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M665 rework and related issues (all delta's)

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- Making M665 compatible with repetier (see
http://reprap.org/wiki/G_code#M665:_Set_delta_configuration)

- M665 B also sets the radius for manual calibration menu

- Converting tower ajustment definitions to arrays - tower angle
corrections compatible with Esher 3D wizzard

- Only tower angles need to be adjustable with M665 and stored to EEPROM
- tower radius and diag rod can be adjusted in the FW only with #define
This commit is contained in:
LVD-AC
2017-04-18 14:43:25 +02:00
committed by teemuatlut
parent e66d9f1313
commit 13c8493878
11 changed files with 141 additions and 167 deletions
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47
Marlin/Marlin_main.cpp
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@ -585,10 +585,10 @@ static uint8_t target_extruder;
// These values are loaded or reset at boot time when setup() calls
// settings.load(), which calls recalc_delta_settings().
float delta_radius,
delta_tower_angle_trim[ABC],
delta_tower_angle_trim[2],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_diagonal_rod_trim[ABC],
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height = Z_MAX_POS;
@ -5109,8 +5109,8 @@ inline void gcode_G28() {
if (probe_points >= 3) {
for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
z_at_pt[0] += probe_pt(
0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1);
0.1 * cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius),
0.1 * sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1);
}
center_points += 3;
z_at_pt[0] /= center_points;
@ -5124,8 +5124,8 @@ inline void gcode_G28() {
if (probe_points != 1) {
for (uint8_t axis = start; axis < 13; axis += step_axis)
z_at_pt[axis] += probe_pt(
cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1
cos(RADIANS(180 + 30 * axis)) * (delta_calibration_radius),
sin(RADIANS(180 + 30 * axis)) * (delta_calibration_radius), true, 1
);
if (probe_points == 4) step_axis = 2;
@ -5308,7 +5308,7 @@ inline void gcode_G28() {
}
SERIAL_EOL;
if (zero_std_dev >= test_precision)
SERIAL_PROTOCOLLNPGM("Save with M500");
SERIAL_PROTOCOLLNPGM("save with M500 and/or copy to configuration.h");
}
else { // forced end
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
@ -7546,12 +7546,13 @@ inline void gcode_M205() {
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float();
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_calibration_radius = code_value_float();
if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('Z')) { // rotate all 3 axis for Z = 0
delta_tower_angle_trim[A_AXIS] += code_value_linear_units();
delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
}
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
@ -10555,15 +10556,17 @@ void ok_to_send() {
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1);
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2);
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = -cos(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = -sin(RADIANS(30 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = -sin(RADIANS(30 - delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
}
#if ENABLED(DELTA_FAST_SQRT)