* Fixed old, busted max feedrate computation; enabled combination moves

* Added prefs checkbox for reenabling old behavior
* (Skipping rewrite of inefficient parser code; this code will get rewritten
  in backend update anyway)

src/replicatorg/app/GCodeParser.java

@@ -85,6 +85,9 @@ public class GCodeParser {
 	boolean absoluteMode = false;
 
 	// our feedrate variables.
+	/**
+	 * Feedrate in mm/minute.
+	 */
 	double feedrate = 0.0;
 
 	/*
@@ -132,6 +135,11 @@ public class GCodeParser {
 	public static final int TB_MESSAGE = 998;
 	public static final int TB_CLEANUP = 999;
 
+	// Replicate old behavior of breaking out Z moves into seperate setTarget
+	// calls.
+
+	private boolean breakoutZMoves = Base.preferences.getBoolean("replicatorg.parser.breakzmoves", false);
+
 	/**
 	 * Creates the driver object.
 	 */
@@ -177,7 +185,8 @@ protected double getMaxFeedrate() {
 	public void init(Driver drv) {
 		// our driver class
 		driver = drv;
-
+		// reload breakout
+		breakoutZMoves = Base.preferences.getBoolean("replicatorg.parser.breakzmoves", false);
 		// init our offset variables
 		currentOffset = driver.getOffset(0);
 	}
@@ -681,6 +690,7 @@ private void executeGCodes() throws GCodeException {
 
 		// Get feedrate if supplied
 		if (hasCode("F")) {
+			// Read feedrate in mm/min.
 			feedrate = getCodeValue("F");
 			driver.setFeedrate(feedrate);
 		}
@@ -1125,8 +1135,10 @@ private void setTarget(Point3d p) {
 		// toolpath.
 		// move z first
 		Point3d current = driver.getCurrentPosition();
-		if (p.z != current.z) {
-			driver.queuePoint(new Point3d(current.x, current.y, p.z));
+		if (breakoutZMoves) {
+			if (p.z != current.z) {
+				driver.queuePoint(new Point3d(current.x, current.y, p.z));
+			}
 		}
 		driver.queuePoint(new Point3d(p));
 		current = new Point3d(p);

src/replicatorg/app/MachineController.java

@@ -148,7 +148,10 @@ private boolean buildCodesInternal(GCodeSource source) throws BuildFailureExcept
 				// Do not continue build if the machine is not building or paused
 				return false;
 			}
-
+
+			// Flush any parser cached data
+			driver.getParser().init(driver);
+
 			Iterator<String> i = source.iterator();
 			while (i.hasNext()) {
 				String line = i.next();

src/replicatorg/app/ui/PreferencesWindow.java

@@ -117,6 +117,7 @@ public PreferencesWindow() {
 		addCheckboxForPref(content,"Honor serial port selection in machines.xml","serial.use_machines",true);
 		addCheckboxForPref(content,"Show experimental machine profiles","machine.showExperimental",false);
 		addCheckboxForPref(content,"Show simulator during builds","build.showSimulator",false);
+		addCheckboxForPref(content,"Break Z motion into seperate moves (normally false)","replicatorg.parser.breakzmoves",false);
 
 		content.add(new JLabel("Firmware update URL: "),"split");
 		firmwareUpdateUrlField = new JTextField(34);

src/replicatorg/drivers/Driver.java

@@ -144,6 +144,10 @@ public interface Driver {
 	 */
 	void invalidatePosition();
 
+	/**
+	 * Queue the next point to move to.
+	 * @param p The location to move to, in mm.
+	 */
 	public void queuePoint(Point3d p);
 
 	public Point3d getOffset(int i);

src/replicatorg/drivers/DriverBaseImplementation.java

@@ -239,16 +239,15 @@ public Point3d getPosition() {
 		return getCurrentPosition();
 	}
 
+	/**
+	 * Queue the given point.
+	 * @param p The point, in mm.
+	 */
 	public void queuePoint(Point3d p) {
 		Point3d delta = getDelta(p);
 
-		// calculate the length of each axis move
-		double xFactor = Math.pow(delta.x, 2);
-		double yFactor = Math.pow(delta.y, 2);
-		double zFactor = Math.pow(delta.z, 2);
-
 		// add to the total length
-		moveLength += Math.sqrt(xFactor + yFactor + zFactor);
+		moveLength += delta.distance(new Point3d());
 
 		// what is our feedrate?
 		double feedrate = getSafeFeedrate(delta);
@@ -284,6 +283,11 @@ public double getCurrentFeedrate() {
 		return currentFeedrate;
 	}
 
+	/**
+	 * Return the maximum safe feedrate, given in mm/min., for the given delta and current feedrate.
+	 * @param delta The delta in mm.
+	 * @return
+	 */
 	public double getSafeFeedrate(Point3d delta) {
 		double feedrate = getCurrentFeedrate();
 
@@ -299,13 +303,18 @@ public double getSafeFeedrate(Point3d delta) {
 			// System.out.println("Zero feedrate!! " + feedrate);
 		}
 
+		// Break down feedrate by axis.
+		double length = delta.distance(new Point3d(0,0,0));
 		if (delta.x != 0)
-			feedrate = Math.min(feedrate, maxFeedrates.x);
+			if (feedrate*delta.x/length > maxFeedrates.x)
+				feedrate = maxFeedrates.x * length/delta.x;
 		if (delta.y != 0)
-			feedrate = Math.min(feedrate, maxFeedrates.y);
-		if (delta.z != 0)
-			feedrate = Math.min(feedrate, maxFeedrates.z);
-
+			if (feedrate*delta.y/length > maxFeedrates.y)
+				feedrate = maxFeedrates.y * length/delta.y;
+		if (delta.z != 0) {
+			if (feedrate*delta.z/length > maxFeedrates.z)
+				feedrate = maxFeedrates.z * length/delta.z;
+		}
 		return feedrate;
 	}
 

src/replicatorg/drivers/gen3/Sanguino3GDriver.java

@@ -365,10 +365,13 @@ public void queuePoint(Point3d p) {
 		if (masterSteps > 0.0) {
 			// where we going?
 			Point3d steps = machine.mmToSteps(p);
-
+
+			Point3d delta = getDelta(p);
+			double feedrate = getSafeFeedrate(delta);
+
 			// how fast are we doing it?
 			long micros = convertFeedrateToMicros(getCurrentPosition(),
-					p, getSafeFeedrate(deltaSteps));
+					p, feedrate);
 
 			//System.err.println("Steps :"+steps.toString()+" micros "+Long.toString(micros));
 
@@ -1011,17 +1014,22 @@ private Point3d getAbsDeltaSteps(Point3d current, Point3d target) {
 		return machine.mmToSteps(getAbsDeltaDistance(current, target));
 	}
 
+	/**
+	 * 
+	 * @param current
+	 * @param target
+	 * @param feedrate Feedrate in mm per minute
+	 * @return
+	 */
 	private long convertFeedrateToMicros(Point3d current, Point3d target,
 			double feedrate) {
 		Point3d deltaDistance = getAbsDeltaDistance(current, target);
-		Point3d deltaSteps = getAbsDeltaSteps(current, target);
-		// how long is our line length?
-		double distance = Math.sqrt(deltaDistance.x * deltaDistance.x
-				+ deltaDistance.y * deltaDistance.y + deltaDistance.z
-				* deltaDistance.z);
+ 		Point3d deltaSteps = machine.mmToSteps(deltaDistance);
 		double masterSteps = getLongestLength(deltaSteps);
-		// distance is in steps
-		// feedrate is in steps/
+		// how long is our line length?
+		double distance = deltaDistance.distance(new Point3d());
+		// distance is in mm
+		// feedrate is in mm/min
 		// distance / feedrate * 60,000,000 = move duration in microseconds
 		double micros = distance / feedrate * 60000000.0;
 		// micros / masterSteps = time between steps for master axis.