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🩹 Trajectory FTM_POLYS followup

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Followup to #28197
This commit is contained in:
Scott Lahteine
2025-12-02 16:05:35 -06:00
parent dd02b5ff0a
commit 291a90ace4
5 changed files with 41 additions and 48 deletions
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11
Marlin/src/gcode/feature/ft_motion/M494.cpp
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@@ -28,18 +28,9 @@
#include "../../../module/stepper.h"
#include "../../../module/planner.h"
static FSTR_P get_trajectory_type_name() {
switch (ftMotion.getTrajectoryType()) {
default:
case TrajectoryType::TRAPEZOIDAL: return GET_TEXT_F(MSG_FTM_TRAPEZOIDAL);
case TrajectoryType::POLY5: return GET_TEXT_F(MSG_FTM_POLY5);
case TrajectoryType::POLY6: return GET_TEXT_F(MSG_FTM_POLY6);
}
}
void say_ftm_settings() {
#if ENABLED(FTM_POLYS)
SERIAL_ECHOLN(F(" Trajectory: "), get_trajectory_type_name(), C('('), (uint8_t)ftMotion.getTrajectoryType(), C(')'));
SERIAL_ECHOLN(F(" Trajectory: "), ftMotion.getTrajectoryName(), C('('), (uint8_t)ftMotion.getTrajectoryType(), C(')'));
#endif
const ft_config_t &c = ftMotion.cfg;

3
Marlin/src/inc/Conditionals-4-adv.h
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@@ -1541,9 +1541,6 @@
#if !HAS_EXTRUDERS
#undef FTM_SHAPER_E
#endif
#if DISABLED(FTM_POLYS)
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL
#endif
#endif
// Multi-Stepping Limit

20
Marlin/src/lcd/menu/menu_motion.cpp
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@@ -327,18 +327,6 @@ void menu_move() {
}
}
#if ENABLED(FTM_POLYS)
FSTR_P get_trajectory_name() {
switch (ftMotion.getTrajectoryType()) {
default:
case TrajectoryType::TRAPEZOIDAL: return GET_TEXT_F(MSG_FTM_TRAPEZOIDAL);
case TrajectoryType::POLY5: return GET_TEXT_F(MSG_FTM_POLY5);
case TrajectoryType::POLY6: return GET_TEXT_F(MSG_FTM_POLY6);
}
}
#endif // FTM_POLYS
#if HAS_DYNAMIC_FREQ
FSTR_P get_dyn_freq_mode_name() {
switch (ftMotion.cfg.dynFreqMode) {
@@ -494,7 +482,7 @@ void menu_move() {
auto _traj_name = [&]{
if (TERN1(CACHE_FOR_SPEED, !got_t)) {
TERN_(CACHE_FOR_SPEED, got_t = true);
traj_name = get_trajectory_name();
traj_name = ftMotion.getTrajectoryName();
}
return traj_name;
};
@@ -504,7 +492,7 @@ void menu_move() {
auto _dmode = []{ return get_dyn_freq_mode_name(); };
#endif
#if ENABLED(FTM_POLYS)
auto _traj_name = []{ return get_trajectory_name(); };
auto _traj_name = []{ return ftMotion.getTrajectoryName(); };
#endif
#endif
@@ -598,7 +586,7 @@ void menu_move() {
auto _traj_name = [&]{
if (TERN1(CACHE_FOR_SPEED, !got_t)) {
TERN_(CACHE_FOR_SPEED, got_t = true);
traj_name = get_trajectory_name();
traj_name = ftMotion.getTrajectoryName();
}
return traj_name;
};
@@ -611,7 +599,7 @@ void menu_move() {
auto _dmode = []{ return get_dyn_freq_mode_name(); };
#endif
#if ENABLED(FTM_POLYS)
auto _traj_name = []{ return get_trajectory_name(); };
auto _traj_name = []{ return ftMotion.getTrajectoryName(); };
#endif
#endif // !__AVR__

39
Marlin/src/module/ft_motion.cpp
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@@ -74,11 +74,11 @@ float FTMotion::tau = 0.0f; // (s) Time since start of b
// Trajectory generators
TrapezoidalTrajectoryGenerator FTMotion::trapezoidalGenerator;
#if ENABLED(FTM_POLYS)
TrajectoryType FTMotion::trajectoryType = TrajectoryType::FTM_TRAJECTORY_TYPE;
Poly5TrajectoryGenerator FTMotion::poly5Generator;
Poly6TrajectoryGenerator FTMotion::poly6Generator;
TrajectoryGenerator* FTMotion::currentGenerator = &FTMotion::trapezoidalGenerator;
#endif
TrajectoryGenerator* FTMotion::currentGenerator = &FTMotion::trapezoidalGenerator;
TrajectoryType FTMotion::trajectoryType = TrajectoryType::FTM_TRAJECTORY_TYPE;
// Resonance Test
TERN_(FTM_RESONANCE_TEST,ResonanceGenerator FTMotion::rtg;) // Resonance trajectory generator instance
@@ -288,20 +288,33 @@ void FTMotion::plan_runout_block() {
void FTMotion::init() {
update_shaping_params();
TERN_(FTM_SMOOTHING, update_smoothing_params());
setTrajectoryType(cfg.trajectory_type);
TERN_(FTM_POLYS, setTrajectoryType(cfg.trajectory_type));
reset(); // Precautionary.
}
// Set trajectory generator type
void FTMotion::setTrajectoryType(const TrajectoryType type) {
cfg.trajectory_type = trajectoryType = type;
switch (type) {
default: cfg.trajectory_type = trajectoryType = TrajectoryType::FTM_TRAJECTORY_TYPE;
case TrajectoryType::TRAPEZOIDAL: currentGenerator = &trapezoidalGenerator; break;
#if ENABLED(FTM_POLYS)
case TrajectoryType::POLY5: currentGenerator = &poly5Generator; break;
case TrajectoryType::POLY6: currentGenerator = &poly6Generator; break;
#endif
#if ENABLED(FTM_POLYS)
// Set trajectory generator type
void FTMotion::setTrajectoryType(const TrajectoryType type) {
cfg.trajectory_type = trajectoryType = type;
switch (type) {
default:
case TrajectoryType::TRAPEZOIDAL: currentGenerator = &trapezoidalGenerator; break;
#if ENABLED(FTM_POLYS)
case TrajectoryType::POLY5: currentGenerator = &poly5Generator; break;
case TrajectoryType::POLY6: currentGenerator = &poly6Generator; break;
#endif
}
}
#endif // FTM_POLYS
FSTR_P FTMotion::getTrajectoryName() {
switch (getTrajectoryType()) {
default:
case TrajectoryType::TRAPEZOIDAL: return GET_TEXT_F(MSG_FTM_TRAPEZOIDAL);
case TrajectoryType::POLY5: return GET_TEXT_F(MSG_FTM_POLY5);
case TrajectoryType::POLY6: return GET_TEXT_F(MSG_FTM_POLY6);
}
}

16
Marlin/src/module/ft_motion.h
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@@ -84,9 +84,11 @@ typedef struct FTConfig {
ft_smoothed_float_t smoothingTime; // Smoothing time. [s]
#endif
TrajectoryType trajectory_type = TrajectoryType::FTM_TRAJECTORY_TYPE; // Trajectory generator type
#if ENABLED(FTM_POLYS)
float poly6_acceleration_overshoot; // Overshoot factor for Poly6 (1.25 to 2.0)
TrajectoryType trajectory_type = TrajectoryType::FTM_TRAJECTORY_TYPE; // Trajectory generator type
#else
static constexpr TrajectoryType trajectory_type = TrajectoryType::TRAPEZOIDAL;
#endif
} ft_config_t;
@@ -140,10 +142,9 @@ class FTMotion {
#if ENABLED(FTM_POLYS)
cfg.poly6_acceleration_overshoot = FTM_POLY6_ACCELERATION_OVERSHOOT;
setTrajectoryType(TrajectoryType::FTM_TRAJECTORY_TYPE);
#endif
setTrajectoryType(TrajectoryType::FTM_TRAJECTORY_TYPE);
reset();
}
@@ -182,7 +183,8 @@ class FTMotion {
// Trajectory generator selection
static void setTrajectoryType(const TrajectoryType type);
static TrajectoryType getTrajectoryType() { return trajectoryType; }
static TrajectoryType getTrajectoryType() { return TERN(FTM_POLYS, trajectoryType, TrajectoryType::TRAPEZOIDAL); }
static FSTR_P getTrajectoryName();
FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) {
return cfg.active ? moving_axis_flags[axis] : stepper.axis_is_moving(axis);
@@ -219,9 +221,11 @@ class FTMotion {
#if ENABLED(FTM_POLYS)
static Poly5TrajectoryGenerator poly5Generator;
static Poly6TrajectoryGenerator poly6Generator;
static TrajectoryType trajectoryType;
static TrajectoryGenerator* currentGenerator;
#else
static constexpr TrajectoryGenerator *currentGenerator = trapezoidalGenerator;
#endif
static TrajectoryGenerator* currentGenerator;
static TrajectoryType trajectoryType;
#if FTM_HAS_LIN_ADVANCE
static bool use_advance_lead;