Fix for "dithering" behavior

src/replicatorg/drivers/gen3/Makerbot4GAlternateDriver.java

@@ -20,25 +20,22 @@ public class Makerbot4GAlternateDriver extends Makerbot4GDriver {
 
 	private boolean stepperExtruderFanEnabled = false;
 
-	public String getDriverName() {
+	@Override public String getDriverName() {
 		return "Makerbot4GAlternate";
 	}
 
-	public void reset() {
+	@Override public void reset() {
 		// We should poll the machine for it's state here, but it is more important to have the
 		// fan on than off.
 		stepperExtruderFanEnabled = false;
 
 		super.reset();
 	}
 
-	/** The excess, in steps, from previous operations. */ 
-	protected Point5d stepExcess = new Point5d();
-
 	/**
 	 * Overloaded to manage a hijacked axis and run this axis in relative mode instead of the extruder DC motor
 	 */
-	public void queuePoint(Point5d p) throws RetryException {
+	@Override public void queuePoint(Point5d p) throws RetryException {
 		// If we don't know our current position, make this move an old-style move, ignoring any hijacked axes. 
 		if (positionLost()) {
 			Base.logger.fine("Position invalid, reverting to default speed for next motion");
@@ -69,10 +66,7 @@ public void queuePoint(Point5d p) throws RetryException {
 
 			// okay, send it off!
 			// TODO: bug: We move all axes (even ones that shouldn't be moved) How to avoid?
-			Point5d excess = new Point5d(stepExcess);
-			queueAbsolutePoint(machine.mmToSteps(filteredPoint, excess), longestDDA);
-			// Only update excess if no retry was thrown.
-			stepExcess = excess;
+			queueAbsolutePoint(machine.mmToSteps(filteredPoint), longestDDA);
 			// Finally, recored the position, and mark it as valid.
 			setInternalPosition(filteredPoint);
 		} else {
@@ -100,19 +94,15 @@ public void queuePoint(Point5d p) throws RetryException {
 				delta.add(axesmovement);
 				filteredpoint.add(axesmovement);
 
-				Point5d excess = new Point5d(stepExcess);
 				// Calculate time for move in usec
-				Point5d steps = machine.mmToSteps(filteredpoint,excess);		
+				Point5d steps = machine.mmToSteps(filteredpoint);		
 
 				// okay, send it off!
 				// The 4. and 5. dimensions doesn't have a spatial interpretation. Calculate time in 3D space
 				double minutes = delta.get3D().distance(new Point3d())/ getSafeFeedrate(delta);
 
 				queueNewPoint(steps, (long) (60 * 1000 * 1000 * minutes), relative);
 
-				// Only update excess if no retry was thrown.
-				stepExcess = excess;
-
 				setInternalPosition(filteredpoint);
 			}
 		}
@@ -122,7 +112,7 @@ public void queuePoint(Point5d p) throws RetryException {
 	 * In legacy use, delayed while a DC motor ran. For compatiblity, this function
 	 * creates a Point5D to do 'extrude while sitting still'. 
 	 */
-	public void delay(long millis) throws RetryException {
+	@Override public void delay(long millis) throws RetryException {
 		Base.logger.finer("Delaying " + millis + " millis.");	
 
 		Point5d steps = pointsFromHijackedAxes( machine.currentTool(), millis / 60000d);
@@ -233,7 +223,7 @@ private Point5d pointsFromHijackedAxes(ToolModel curTool, double minutes) {
 		return steps;
 	}
 
-	public void stop(boolean abort) {
+	@Override public void stop(boolean abort) {
 		// Record the toolstate as off, so we don't excite the extruder motor in future moves.
 		machine.currentTool().disableMotor();
 
@@ -274,38 +264,41 @@ protected void queueNewPoint(Point5d steps, long us, int relative) throws RetryE
 	/**
 	 * Overridden to not talk to the DC motor driver. This driver is reused for the stepper motor fan
 	 */
-	public void enableMotor() throws RetryException {
-		machine.currentTool().enableMotor();
+	@Override public void enableMotor(int toolhead) throws RetryException {
+        if (toolhead == -1 ) toolhead = machine.currentTool().getIndex();
+		machine.getTool(toolhead).enableMotor();
 	}
 
 	/**
 	 * Overridden to not talk to the DC motor driver. This driver is reused for the stepper motor fan
 	 */
-	public void disableMotor() throws RetryException {
-		machine.currentTool().disableMotor();
+	@Override public void disableMotor(int toolhead) throws RetryException {
+	    if (toolhead == -1 ) toolhead = machine.currentTool().getIndex();
+
+		machine.getTool(toolhead).disableMotor();
 	}
 
 	/**
 	 * Overridden to not talk to the DC motor driver. This driver is reused for the stepper motor fan
 	 */
-	public void setMotorSpeedPWM(int pwm) throws RetryException {
+	@Override public void setMotorSpeedPWM(int pwm) throws RetryException {
 		machine.currentTool().setMotorSpeedPWM(pwm);
 	}
 
 	/**
 	 * Overridden to not talk to the DC motor driver. This driver is reused for the stepper motor fan
 	 */
-	public void setMotorRPM(double rpm, int toolhead) throws RetryException {
+	@Override public void setMotorRPM(double rpm, int toolhead) throws RetryException {
 		machine.currentTool().setMotorSpeedRPM(rpm);
 	}
 
-	public void enableDrives() throws RetryException {
+	@Override public void enableDrives() throws RetryException {
 		enableStepperExtruderFan(true);
 
 		super.enableDrives();
 	}
 
-	public void disableDrives() throws RetryException {
+	@Override public void disableDrives() throws RetryException {
 		enableStepperExtruderFan(false);
 
 		super.disableDrives();
@@ -315,7 +308,7 @@ public void disableDrives() throws RetryException {
 	 * Will turn on/off the stepper extruder fan if it's not already in the correct state.
 	 * 
 	 */
-	public void enableStepperExtruderFan(boolean enabled) throws RetryException {
+	@Override public void enableStepperExtruderFan(boolean enabled) throws RetryException {
 
 		// Always re-enable the fan when 
 		if (this.stepperExtruderFanEnabled == enabled) return;
@@ -352,11 +345,10 @@ public void enableStepperExtruderFan(boolean enabled) throws RetryException {
 	/// This is a list of which axis are hijacked for extruder use.
 	EnumMap<AxisId,ToolModel> extruderHijackedMap = new EnumMap<AxisId,ToolModel>(AxisId.class);
 
-	@Override
 	/**
 	 * When the machine is set for this driver, some toolheads may poach the an extrusion axis.
 	 */
-	public void setMachine(MachineModel m) {
+	@Override public void setMachine(MachineModel m) {
 		super.setMachine(m);
 		for (ToolModel tm : m.getTools()) {
 			Element e = (Element)tm.getXml();
@@ -380,12 +372,11 @@ public void setMachine(MachineModel m) {
 		}
 	}
 
-	@Override
 	/**
 	 * Overridden to not ask the board for the RPM as it would report the RPM from the extruder 
 	 * controller, which doesn't know about it in this case.
 	 */
-	public double getMotorRPM() {
+	@Override public double getMotorRPM() {
 		double rpm = machine.currentTool().getMotorSpeedRPM();
 		machine.currentTool().setMotorSpeedReadingRPM(rpm);
 		return rpm;

src/replicatorg/drivers/gen3/MightyBoard.java

@@ -475,8 +475,7 @@ public void queuePoint(final Point5d p) throws RetryException {
 			}
 
 			// calculate absolute position of target in steps
-			Point5d excess = new Point5d(stepExcess);
-			Point5d steps = machine.mmToSteps(target,excess);	
+			Point5d steps = machine.mmToSteps(target);	
 
 			double usec = (60 * 1000 * 1000 * minutes);
 
@@ -486,9 +485,6 @@ public void queuePoint(final Point5d p) throws RetryException {
 			int relativeAxes = (1 << AxisId.A.getIndex()) | (1 << AxisId.B.getIndex());
 			queueNewPoint(steps, (long) usec, relativeAxes);
 
-			// Only update excess if no retry was thrown.
-			stepExcess = excess;
-
 			// because of the hinky stuff we've been doing with A & B axes, just pretend we've
 			// moved where we thought we were moving
 			Point5d fakeOut = new Point5d(target);
@@ -1023,7 +1019,6 @@ public boolean setConnectedToolIndex(int index) {
 	}
 
 
-	@Override
 	@Deprecated
 	protected void writeToToolEEPROM(int offset, byte[] data) {
 		writeToToolEEPROM(offset, data, machine.currentTool().getIndex());
@@ -1186,7 +1181,6 @@ public int getT0(int which, int toolIndex) {
 		return val;
 	}
 
-	@Override
 	@Deprecated
 	protected int read16FromToolEEPROM(int offset, int defaultValue) {
 		return read16FromToolEEPROM(offset, defaultValue, machine.currentTool().getIndex());