[1.1.x] Operate in Native Machine Space #8229
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Looks like quite the improvement. |
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Looks like must be tested, tested, TESTED! |
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That's why it's here, instead of in my back pocket. 😉 The most likely issue I expect would be changes that got missed. Checking over the changes that have been made, they're all simplifications. The key thing: Every function and all logic should now deal only with machine-native coordinates. Only when doing input/output with the outside world do we need to subtract/add workspace offsets. A true relief, as this has been a source of confusion and errors — some of which this PR repairs. |
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Thank you for asking me. Yes i'm very interested... |
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Installed and tested, and it's working well. The amount of computational savings is essentially the same as using |
Background: Marlin operates internally using coordinates offset by the current workspace origin. As a result, in order to perform operations that are workspace-agnostic —such as moving to a machine-relative point, doing bed leveling, etc— Marlin must subtract the workspace origin first. This can significantly increase overhead, especially when using segmented moves, as we do with Delta (and as we will be doing more as a standard aspect of mesh leveling).
Proposal: Internally, always work in native machine space, but subtract the workspace offset in
gcode_get_destination(and other parameters that take coordinates), and add the workspace offset when reporting current position to the LCD or host.From the user perspective there will be no change whatsoever.
An extra advantage of this approach is that it will be possible to use the fixed-point planner (due to be added soon) even when custom workspaces are enabled.
Suggested by @GMagician in response to #8200.
@MagoKimbra — I think you'll approve of this one.
@MarlinFirmware/testers-cartesian-team
@MarlinFirmware/testers-corexy-team
@MarlinFirmware/testers-delta-team