Improves G12 zig-zag pattern

2016-06-23 00:23:55 +01:00
parent b05a75655a
commit 021544f572
3 changed files with 60 additions and 33 deletions
--- a/Marlin/nozzle.h
+++ b/Marlin/nozzle.h
@ -0,0 +1,133 @@
+/*
+ * 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 __CLEAN_NOZZLE_H__
+#define __CLEAN_NOZZLE_H__
+
+#include "Marlin.h"
+#include "point_t.h"
+
+/**
+ * @brief Nozzle class
+ *
+ * @todo: Do not ignore the end.z value and allow XYZ movements
+ * @todo: Currently this feature needs AUTO_BED_LEVELING_FEATURE to be active
+ *  due to the do_blocking_move_to*() functions.
+ */
+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(point_t const &start, point_t const &end, uint8_t const &strokes)
+    __attribute__ ((optimize ("Os"))) {
+      // 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);
+      }
+    }
+
+    /**
+     * @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
+     * @param strokes number of strokes to execute
+     * @param objects number of objects to create
+     */
+    static void zigzag(point_t const &start,
+      point_t const &end, uint8_t const &strokes, uint8_t const &objects)
+    __attribute__ ((optimize ("Os"))) {
+      float A = fabs(end.y - start.y); // [twice the] Amplitude
+      float P = fabs(end.x - start.x) / (objects << 1); // Period
+
+      // Don't allow impossible triangles
+      if (A <= 0.0f || P <= 0.0f ) return;
+
+      // Store the current coords
+      point_t const home = {
+        current_position[X_AXIS],
+        current_position[Y_AXIS],
+        current_position[Z_AXIS],
+        current_position[E_AXIS]
+      };
+
+      for (uint8_t j = 0; j < strokes; j++) {
+        for (uint8_t i = 0; i < (objects << 1); i++) {
+          float const x = start.x + i * P;
+          float const y = start.y + (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 + i * P;
+          float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
+
+          do_blocking_move_to_xy(x, y);
+        }
+      }
+
+      // Move to home/start position
+      do_blocking_move_to_z(home.z);
+      do_blocking_move_to_xy(home.x, home.y);
+    }
+
+  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(uint8_t const &pattern,
+      uint8_t const &strokes, uint8_t const &objects = 0)
+    __attribute__ ((optimize ("Os"))) {
+      switch (pattern) {
+        case 1:
+          Nozzle::zigzag(
+            CLEAN_NOZZLE_START_PT,
+            CLEAN_NOZZLE_END_PT, strokes, objects);
+          break;
+
+        default:
+          Nozzle::stroke(
+            CLEAN_NOZZLE_START_PT,
+            CLEAN_NOZZLE_END_PT, strokes);
+      }
+    }
+};
+
+#endif