Limited backlash editing with Core kinematics (#17281)
This commit is contained in:
Scott Lahteine
GitHub
@ -37,6 +37,21 @@
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#include "../../module/endstops.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#if !AXIS_CAN_CALIBRATE(X)
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#undef CALIBRATION_MEASURE_LEFT
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#undef CALIBRATION_MEASURE_RIGHT
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#endif
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#if !AXIS_CAN_CALIBRATE(Y)
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#undef CALIBRATION_MEASURE_FRONT
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#undef CALIBRATION_MEASURE_BACK
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#endif
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#if !AXIS_CAN_CALIBRATE(Z)
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#undef CALIBRATION_MEASURE_AT_TOP_EDGES
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#endif
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/**
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* G425 backs away from the calibration object by various distances
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* depending on the confidence level:
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@ -207,42 +222,52 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
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inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
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const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
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AxisEnum axis;
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float dir;
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float dir = 1;
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park_above_object(m, uncertainty);
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switch (side) {
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case TOP: {
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const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center.z = measurement - dimensions.z / 2;
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m.obj_side[TOP] = measurement;
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return;
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}
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case RIGHT: axis = X_AXIS; dir = -1; break;
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case FRONT: axis = Y_AXIS; dir = 1; break;
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case LEFT: axis = X_AXIS; dir = 1; break;
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case BACK: axis = Y_AXIS; dir = -1; break;
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#if AXIS_CAN_CALIBRATE(Z)
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case TOP: {
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const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center.z = measurement - dimensions.z / 2;
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m.obj_side[TOP] = measurement;
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return;
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}
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#endif
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#if AXIS_CAN_CALIBRATE(X)
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case LEFT: axis = X_AXIS; break;
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case RIGHT: axis = X_AXIS; dir = -1; break;
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#endif
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#if AXIS_CAN_CALIBRATE(Y)
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case FRONT: axis = Y_AXIS; break;
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case BACK: axis = Y_AXIS; dir = -1; break;
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#endif
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default: return;
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}
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if (probe_top_at_edge) {
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// Probe top nearest the side we are probing
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current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
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calibration_move();
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m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
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#if AXIS_CAN_CALIBRATE(Z)
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// Probe top nearest the side we are probing
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current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
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calibration_move();
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m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
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m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
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#endif
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}
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// Move to safe distance to the side of the calibration object
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current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
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calibration_move();
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if (AXIS_CAN_CALIBRATE(X) && axis == X_AXIS || AXIS_CAN_CALIBRATE(Y) && axis == Y_AXIS) {
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// Move to safe distance to the side of the calibration object
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current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
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calibration_move();
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// Plunge below the side of the calibration object and measure
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current_position.z = m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7;
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calibration_move();
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const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
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m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
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m.obj_side[side] = measurement;
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// Plunge below the side of the calibration object and measure
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current_position.z = m.obj_side[TOP] - (CALIBRATION_NOZZLE_TIP_HEIGHT) * 0.7f;
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calibration_move();
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const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
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m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
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m.obj_side[side] = measurement;
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}
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}
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/**
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@ -252,7 +277,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
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* uncertainty in - How far away from the calibration object to begin probing
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*/
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inline void probe_sides(measurements_t &m, const float uncertainty) {
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#ifdef CALIBRATION_MEASURE_AT_TOP_EDGES
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#if ENABLED(CALIBRATION_MEASURE_AT_TOP_EDGES)
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constexpr bool probe_top_at_edge = true;
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#else
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// Probing at the exact center only works if the center is flat. Probing on a washer
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@ -261,18 +286,18 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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probe_side(m, uncertainty, TOP);
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#endif
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#ifdef CALIBRATION_MEASURE_RIGHT
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#if ENABLED(CALIBRATION_MEASURE_RIGHT)
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probe_side(m, uncertainty, RIGHT, probe_top_at_edge);
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#endif
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#ifdef CALIBRATION_MEASURE_FRONT
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#if ENABLED(CALIBRATION_MEASURE_FRONT)
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probe_side(m, uncertainty, FRONT, probe_top_at_edge);
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#endif
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#ifdef CALIBRATION_MEASURE_LEFT
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#if ENABLED(CALIBRATION_MEASURE_LEFT)
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probe_side(m, uncertainty, LEFT, probe_top_at_edge);
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#endif
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#ifdef CALIBRATION_MEASURE_BACK
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#if ENABLED(CALIBRATION_MEASURE_BACK)
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probe_side(m, uncertainty, BACK, probe_top_at_edge);
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#endif
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@ -313,7 +338,9 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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#if ENABLED(CALIBRATION_REPORTING)
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inline void report_measured_faces(const measurements_t &m) {
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SERIAL_ECHOLNPGM("Sides:");
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SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
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#if AXIS_CAN_CALIBRATE(Z)
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SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_LEFT)
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SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]);
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#endif
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@ -343,19 +370,25 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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inline void report_measured_backlash(const measurements_t &m) {
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SERIAL_ECHOLNPGM("Backlash:");
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#if ENABLED(CALIBRATION_MEASURE_LEFT)
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SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
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#if AXIS_CAN_CALIBRATE(X)
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#if ENABLED(CALIBRATION_MEASURE_LEFT)
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SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_RIGHT)
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SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
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#endif
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#endif
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#if ENABLED(CALIBRATION_MEASURE_RIGHT)
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SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]);
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#if AXIS_CAN_CALIBRATE(Y)
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#if ENABLED(CALIBRATION_MEASURE_FRONT)
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SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_BACK)
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SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
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#endif
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#endif
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#if ENABLED(CALIBRATION_MEASURE_FRONT)
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SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]);
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#if AXIS_CAN_CALIBRATE(Z)
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SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
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#endif
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#if ENABLED(CALIBRATION_MEASURE_BACK)
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SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]);
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#endif
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SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]);
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SERIAL_EOL();
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}
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@ -369,7 +402,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
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#if HAS_Y_CENTER
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SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y);
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#endif
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SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
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if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z);
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SERIAL_EOL();
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}
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@ -417,6 +450,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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probe_sides(m, uncertainty);
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#if ENABLED(BACKLASH_GCODE)
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#if HAS_X_CENTER
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backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
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#elif ENABLED(CALIBRATION_MEASURE_LEFT)
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@ -433,18 +467,18 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
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backlash.distance_mm.y = m.backlash[BACK];
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#endif
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backlash.distance_mm.z = m.backlash[TOP];
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if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP];
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#endif
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}
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#if ENABLED(BACKLASH_GCODE)
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// Turn on backlash compensation and move in all
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// directions to take up any backlash
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// allowed directions to take up any backlash
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{
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// New scope for TEMPORARY_BACKLASH_CORRECTION
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TEMPORARY_BACKLASH_CORRECTION(all_on);
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TEMPORARY_BACKLASH_SMOOTHING(0.0f);
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const xyz_float_t move = { 3, 3, 3 };
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const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 };
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current_position += move; calibration_move();
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current_position -= move; calibration_move();
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}
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@ -482,26 +516,18 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
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// Adjust the hotend offset
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#if HAS_HOTEND_OFFSET
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#if HAS_X_CENTER
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hotend_offset[extruder].x += m.pos_error.x;
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#endif
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#if HAS_Y_CENTER
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hotend_offset[extruder].y += m.pos_error.y;
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#endif
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hotend_offset[extruder].z += m.pos_error.z;
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if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) hotend_offset[extruder].x += m.pos_error.x;
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if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) hotend_offset[extruder].y += m.pos_error.y;
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if (AXIS_CAN_CALIBRATE(Z)) hotend_offset[extruder].z += m.pos_error.z;
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normalize_hotend_offsets();
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#endif
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// Correct for positional error, so the object
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// is at the known actual spot
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planner.synchronize();
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#if HAS_X_CENTER
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update_measurements(m, X_AXIS);
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#endif
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#if HAS_Y_CENTER
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update_measurements(m, Y_AXIS);
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#endif
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update_measurements(m, Z_AXIS);
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if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) update_measurements(m, X_AXIS);
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if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS);
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if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS);
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sync_plan_position();
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}
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