(delta[A_AXIS] - oldA), const float adiff = abs(delta[A_AXIS] - oldA),
@ -11179,7 +11179,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
// Since segment_distance is only approximate, // Since segment_distance is only approximate,
// the final move must be to the exact destination. // the final move must be to the exact destination.
#if IS_SCARA #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s // For SCARA scale the feed rate from mm/s to degrees/s
// With segments > 1 length is 1 segment, otherwise total length // With segments > 1 length is 1 segment, otherwise total length
inverse_kinematics(ltarget); inverse_kinematics(ltarget);

1
Marlin/example_configurations/SCARA/Configuration.h
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@ -76,6 +76,7 @@
#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA) #if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
//#define DEBUG_SCARA_KINEMATICS //#define DEBUG_SCARA_KINEMATICS
//#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly
// If movement is choppy try lowering this value // If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200 #define SCARA_SEGMENTS_PER_SECOND 200

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