Marlin_Firmware/Marlin/nozzle.h

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/*
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef __NOZZLE_H__
#define __NOZZLE_H__
#include "Marlin.h"
#include "point_t.h"
#if ENABLED(NOZZLE_CLEAN_FEATURE)
constexpr float nozzle_clean_start_point[4] = NOZZLE_CLEAN_START_POINT,
nozzle_clean_end_point[4] = NOZZLE_CLEAN_END_POINT,
nozzle_clean_length = fabs(nozzle_clean_start_point[X_AXIS] - nozzle_clean_end_point[X_AXIS]), //abs x size of wipe pad
nozzle_clean_height = fabs(nozzle_clean_start_point[Y_AXIS] - nozzle_clean_end_point[Y_AXIS]); //abs y size of wipe pad
constexpr bool nozzle_clean_horizontal = nozzle_clean_length >= nozzle_clean_height; //whether to zig-zag horizontally or vertically
#endif //NOZZLE_CLEAN_FEATURE
/**
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* @brief Nozzle class
*
* @todo: Do not ignore the end.z value and allow XYZ movements
*/
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class Nozzle {
private:
/**
* @brief Stroke clean pattern
* @details Wipes the nozzle back and forth in a linear movement
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
static void stroke(
__attribute__((unused)) point_t const &start,
__attribute__((unused)) point_t const &end,
__attribute__((unused)) uint8_t const &strokes
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
// Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_z(start.z);
// Start the stroke pattern
for (uint8_t i = 0; i < (strokes >>1); i++) {
do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y);
}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point
do_blocking_move_to(initial.x, initial.y, initial.z);
#endif // NOZZLE_CLEAN_GOBACK
#endif // NOZZLE_CLEAN_FEATURE
}
/**
* @brief Zig-zag clean pattern
* @details Apply a zig-zag cleanning pattern
*
* @param start point_t defining the starting point
* @param end point_t defining the ending point
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* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
static void zigzag(
__attribute__((unused)) point_t const &start,
__attribute__((unused)) point_t const &end,
__attribute__((unused)) uint8_t const &strokes,
__attribute__((unused)) uint8_t const &objects
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
float A = nozzle_clean_horizontal ? nozzle_clean_height : nozzle_clean_length; // [twice the] Amplitude
float P = ( nozzle_clean_horizontal ? nozzle_clean_length : nozzle_clean_height ) / (objects << 1); // Period
// Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return;
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_GOBACK
for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
do_blocking_move_to_xy(x, y);
if (i == 0) do_blocking_move_to_z(start.z);
}
for (int i = (objects << 1); i > -1; i--) {
float const x = start.x + ( nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
float const y = start.y + (!nozzle_clean_horizontal ? i * P : (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)) );
do_blocking_move_to_xy(x, y);
}
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}
#if ENABLED(NOZZLE_CLEAN_GOBACK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif // NOZZLE_CLEAN_GOBACK
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#endif // NOZZLE_CLEAN_FEATURE
}
public:
/**
* @brief Clean the nozzle
* @details Starts the selected clean procedure pattern
*
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
static void clean(
__attribute__((unused)) uint8_t const &pattern,
__attribute__((unused)) uint8_t const &strokes,
__attribute__((unused)) uint8_t const &objects = 0
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
#endif
switch (pattern) {
case 1:
Nozzle::zigzag(
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_END_POINT, strokes, objects);
break;
default:
Nozzle::stroke(
NOZZLE_CLEAN_START_POINT,
NOZZLE_CLEAN_END_POINT, strokes);
}
#endif // NOZZLE_CLEAN_FEATURE
}
static void park(
__attribute__((unused)) uint8_t const &z_action
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_PARK_FEATURE)
float const z = current_position[Z_AXIS];
point_t const park = NOZZLE_PARK_POINT;
switch(z_action) {
case 1: // force Z-park height
do_blocking_move_to_z(park.z);
break;
case 2: // Raise by Z-park height
do_blocking_move_to_z(
(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
break;
default: // Raise to Z-park height if lower
if (current_position[Z_AXIS] < park.z)
do_blocking_move_to_z(park.z);
}
do_blocking_move_to_xy(park.x, park.y);
#endif // NOZZLE_PARK_FEATURE
}
};
#endif