handle e-only moves like moves with linear axes

MarlinFirmware · Aug 20, 2023 · 810187a · 810187a
1 parent 7f4fc9a
commit 810187a
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Showing 3 changed files with 14 additions and 4 deletions.
diff --git a/Marlin/src/lcd/marlinui.cpp b/Marlin/src/lcd/marlinui.cpp
@@ -821,8 +821,11 @@ void MarlinUI::init() {
 
         const feedRate_t fr_mm_s = (axis < LOGICAL_AXES) ? manual_feedrate_mm_s[axis] : XY_PROBE_FEEDRATE_MM_S;
 
-        // For a rotational axis convert the "inch" feedrate to "mm" before applying it
-        // TODO: Assert that all units on a rotational axis are expressed in degrees, not by distance
+        /**
+         * For a rotational axis apply the "inch" to "mm" conversion factor. This mimics behaviour of the G1 G-code 
+         * implementation. For moves involving only rotational axes, the planner will convert back to the feedrate#
+         * in degrees per time unit.
+         */
         feedRate_t fr = fr_mm_s;
         #if ENABLED(INCH_MODE_SUPPORT) && HAS_ROTATIONAL_AXES
           if (parser.axis_is_rotational(axis) && parser.using_inch_units()) fr = IN_TO_MM(fr);

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -1159,10 +1159,13 @@ float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool
 
       #if HAS_ROTATIONAL_AXES
         if (UNEAR_ZERO(distance_sqr)) {
-          // Move involves only rotational axes. Calculate angular distance in accordance with LinuxCNC
-          is_cartesian_move = false;
+          // Move involves no linear axes. Calculate angular distance in accordance with LinuxCNC
           distance_sqr = ROTATIONAL_AXIS_GANG(sq(diff.i), + sq(diff.j), + sq(diff.k), + sq(diff.u), + sq(diff.v), + sq(diff.w));
         }
+        if (!UNEAR_ZERO(distance_sqr)) {
+          //Move involves rotational axes, not just the extruder
+          is_cartesian_move = false;
+        }
       #endif
 
     #endif

diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
@@ -2300,6 +2300,10 @@ bool Planner::_populate_block(
   // Example 2: At 120°/s a 60° move involving only rotational axes takes 0.5s. So this will give 2.0.
   float inverse_secs = inverse_millimeters * (
     #if ALL(HAS_ROTATIONAL_AXES, INCH_MODE_SUPPORT)
+      /** 
+       * Work around for the premature feedrate conversion from 
+       * inches/s to mm/s by the get_distance_from_command function.
+       */
       cartesian_move ? fr_mm_s : LINEAR_UNIT(fr_mm_s)
     #else
       fr_mm_s