void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { /** * Much of the nozzle movement will be within the same cell. So we will do as little computation * as possible to determine if this is the case. If this move is within the same cell, we will * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave */ #if ENABLED(SKEW_CORRECTION) // For skew correction just adjust the destination point and we're done float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); #else const float (&start)[XYZE] = current_position, (&end)[XYZE] = destination; #endif const int cell_start_xi = get_cell_index_x(start[X_AXIS]), cell_start_yi = get_cell_index_y(start[Y_AXIS]), cell_dest_xi = get_cell_index_x(end[X_AXIS]), cell_dest_yi = get_cell_index_y(end[Y_AXIS]); if (g26_debug_flag) { SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); SERIAL_CHAR(')'); SERIAL_EOL(); debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); } // A move within the same cell needs no splitting if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // For a move off the bed, use a constant Z raise if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) { // Note: There is no Z Correction in this case. We are off the grid and don't know what // a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH // value, that will be used instead of a calculated (Bi-Linear interpolation) correction. const float z_raise = 0.0 #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + UBL_Z_RAISE_WHEN_OFF_MESH #endif ; planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], feed_rate, extruder); set_current_from_destination(); if (g26_debug_flag) debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); return; } FINAL_MOVE: // The distance is always MESH_X_DIST so multiply by the constant reciprocal. const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0f / (MESH_X_DIST)); float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]); if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; // X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset. const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0f / (MESH_Y_DIST)), z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0; // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], feed_rate, extruder); if (g26_debug_flag) debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); set_current_from_destination(); return; } /** * Past this point the move is known to cross one or more mesh lines. Check for the most common * case - crossing only one X or Y line - after details are worked out to reduce computation. */ const float dx = end[X_AXIS] - start[X_AXIS], dy = end[Y_AXIS] - start[Y_AXIS]; const int left_flag = dx < 0.0 ? 1 : 0, down_flag = dy < 0.0 ? 1 : 0; const float adx = left_flag ? -dx : dx, ady = down_flag ? -dy : dy; const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1, dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1; /** * Compute the extruder scaling factor for each partial move, checking for * zero-length moves that would result in an infinite scaling factor. * A float divide is required for this, but then it just multiplies. * Also select a scaling factor based on the larger of the X and Y * components. The larger of the two is used to preserve precision. */ const bool use_x_dist = adx > ady; float on_axis_distance = use_x_dist ? dx : dy, e_position = end[E_AXIS] - start[E_AXIS], z_position = end[Z_AXIS] - start[Z_AXIS]; const float e_normalized_dist = e_position / on_axis_distance, z_normalized_dist = z_position / on_axis_distance; int current_xi = cell_start_xi, current_yi = cell_start_yi; const float m = dy / dx, c = start[Y_AXIS] - m * start[X_AXIS]; const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0), inf_m_flag = (isinf(m) != 0); /** * Handle vertical lines that stay within one column. * These need not be perfectly vertical. */ if (dxi == 0) { // Vertical line? current_yi += down_flag; // Line going down? Just go to the bottom. while (current_yi != cell_dest_yi + down_flag) { current_yi += dyi; const float next_mesh_line_y = mesh_index_to_ypos(current_yi); /** * Skip the calculations for an infinite slope. * For others the next X is the same so this can continue. * Calculate X at the next Y mesh line. */ const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m; float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; const float ry = mesh_index_to_ypos(current_yi); /** * Without this check, it's possible to generate a zero length move, as in the case where * the line is heading down, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ if (ry != start[Y_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); // At the final destination? Usually not, but when on a Y Mesh Line it's completed. if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * Handle horizontal lines that stay within one row. * These need not be perfectly horizontal. */ if (dyi == 0) { // Horizontal line? current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move. while (current_xi != cell_dest_xi + left_flag) { current_xi += dxi; const float next_mesh_line_x = mesh_index_to_xpos(current_xi), ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; const float rx = mesh_index_to_xpos(current_xi); /** * Without this check, it's possible to generate a zero length move, as in the case where * the line is heading left, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ if (rx != start[X_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder)) break; } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * Handle the generic case of a line crossing both X and Y Mesh lines. * */ int xi_cnt = cell_start_xi - cell_dest_xi, yi_cnt = cell_start_yi - cell_dest_yi; if (xi_cnt < 0) xi_cnt = -xi_cnt; if (yi_cnt < 0) yi_cnt = -yi_cnt; current_xi += left_flag; current_yi += down_flag; while (xi_cnt || yi_cnt) { const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi), next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi), ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line // (No need to worry about m being zero. // If that was the case, it was already detected // as a vertical line move above.) if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder)) break; current_yi += dyi; yi_cnt--; } else { // Yes! Crossing a X Mesh Line next float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder)) break; current_xi += dxi; xi_cnt--; } if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE } if (g26_debug_flag) debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); }
void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) { /** * Much of the nozzle movement will be within the same cell. So we will do as little computation * as possible to determine if this is the case. If this move is within the same cell, we will * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave */ #if ENABLED(SKEW_CORRECTION) // For skew correction just adjust the destination point and we're done float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] }, end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] }; planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]); planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]); #else const float (&start)[XYZE] = current_position, (&end)[XYZE] = destination; #endif const int cell_start_xi = get_cell_index_x(start[X_AXIS]), cell_start_yi = get_cell_index_y(start[Y_AXIS]), cell_dest_xi = get_cell_index_x(end[X_AXIS]), cell_dest_yi = get_cell_index_y(end[Y_AXIS]); if (g26_debug_flag) { SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]); SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]); SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]); SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]); SERIAL_CHAR(')'); SERIAL_EOL(); debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()")); } if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell, /** * we don't need to break up the move * * If we are moving off the print bed, we are going to allow the move at this level. * But we detect it and isolate it. For now, we just pass along the request. */ if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) { // Note: There is no Z Correction in this case. We are off the grid and don't know what // a reasonable correction would be. planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder); set_current_from_destination(); if (g26_debug_flag) debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()")); return; } FINAL_MOVE: /** * Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to * generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function. * We are going to only calculate the amount we are from the first mesh line towards the second mesh line once. * We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And, * instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide. */ const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST)); float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]), z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio * (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]); if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0; // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we // are going to apply the Y-Distance into the cell to interpolate the final Z correction. const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST)); float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0; /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder); if (g26_debug_flag) debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()")); set_current_from_destination(); return; } /** * If we get here, we are processing a move that crosses at least one Mesh Line. We will check * for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details * of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less * computation and in fact most lines are of this nature. We will check for that in the following * blocks of code: */ const float dx = end[X_AXIS] - start[X_AXIS], dy = end[Y_AXIS] - start[Y_AXIS]; const int left_flag = dx < 0.0 ? 1 : 0, down_flag = dy < 0.0 ? 1 : 0; const float adx = left_flag ? -dx : dx, ady = down_flag ? -dy : dy; const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1, dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1; /** * Compute the scaling factor for the extruder for each partial move. * We need to watch out for zero length moves because it will cause us to * have an infinate scaling factor. We are stuck doing a floating point * divide to get our scaling factor, but after that, we just multiply by this * number. We also pick our scaling factor based on whether the X or Y * component is larger. We use the biggest of the two to preserve precision. */ const bool use_x_dist = adx > ady; float on_axis_distance = use_x_dist ? dx : dy, e_position = end[E_AXIS] - start[E_AXIS], z_position = end[Z_AXIS] - start[Z_AXIS]; const float e_normalized_dist = e_position / on_axis_distance, z_normalized_dist = z_position / on_axis_distance; int current_xi = cell_start_xi, current_yi = cell_start_yi; const float m = dy / dx, c = start[Y_AXIS] - m * start[X_AXIS]; const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0), inf_m_flag = (isinf(m) != 0); /** * This block handles vertical lines. These are lines that stay within the same * X Cell column. They do not need to be perfectly vertical. They just can * not cross into another X Cell column. */ if (dxi == 0) { // Check for a vertical line current_yi += down_flag; // Line is heading down, we just want to go to the bottom while (current_yi != cell_dest_yi + down_flag) { current_yi += dyi; const float next_mesh_line_y = mesh_index_to_ypos(current_yi); /** * if the slope of the line is infinite, we won't do the calculations * else, we know the next X is the same so we can recover and continue! * Calculate X at the next Y mesh line */ const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m; float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; const float ry = mesh_index_to_ypos(current_yi); /** * Without this check, it is possible for the algorithm to generate a zero length move in the case * where the line is heading down and it is starting right on a Mesh Line boundary. For how often that * happens, it might be best to remove the check and always 'schedule' the move because * the planner.buffer_segment() routine will filter it if that happens. */ if (ry != start[Y_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()")); // // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done. // if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * This block handles horizontal lines. These are lines that stay within the same * Y Cell row. They do not need to be perfectly horizontal. They just can * not cross into another Y Cell row. * */ if (dyi == 0) { // Check for a horizontal line current_xi += left_flag; // Line is heading left, we just want to go to the left // edge of this cell for the first move. while (current_xi != cell_dest_xi + left_flag) { current_xi += dxi; const float next_mesh_line_x = mesh_index_to_xpos(current_xi), ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; const float rx = mesh_index_to_xpos(current_xi); /** * Without this check, it is possible for the algorithm to generate a zero length move in the case * where the line is heading left and it is starting right on a Mesh Line boundary. For how often * that happens, it might be best to remove the check and always 'schedule' the move because * the planner.buffer_segment() routine will filter it if that happens. */ if (rx != start[X_AXIS]) { if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); } //else printf("FIRST MOVE PRUNED "); } if (g26_debug_flag) debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); return; } /** * * This block handles the generic case of a line crossing both X and Y Mesh lines. * */ int xi_cnt = cell_start_xi - cell_dest_xi, yi_cnt = cell_start_yi - cell_dest_yi; if (xi_cnt < 0) xi_cnt = -xi_cnt; if (yi_cnt < 0) yi_cnt = -yi_cnt; current_xi += left_flag; current_yi += down_flag; while (xi_cnt > 0 || yi_cnt > 0) { const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi), next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi), ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line // (No need to worry about m being zero. // If that was the case, it was already detected // as a vertical line move above.) if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); current_yi += dyi; yi_cnt--; } else { // Yes! Crossing a X Mesh Line next float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag) * planner.fade_scaling_factor_for_z(end[Z_AXIS]); /** * If part of the Mesh is undefined, it will show up as NAN * in z_values[][] and propagate through the * calculations. If our correction is NAN, we throw it out * because part of the Mesh is undefined and we don't have the * information we need to complete the height correction. */ if (isnan(z0)) z0 = 0.0; if (!inf_normalized_flag) { on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS]; e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist; } else { e_position = end[E_AXIS]; z_position = end[Z_AXIS]; } planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); current_xi += dxi; xi_cnt--; } if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE } if (g26_debug_flag) debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()")); if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS]) goto FINAL_MOVE; set_current_from_destination(); }