[1.1.x] Bézier Jerk Control

.travis.yml

@@ -118,7 +118,7 @@ script:
   # Add a Sled Z Probe, use UBL Cartesian moves, use Japanese language
   #
   - opt_set LANGUAGE kana_utf8
-  - opt_enable Z_PROBE_SLED SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE
+  - opt_enable Z_PROBE_SLED SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE BEZIER_JERK_CONTROL
   - opt_disable SEGMENT_LEVELED_MOVES
   - opt_enable_adv BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING
   - build_marlin

Marlin/Configuration.h

@@ -594,6 +594,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/AlephObjects/TAZ4/Configuration.h

@@ -619,6 +619,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                 10.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/AliExpress/CL-260/Configuration.h

@@ -599,6 +599,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Anet/A6/Configuration.h

@@ -647,6 +647,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Anet/A8/Configuration.h

@@ -606,6 +606,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/BIBO/TouchX/Cyclops/Configuration.h

@@ -599,6 +599,17 @@
 #define DEFAULT_ZJERK                  0.65
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/BIBO/TouchX/default/Configuration.h

@@ -599,6 +599,17 @@
 #define DEFAULT_ZJERK                  0.65
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/BQ/Hephestos/Configuration.h

@@ -587,6 +587,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/BQ/Hephestos_2/Configuration.h

@@ -600,6 +600,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  1.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/BQ/WITBOX/Configuration.h

@@ -587,6 +587,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Cartesio/Configuration.h

@@ -598,6 +598,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/CR-10/Configuration.h

@@ -609,6 +609,17 @@
 #define DEFAULT_ZJERK                  2.7
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/CR-10S/Configuration.h

@@ -599,6 +599,17 @@
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/CR-10mini/Configuration.h

@@ -618,6 +618,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/CR-8/Configuration.h

@@ -609,6 +609,17 @@
 #define DEFAULT_ZJERK                  0.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/Ender-2/Configuration.h

@@ -603,6 +603,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/Ender-3/Configuration.h

@@ -603,6 +603,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Creality/Ender-4/Configuration.h

@@ -609,6 +609,17 @@
 #define DEFAULT_ZJERK                  2.4
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Felix/Configuration.h

@@ -581,6 +581,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/Felix/DUAL/Configuration.h

@@ -581,6 +581,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  5.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================

Marlin/example_configurations/FolgerTech/i3-2020/Configuration.h

@@ -605,6 +605,17 @@
 #define DEFAULT_ZJERK                  0.3
 #define DEFAULT_EJERK                  4.0
 
+/**
+ * Realtime Jerk Control
+ *
+ * This option eliminates vibration during printing by fitting a Bézier
+ * curve to move acceleration, producing much smoother direction changes.
+ * Because this is computationally-intensive, a 32-bit MCU is required.
+ *
+ * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained
+ */
+//#define BEZIER_JERK_CONTROL
+
 //===========================================================================
 //============================= Z Probe Options =============================
 //===========================================================================