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 }
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// Extruder offsets
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#if HAS_HOTEND_OFFSET
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float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
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void reset_hotend_offsets() {
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constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
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static_assert(
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tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
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"Offsets for the first hotend must be 0.0."
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);
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LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
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#if ENABLED(DUAL_X_CARRIAGE)
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hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
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#endif
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}
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#endif
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// The feedrate for the current move, often used as the default if
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@@ -130,11 +141,23 @@ const float homing_feedrate_mm_s[XYZ] PROGMEM = {
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float cartes[XYZ];
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#if IS_KINEMATIC
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float delta[ABC];
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#endif
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#if HAS_SCARA_OFFSET
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float scara_home_offset[ABC];
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float delta[ABC];
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#if HAS_SCARA_OFFSET
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float scara_home_offset[ABC];
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#endif
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#if HAS_SOFTWARE_ENDSTOPS
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float soft_endstop_radius, soft_endstop_radius_2;
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#elif IS_SCARA
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constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
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soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
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#else // DELTA
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constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
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soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
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#endif
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#endif
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/**
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@@ -440,47 +463,6 @@ void clean_up_after_endstop_or_probe_move() {
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
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#if IS_KINEMATIC
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float soft_endstop_radius, soft_endstop_radius_2;
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#endif
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* For DELTA/SCARA the XY constraint is based on the smallest
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* radius within the set software endstops.
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*/
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void clamp_to_software_endstops(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
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if (dist_2 > soft_endstop_radius_2) {
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const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
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target[X_AXIS] *= ratio;
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target[Y_AXIS] *= ratio;
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}
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#else
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#endif
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#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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}
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/**
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* Software endstops can be used to monitor the open end of
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* an axis that has a hardware endstop on the other end. Or
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@@ -490,7 +472,11 @@ void clean_up_after_endstop_or_probe_move() {
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* the software endstop positions must be refreshed to remain
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* at the same positions relative to the machine.
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*/
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void update_software_endstops(const AxisEnum axis) {
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void update_software_endstops(const AxisEnum axis
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#if HAS_HOTEND_OFFSET
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, const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/
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#endif
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) {
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#if ENABLED(DUAL_X_CARRIAGE)
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@@ -499,7 +485,7 @@ void clean_up_after_endstop_or_probe_move() {
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// In Dual X mode hotend_offset[X] is T1's home position
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const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
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if (active_extruder != 0) {
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if (new_tool_index != 0) {
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS;
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soft_endstop_max[X_AXIS] = dual_max_x;
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@@ -538,6 +524,22 @@ void clean_up_after_endstop_or_probe_move() {
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default: break;
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}
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#elif HAS_HOTEND_OFFSET
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// Software endstops are relative to the tool 0 workspace, so
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// the movement limits must be shifted by the tool offset to
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// retain the same physical limit when other tools are selected.
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if (old_tool_index != new_tool_index) {
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const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
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soft_endstop_min[axis] += offs;
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soft_endstop_max[axis] += offs;
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}
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else {
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const float offs = hotend_offset[axis][active_extruder];
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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#else
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soft_endstop_min[axis] = base_min_pos(axis);
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@@ -554,7 +556,59 @@ void clean_up_after_endstop_or_probe_move() {
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#endif
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}
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#endif
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#endif // HAS_SOFTWARE_ENDSTOPS
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* For DELTA/SCARA the XY constraint is based on the smallest
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* radius within the set software endstops.
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*/
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void clamp_to_software_endstops(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
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// The effector center position will be the target minus the hotend offset.
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const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
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#else
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// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
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constexpr float offx = 0, offy = 0;
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#endif
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const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
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if (dist_2 > soft_endstop_radius_2) {
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const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
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target[X_AXIS] *= ratio;
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target[Y_AXIS] *= ratio;
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}
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#else
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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}
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#if !UBL_SEGMENTED
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#if IS_KINEMATIC
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