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Fix vector normalization in JD #17938

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Merged
thinkyhead merged 4 commits into from
May 11, 2020
Merged

Fix vector normalization in JD #17938

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b45d97a
Fix vector normalization in JD
XDA-Bam May 10, 2020
fbfd2c5
No normalize_junction_vector exists w/out JD
thinkyhead May 11, 2020
2a04644
Ah, look where it is…
thinkyhead May 11, 2020
dac906a
simplify with ENABLED()
thinkyhead May 11, 2020
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19 changes: 10 additions & 9 deletions Marlin/src/module/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2256,16 +2256,17 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
{ steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e }
#endif
;
unit_vec *= inverse_millimeters;

#if IS_CORE && HAS_JUNCTION_DEVIATION
/**
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
* => normalize the complete junction vector
*/
normalize_junction_vector(unit_vec);
#endif
/**
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
* => normalize the complete junction vector.
* Elsewise, when needed JD factors in the E component
*/
if (ENABLED(IS_CORE) || esteps > 0)
normalize_junction_vector(unit_vec); // Normalize with XYZE components
else
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))

// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
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