Marlin Planner 101

This is a new post about FW movement, specifically, about Marlin planner.

“THE PLANNER  buffers movement commands and manages the acceleration profile plan”

For me its easier to understand the planner as a black box that translates movement commands into the DESIRED movement profile that motors understand.

The goal of the planner is to maximize the speed profile between all the GCode movement making sure we only have one constant acceleration for all the speed movement profiles. This ensure that our printer moves as fast as is possible within the kinematic constant constrains (ACCELERATION and JERK @Configuration).

Fig. By