Method AddMoveFromRemote

src/Movement/Move2.cpp:1232–1286

Add a move to the movement queue when we are in expansion board mode

// Add a move to the movement queue when we are in expansion board mode
void Move::AddMoveFromRemote(const CanMessageMovementLinearShaped& msg) noexcept
{
	// Prepare for movement
	PrepParams params;

	// Normalise the move to unit distance
	params.totalDistance = 1.0;
	params.acceleration = msg.acceleration;
	params.deceleration = -msg.deceleration;
	params.accelClocks = msg.accelerationClocks;
	params.steadyClocks = msg.steadyClocks;
	params.decelClocks = msg.decelClocks;
	uint32_t clocksNeeded = msg.accelerationClocks + msg.steadyClocks + msg.decelClocks;

	// We occasionally receive a message for a very short move with zero clocks needed. This messes up the calculations, so add one steady clock in this case.
	if (clocksNeeded == 0)
	{
		clocksNeeded = params.steadyClocks = 1;
	}

	const float accelDistanceExTopSpeed = -0.5 * params.acceleration * fsquare((float)params.accelClocks);
	const float decelDistanceExTopSpeed = 0.5 * params.deceleration * fsquare((float)params.decelClocks);
	const float topSpeed = (params.totalDistance - accelDistanceExTopSpeed - decelDistanceExTopSpeed)/clocksNeeded;

	params.accelDistance =      accelDistanceExTopSpeed + topSpeed * params.accelClocks;
	const float decelDistance = decelDistanceExTopSpeed + topSpeed * params.decelClocks;
	params.decelStartDistance =  1.0 - decelDistance;

	MovementFlags segFlags;
	segFlags.nonPrintingMove = !msg.usePressureAdvance;
	segFlags.noShaping = !msg.useLateInputShaping;

	for (size_t drive = 0; drive < min<size_t>(NumDirectDrivers, msg.numDrivers); drive++)
	{
		if ((msg.extruderDrives & (1u << drive)) != 0)
		{
			// It's an extruder
			const float extrusionRequested = msg.perDrive[drive].extrusion;
			if (extrusionRequested != 0.0)
			{
				EnableDrivers(drive, false);
				AddLinearSegments(drive, msg.whenToExecute, params, extrusionRequested, segFlags.AddIsExtruder());
			}
		}
		else
		{
			const float delta = (float)msg.perDrive[drive].steps;
			if (delta != 0.0)
			{
				EnableDrivers(drive, false);
				AddLinearSegments(drive, msg.whenToExecute, params, delta, segFlags);
			}
		}
	}
}

GCodeResult Move::EutSetMotorCurrents(const CanMessageMultipleDrivesRequest<float>& msg, size_t dataLength, const StringRef& reply) noexcept
{