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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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33
Marlin/stepper.cpp
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@ -204,8 +204,9 @@ void Stepper::wake_up() {
/**
* Set the stepper direction of each axis
*
* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
* COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
* COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
* COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
*/
void Stepper::set_directions() {
@ -649,6 +650,11 @@ void Stepper::set_position(const long& x, const long& y, const long& z, const lo
count_position[A_AXIS] = x + z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - z;
#elif ENABLED(COREYZ)
// coreyz planning
count_position[X_AXIS] = x;
count_position[B_AXIS] = y + z;
count_position[C_AXIS] = y - z;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
@ -682,15 +688,16 @@ long Stepper::position(AxisEnum axis) {
*/
float Stepper::get_axis_position_mm(AxisEnum axis) {
float axis_steps;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
long pos1 = count_position[A_AXIS],
long pos1 = count_position[CORE_AXIS_1],
pos2 = count_position[CORE_AXIS_2];
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
axis_steps = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) / 2.0f;
}
else
axis_steps = position(axis);
@ -715,20 +722,20 @@ void Stepper::quick_stop() {
void Stepper::endstop_triggered(AxisEnum axis) {
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
float axis_pos = count_position[axis];
if (axis == A_AXIS)
if (axis == CORE_AXIS_1)
axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2;
else if (axis == CORE_AXIS_2)
axis_pos = (count_position[A_AXIS] - axis_pos) / 2;
axis_pos = (count_position[CORE_AXIS_1] - axis_pos) / 2;
endstops_trigsteps[axis] = axis_pos;
#else // !COREXY && !COREXZ
#else // !COREXY && !COREXZ && !COREYZ
endstops_trigsteps[axis] = count_position[axis];
#endif // !COREXY && !COREXZ
#endif // !COREXY && !COREXZ && !COREYZ
kill_current_block();
}
@ -747,14 +754,14 @@ void Stepper::report_positions() {
#endif
SERIAL_PROTOCOL(xpos);
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY) || ENABLED(COREYZ)
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if ENABLED(COREXZ) || ENABLED(COREXZ)
#if ENABLED(COREXZ) || ENABLED(COREYZ)
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");