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COREYZ stepper, planner, endstop, babysteps

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This commit is contained in:
Scott Lahteine
2016-05-20 13:27:49 -07:00
parent 6c7f4909b1
commit 5172d4ba40
5 changed files with 76 additions and 48 deletions
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48
Marlin/planner.cpp
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@ -543,6 +543,11 @@ void Planner::check_axes_activity() {
block->steps[A_AXIS] = labs(dx + dz);
block->steps[Y_AXIS] = labs(dy);
block->steps[C_AXIS] = labs(dx - dz);
#elif ENABLED(COREYZ)
// coreyz planning
block->steps[X_AXIS] = labs(dx);
block->steps[B_AXIS] = labs(dy + dz);
block->steps[C_AXIS] = labs(dy - dz);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
@ -581,7 +586,13 @@ void Planner::check_axes_activity() {
if (dy < 0) SBI(db, Y_AXIS);
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
if (dx - dz < 0) SBI(db, C_AXIS); // Motor B direction
if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
#elif ENABLED(COREYZ)
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
#else
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_AXIS);
@ -698,20 +709,27 @@ void Planner::check_axes_activity() {
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
#if ENABLED(COREXY)
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#elif ENABLED(COREXZ)
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
#if ENABLED(COREXY)
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#elif ENABLED(COREXZ)
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
#elif ENABLED(COREYZ)
delta_mm[X_AXIS] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_unit[B_AXIS];
delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_unit[C_AXIS];
#endif
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
@ -729,6 +747,8 @@ void Planner::check_axes_activity() {
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
#elif ENABLED(COREXZ)
square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
#elif ENABLED(COREYZ)
square(delta_mm[X_AXIS]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_HEAD])
#else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif