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✨ FT_MOTION > FTM_POLYS
MarlinFirmware/Marlin#28197
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Lines changed: 4466 additions & 3248 deletions

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‎config/default/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1201,14 +1201,17 @@
12011201
// smoothing acceleration peaks, which may also smooth curved surfaces.
12021202
#endif
12031203

1204-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1205-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1206-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1207-
// POLY6: Continuous Acceleration (aka S_CURVE).
1208-
// POLY trajectories not only reduce resonances without rounding corners, but also
1209-
// reduce extruder strain due to linear advance.
1210-
1211-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1204+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1205+
#if ENABLED(FTM_POLYS)
1206+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1207+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1208+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1209+
// POLY6: Continuous Acceleration (aka S_CURVE).
1210+
// POLY trajectories not only reduce resonances without rounding corners, but also
1211+
// reduce extruder strain due to linear advance.
1212+
1213+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1214+
#endif
12121215

12131216
/**
12141217
* Advanced configuration

‎config/examples/3DFabXYZ/Migbot/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/3DMatik/XL/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/ADIMLab/Gantry v1/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/ADIMLab/Gantry v2/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/Alfawise/U20-bltouch/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1205,14 +1205,17 @@
12051205
// smoothing acceleration peaks, which may also smooth curved surfaces.
12061206
#endif
12071207

1208-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1209-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1210-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1211-
// POLY6: Continuous Acceleration (aka S_CURVE).
1212-
// POLY trajectories not only reduce resonances without rounding corners, but also
1213-
// reduce extruder strain due to linear advance.
1214-
1215-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1208+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1209+
#if ENABLED(FTM_POLYS)
1210+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1211+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1212+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1213+
// POLY6: Continuous Acceleration (aka S_CURVE).
1214+
// POLY trajectories not only reduce resonances without rounding corners, but also
1215+
// reduce extruder strain due to linear advance.
1216+
1217+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1218+
#endif
12161219

12171220
/**
12181221
* Advanced configuration

‎config/examples/Alfawise/U20/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/AliExpress/CL-260/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/AliExpress/UM2pExt/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

‎config/examples/Anet/A2/Configuration_adv.h‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1196,14 +1196,17 @@
11961196
// smoothing acceleration peaks, which may also smooth curved surfaces.
11971197
#endif
11981198

1199-
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1200-
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1201-
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1202-
// POLY6: Continuous Acceleration (aka S_CURVE).
1203-
// POLY trajectories not only reduce resonances without rounding corners, but also
1204-
// reduce extruder strain due to linear advance.
1205-
1206-
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1199+
#define FTM_POLYS // Disable POLY5/6 to save ~3k of Flash. Preserves TRAPEZOIDAL.
1200+
#if ENABLED(FTM_POLYS)
1201+
#define FTM_TRAJECTORY_TYPE TRAPEZOIDAL // Block acceleration profile (TRAPEZOIDAL, POLY5, POLY6)
1202+
// TRAPEZOIDAL: Continuous Velocity. Max acceleration is respected.
1203+
// POLY5: Like POLY6 with 1.5x but uses less CPU.
1204+
// POLY6: Continuous Acceleration (aka S_CURVE).
1205+
// POLY trajectories not only reduce resonances without rounding corners, but also
1206+
// reduce extruder strain due to linear advance.
1207+
1208+
#define FTM_POLY6_ACCELERATION_OVERSHOOT 1.875f // Max acceleration overshoot factor for POLY6 (1.25 to 1.875)
1209+
#endif
12071210

12081211
/**
12091212
* Advanced configuration

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