Method InitAsyncMove

src/Movement/DDA.cpp:638–688

Set up an async motor move returning true if the move does anything. All async moves are relative and linear.

// Set up an async motor move returning true if the move does anything.
// All async moves are relative and linear.
bool DDA::InitAsyncMove(DDARing& ring, const AsyncMove& nextMove) noexcept
{
	// 1. Compute the new endpoints and the movement vector
	bool realMove = false;

	const Move& move = reprap.GetMove();
	for (size_t drive = 0; drive < MaxAxesPlusExtruders; drive++)
	{
		// Note, the correspondence between endCoordinates and endPoint will not be exact because of rounding error.
		// This doesn't matter for the current application because we don't use either of these fields.

		// If it's a delta then we can only do async tower moves in the Z direction and on any additional linear axes
		const size_t axisToUse = (move.GetKinematics().GetKinematicsType() == KinematicsType::linearDelta && drive <= Z_AXIS) ? Z_AXIS : drive;
		directionVector[drive] = nextMove.movements[axisToUse];
		const int32_t delta = lrintf(nextMove.movements[axisToUse] * move.DriveStepsPerMm(drive));
		endPoint[drive] = prev->endPoint[drive] + delta;
		if (delta != 0)
		{
			realMove = true;
		}
	}

	// 2. Throw it away if there's no real movement.
	if (!realMove)
	{
		return false;
	}

	// 3. Store some values
	flags.all = 0;
	virtualExtruderPosition = 0;
	tool = nullptr;
	filePos = noFilePosition;
	originalFeedRate = 0.0;

	startSpeed = nextMove.startSpeed;
	endSpeed = nextMove.endSpeed;
	requestedSpeed = nextMove.requestedSpeed;
	maxAcceleration = maxDeceleration = nextMove.accelDecel;

# if SUPPORT_LASER || SUPPORT_IOBITS
	laserPwmOrIoBits.Clear();
# endif

	// Currently we normalise the vector sum of all motor movements to unit length.
	totalDistance = Normalise(directionVector);

	RecalculateMove(ring);
	SetState(provisional);
	return true;
}

#endif