Add custom types for position (#15204)
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@ -30,7 +30,6 @@ Nozzle nozzle;
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#include "../Marlin.h"
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#include "../module/motion.h"
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#include "point_t.h"
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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@ -38,30 +37,30 @@ Nozzle nozzle;
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* @brief Stroke clean pattern
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* @details Wipes the nozzle back and forth in a linear movement
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param start xyz_pos_t defining the starting point
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* @param end xyz_pos_t defining the ending point
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* @param strokes number of strokes to execute
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*/
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void Nozzle::stroke(const point_t &start, const point_t &end, const uint8_t &strokes) {
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void Nozzle::stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) {
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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const xyz_pos_t oldpos = current_position;
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#endif
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// Move to the starting point
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#if ENABLED(NOZZLE_CLEAN_NO_Z)
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_xy(start);
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#else
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do_blocking_move_to(start.x, start.y, start.z);
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do_blocking_move_to(start);
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#endif
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// Start the stroke pattern
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for (uint8_t i = 0; i < (strokes >> 1); i++) {
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do_blocking_move_to_xy(end.x, end.y);
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_xy(end);
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do_blocking_move_to_xy(start);
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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do_blocking_move_to(oldpos);
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#endif
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}
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@ -69,29 +68,29 @@ Nozzle nozzle;
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* @brief Zig-zag clean pattern
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* @details Apply a zig-zag cleaning pattern
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*
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* @param start point_t defining the starting point
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* @param end point_t defining the ending point
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* @param start xyz_pos_t defining the starting point
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* @param end xyz_pos_t defining the ending point
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* @param strokes number of strokes to execute
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* @param objects number of triangles to do
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*/
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void Nozzle::zigzag(const point_t &start, const point_t &end, const uint8_t &strokes, const uint8_t &objects) {
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const float diffx = end.x - start.x, diffy = end.y - start.y;
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if (!diffx || !diffy) return;
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void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) {
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const xy_pos_t diff = end - start;
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if (!diff.x || !diff.y) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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const xyz_pos_t back = current_position;
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#endif
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#if ENABLED(NOZZLE_CLEAN_NO_Z)
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_xy(start);
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#else
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do_blocking_move_to(start.x, start.y, start.z);
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do_blocking_move_to(start);
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#endif
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const uint8_t zigs = objects << 1;
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const bool horiz = ABS(diffx) >= ABS(diffy); // Do a horizontal wipe?
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const float P = (horiz ? diffx : diffy) / zigs; // Period of each zig / zag
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const point_t *side;
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const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe?
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const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag
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const xyz_pos_t *side;
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for (uint8_t j = 0; j < strokes; j++) {
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for (int8_t i = 0; i < zigs; i++) {
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side = (i & 1) ? &end : &start;
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@ -110,7 +109,7 @@ Nozzle nozzle;
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}
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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do_blocking_move_to(back);
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#endif
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}
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@ -118,21 +117,21 @@ Nozzle nozzle;
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* @brief Circular clean pattern
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* @details Apply a circular cleaning pattern
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*
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* @param start point_t defining the middle of circle
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* @param start xyz_pos_t defining the middle of circle
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* @param strokes number of strokes to execute
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* @param radius radius of circle
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*/
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void Nozzle::circle(const point_t &start, const point_t &middle, const uint8_t &strokes, const float &radius) {
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void Nozzle::circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) {
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if (strokes == 0) return;
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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const float ix = current_position[X_AXIS], iy = current_position[Y_AXIS], iz = current_position[Z_AXIS];
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const xyz_pos_t back = current_position;
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#endif
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#if ENABLED(NOZZLE_CLEAN_NO_Z)
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_xy(start);
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#else
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do_blocking_move_to(start.x, start.y, start.z);
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do_blocking_move_to(start);
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#endif
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for (uint8_t s = 0; s < strokes; s++)
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@ -143,10 +142,10 @@ Nozzle nozzle;
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);
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// Let's be safe
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do_blocking_move_to_xy(start.x, start.y);
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do_blocking_move_to_xy(start);
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#if ENABLED(NOZZLE_CLEAN_GOBACK)
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do_blocking_move_to(ix, iy, iz);
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do_blocking_move_to(back);
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#endif
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}
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@ -158,21 +157,21 @@ Nozzle nozzle;
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* @param argument depends on the cleaning pattern
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*/
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void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects, const uint8_t cleans) {
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point_t start = NOZZLE_CLEAN_START_POINT;
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point_t end = NOZZLE_CLEAN_END_POINT;
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xyz_pos_t start = NOZZLE_CLEAN_START_POINT, end = NOZZLE_CLEAN_END_POINT;
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if (pattern == 2) {
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if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) {
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SERIAL_ECHOLNPGM("Warning : Clean Circle requires XY");
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return;
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}
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end = NOZZLE_CLEAN_CIRCLE_MIDDLE;
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constexpr xyz_pos_t middle NOZZLE_CLEAN_CIRCLE_MIDDLE;
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end = middle;
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}
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else {
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if (!TEST(cleans, X_AXIS)) start.x = end.x = current_position[X_AXIS];
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if (!TEST(cleans, Y_AXIS)) start.y = end.y = current_position[Y_AXIS];
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if (!TEST(cleans, X_AXIS)) start.x = end.x = current_position.x;
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if (!TEST(cleans, Y_AXIS)) start.y = end.y = current_position.y;
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}
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if (!TEST(cleans, Z_AXIS)) start.z = end.z = current_position[Z_AXIS];
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if (!TEST(cleans, Z_AXIS)) start.z = end.z = current_position.z;
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switch (pattern) {
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case 1: zigzag(start, end, strokes, objects); break;
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@ -185,7 +184,7 @@ Nozzle nozzle;
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#if ENABLED(NOZZLE_PARK_FEATURE)
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void Nozzle::park(const uint8_t z_action, const point_t &park/*=NOZZLE_PARK_POINT*/) {
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void Nozzle::park(const uint8_t z_action, const xyz_pos_t &park/*=NOZZLE_PARK_POINT*/) {
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constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE;
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switch (z_action) {
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@ -194,14 +193,14 @@ Nozzle nozzle;
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break;
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case 2: // Raise by Z-park height
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do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park.z, Z_MAX_POS), fr_z);
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do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z);
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break;
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default: // Raise to at least the Z-park height
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do_blocking_move_to_z(_MAX(park.z, current_position[Z_AXIS]), fr_z);
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do_blocking_move_to_z(_MAX(park.z, current_position.z), fr_z);
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}
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do_blocking_move_to_xy(park.x, park.y, fr_xy);
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do_blocking_move_to_xy(park, fr_xy);
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report_current_position();
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}
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