Follow up fixes to various PRs. (#13334)
- Ensure `MarlinUI:get_progress` is defined for `ExtUI`. - Fix for `BACKLASH_SMOOTHING` with small segments. `BACKLASH_SMOOTHING` with extremely small segments failed to fully correct due to the correction factor being rounded down. Rounding up ensures the entire backlash will converge to zero even for small segments. - Add pinout for the beta revision `EINSY_RETRO`. - Update soft endstops with tool offsets (for toolchange et. al. move clamping) (#12568)
This commit is contained in:
Marcio Teixeira
committed by
Scott Lahteine
Scott Lahteine
parent
c7d618b4d9
commit
00fc43144a
@ -106,6 +106,17 @@ float destination[XYZE]; // = { 0 }
|
||||
// Extruder offsets
|
||||
#if HAS_HOTEND_OFFSET
|
||||
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
|
||||
void reset_hotend_offsets() {
|
||||
constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
|
||||
static_assert(
|
||||
tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
|
||||
"Offsets for the first hotend must be 0.0."
|
||||
);
|
||||
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
// The feedrate for the current move, often used as the default if
|
||||
@ -130,11 +141,23 @@ const float homing_feedrate_mm_s[XYZ] PROGMEM = {
|
||||
float cartes[XYZ];
|
||||
|
||||
#if IS_KINEMATIC
|
||||
float delta[ABC];
|
||||
#endif
|
||||
|
||||
#if HAS_SCARA_OFFSET
|
||||
float scara_home_offset[ABC];
|
||||
float delta[ABC];
|
||||
|
||||
#if HAS_SCARA_OFFSET
|
||||
float scara_home_offset[ABC];
|
||||
#endif
|
||||
|
||||
#if HAS_SOFTWARE_ENDSTOPS
|
||||
float soft_endstop_radius, soft_endstop_radius_2;
|
||||
#elif IS_SCARA
|
||||
constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
|
||||
soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
|
||||
#else // DELTA
|
||||
constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
|
||||
soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
@ -440,47 +463,6 @@ void clean_up_after_endstop_or_probe_move() {
|
||||
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
|
||||
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
|
||||
|
||||
#if IS_KINEMATIC
|
||||
float soft_endstop_radius, soft_endstop_radius_2;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Constrain the given coordinates to the software endstops.
|
||||
*
|
||||
* For DELTA/SCARA the XY constraint is based on the smallest
|
||||
* radius within the set software endstops.
|
||||
*/
|
||||
void clamp_to_software_endstops(float target[XYZ]) {
|
||||
if (!soft_endstops_enabled) return;
|
||||
#if IS_KINEMATIC
|
||||
const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
|
||||
if (dist_2 > soft_endstop_radius_2) {
|
||||
const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
|
||||
target[X_AXIS] *= ratio;
|
||||
target[Y_AXIS] *= ratio;
|
||||
}
|
||||
#else
|
||||
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
|
||||
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
|
||||
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
|
||||
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
|
||||
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
|
||||
#endif
|
||||
#endif
|
||||
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
|
||||
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
|
||||
#endif
|
||||
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
|
||||
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* Software endstops can be used to monitor the open end of
|
||||
* an axis that has a hardware endstop on the other end. Or
|
||||
@ -490,7 +472,11 @@ void clean_up_after_endstop_or_probe_move() {
|
||||
* the software endstop positions must be refreshed to remain
|
||||
* at the same positions relative to the machine.
|
||||
*/
|
||||
void update_software_endstops(const AxisEnum axis) {
|
||||
void update_software_endstops(const AxisEnum axis
|
||||
#if HAS_HOTEND_OFFSET
|
||||
, const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/
|
||||
#endif
|
||||
) {
|
||||
|
||||
#if ENABLED(DUAL_X_CARRIAGE)
|
||||
|
||||
@ -499,7 +485,7 @@ void clean_up_after_endstop_or_probe_move() {
|
||||
// In Dual X mode hotend_offset[X] is T1's home position
|
||||
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
|
||||
|
||||
if (active_extruder != 0) {
|
||||
if (new_tool_index != 0) {
|
||||
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
|
||||
soft_endstop_min[X_AXIS] = X2_MIN_POS;
|
||||
soft_endstop_max[X_AXIS] = dual_max_x;
|
||||
@ -538,6 +524,22 @@ void clean_up_after_endstop_or_probe_move() {
|
||||
default: break;
|
||||
}
|
||||
|
||||
#elif HAS_HOTEND_OFFSET
|
||||
|
||||
// Software endstops are relative to the tool 0 workspace, so
|
||||
// the movement limits must be shifted by the tool offset to
|
||||
// retain the same physical limit when other tools are selected.
|
||||
if (old_tool_index != new_tool_index) {
|
||||
const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
|
||||
soft_endstop_min[axis] += offs;
|
||||
soft_endstop_max[axis] += offs;
|
||||
}
|
||||
else {
|
||||
const float offs = hotend_offset[axis][active_extruder];
|
||||
soft_endstop_min[axis] = base_min_pos(axis) + offs;
|
||||
soft_endstop_max[axis] = base_max_pos(axis) + offs;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
soft_endstop_min[axis] = base_min_pos(axis);
|
||||
@ -554,7 +556,59 @@ void clean_up_after_endstop_or_probe_move() {
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
#endif // HAS_SOFTWARE_ENDSTOPS
|
||||
|
||||
/**
|
||||
* Constrain the given coordinates to the software endstops.
|
||||
*
|
||||
* For DELTA/SCARA the XY constraint is based on the smallest
|
||||
* radius within the set software endstops.
|
||||
*/
|
||||
void clamp_to_software_endstops(float target[XYZ]) {
|
||||
|
||||
if (!soft_endstops_enabled) return;
|
||||
|
||||
#if IS_KINEMATIC
|
||||
|
||||
#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
|
||||
// The effector center position will be the target minus the hotend offset.
|
||||
const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
|
||||
#else
|
||||
// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
|
||||
constexpr float offx = 0, offy = 0;
|
||||
#endif
|
||||
|
||||
const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
|
||||
if (dist_2 > soft_endstop_radius_2) {
|
||||
const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
|
||||
target[X_AXIS] *= ratio;
|
||||
target[Y_AXIS] *= ratio;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
|
||||
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
|
||||
#endif
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
|
||||
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
|
||||
#endif
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
|
||||
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
|
||||
#endif
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
|
||||
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
|
||||
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
|
||||
#endif
|
||||
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
|
||||
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if !UBL_SEGMENTED
|
||||
#if IS_KINEMATIC
|
||||
|
||||
Reference in New Issue
Block a user