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Consolidate "bedlevel" code

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This commit is contained in:
Scott Lahteine
2017-09-08 15:35:25 -05:00
parent 71aefc2e22
commit 551752eac7
45 changed files with 3525 additions and 3851 deletions
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26
Marlin/src/module/configuration_store.cpp
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@ -93,7 +93,7 @@
* 329 G29 S ubl.state.storage_slot (int8_t)
*
* DELTA: 48 bytes
* 348 M666 XYZ endstop_adj (float x3)
* 348 M666 XYZ delta_endstop_adj (float x3)
* 360 M665 R delta_radius (float)
* 364 M665 L delta_diagonal_rod (float)
* 368 M665 S delta_segments_per_second (float)
@ -187,6 +187,10 @@ MarlinSettings settings;
#include "../gcode/parser.h"
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if HAS_BED_PROBE
#include "../module/probe.h"
#endif
@ -199,14 +203,6 @@ MarlinSettings settings;
#include "../feature/fwretract.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
extern void refresh_bed_level();
#endif
#if ENABLED(FWRETRACT)
#include "../gcode/feature/fwretract/fwretract.h"
#endif
/**
* Post-process after Retrieve or Reset
*/
@ -421,7 +417,7 @@ void MarlinSettings::postprocess() {
// 9 floats for DELTA / Z_DUAL_ENDSTOPS
#if ENABLED(DELTA)
EEPROM_WRITE(endstop_adj); // 3 floats
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float
@ -806,7 +802,7 @@ void MarlinSettings::postprocess() {
#endif // AUTO_BED_LEVELING_UBL
#if ENABLED(DELTA)
EEPROM_READ(endstop_adj); // 3 floats
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(delta_segments_per_second); // 1 float
@ -1196,7 +1192,7 @@ void MarlinSettings::reset() {
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
COPY(endstop_adj, adj);
COPY(delta_endstop_adj, adj);
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
@ -1602,9 +1598,9 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPGM("Endstop adjustment:");
}
CONFIG_ECHO_START;
SERIAL_ECHOPAIR(" M666 X", LINEAR_UNIT(endstop_adj[X_AXIS]));
SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(endstop_adj[Y_AXIS]));
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS]));
SERIAL_ECHOPAIR(" M666 X", LINEAR_UNIT(delta_endstop_adj[X_AXIS]));
SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_endstop_adj[Y_AXIS]));
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(delta_endstop_adj[Z_AXIS]));
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");

269
Marlin/src/module/delta.cpp Normal file
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@ -0,0 +1,269 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* delta.cpp
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(DELTA)
#include "delta.h"
#include "motion.h"
// For homing:
#include "stepper.h"
#include "endstops.h"
#include "../lcd/ultralcd.h"
#include "../Marlin.h"
// Initialized by settings.load()
float delta_endstop_adj[ABC] = { 0 },
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[2];
float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height = Z_MAX_POS;
float delta_safe_distance_from_top();
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + 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]);
}
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*
* - Use a fast-inverse-sqrt function and add the reciprocal.
* (see above)
*/
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
/**
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float Q_rsqrt(float number) {
long i;
float x2, y;
const float threehalfs = 1.5f;
x2 = number * 0.5f;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
i = 0x5F3759DF - ( i >> 1 ); // what the f***?
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
return y;
}
#endif
#define DELTA_DEBUG() do { \
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
}while(0)
void inverse_kinematics(const float logical[XYZ]) {
DELTA_LOGICAL_IK();
// DELTA_DEBUG();
}
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
};
inverse_kinematics(cartesian);
float distance = delta[A_AXIS];
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
inverse_kinematics(cartesian);
return FABS(distance - delta[A_AXIS]);
}
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(float z1, float z2, float z3) {
// Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
// Get the Magnitude of vector.
float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
// Create unit vector by dividing by magnitude.
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
// Get the vector from the origin of the new system to the third point.
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
// Use the dot product to find the component of this vector on the X axis.
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
// Create a vector along the x axis that represents the x component of p13.
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
// Subtract the X component from the original vector leaving only Y. We use the
// variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
// The magnitude of Y component
float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
// Convert to a unit vector
ey[0] /= j; ey[1] /= j; ey[2] /= j;
// The cross product of the unit x and y is the unit z
// float[] ez = vectorCrossProd(ex, ey);
float ez[3] = {
ex[1] * ey[2] - ex[2] * ey[1],
ex[2] * ey[0] - ex[0] * ey[2],
ex[0] * ey[1] - ex[1] * ey[0]
};
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
}
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
bool home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
// Init the current position of all carriages to 0,0,0
ZERO(current_position);
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
feedrate_mm_s = homing_feedrate(X_AXIS);
line_to_current_position();
stepper.synchronize();
// If an endstop was not hit, then damage can occur if homing is continued.
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
// not set correctly.
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
return false;
}
endstops.hit_on_purpose(); // clear endstop hit flags
// At least one carriage has reached the top.
// Now re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
return true;
}
#endif // DELTA

141
Marlin/src/module/delta.h Normal file
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@ -0,0 +1,141 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* delta.h - Delta-specific functions
*/
#ifndef __DELTA_H__
#define __DELTA_H__
extern float delta_endstop_adj[ABC],
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[2];
extern float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
delta_clip_start_height;
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod);
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*
* - Use a fast-inverse-sqrt function and add the reciprocal.
* (see above)
*/
#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
/**
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float Q_rsqrt(float number);
#define _SQRT(n) (1.0f / Q_rsqrt(n))
#else
#define _SQRT(n) SQRT(n)
#endif
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - raw[X_AXIS], \
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
) \
)
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
}while(0)
#define DELTA_LOGICAL_IK() do { \
const float raw[XYZ] = { \
RAW_X_POSITION(logical[X_AXIS]), \
RAW_Y_POSITION(logical[Y_AXIS]), \
RAW_Z_POSITION(logical[Z_AXIS]) \
}; \
DELTA_RAW_IK(); \
}while(0)
void inverse_kinematics(const float logical[XYZ]);
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top();
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(float z1, float z2, float z3);
FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
bool home_delta();
#endif // __DELTA_H__

843
Marlin/src/module/motion.cpp
View File

@ -25,23 +25,38 @@
*/
#include "motion.h"
#include "endstops.h"
#include "stepper.h"
#include "planner.h"
#include "temperature.h"
#include "../gcode/gcode.h"
// #include "../module/planner.h"
// #include "../Marlin.h"
// #include "../inc/MarlinConfig.h"
#include "../core/serial.h"
#include "../module/stepper.h"
#include "../module/temperature.h"
#include "../inc/MarlinConfig.h"
#if IS_SCARA
#include "../libs/buzzer.h"
#include "../lcd/ultralcd.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "../feature/ubl/ubl.h"
// #if ENABLED(DUAL_X_CARRIAGE)
// #include "tool_change.h"
// #endif
#if HAS_BED_PROBE
#include "probe.h"
#endif
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if NEED_UNHOMED_ERR && ENABLED(ULTRA_LCD)
#include "../lcd/ultralcd.h"
#endif
#if ENABLED(SENSORLESS_HOMING)
#include "../feature/tmc2130.h"
#endif
#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
@ -72,15 +87,85 @@ float current_position[XYZE] = { 0.0 };
*/
float destination[XYZE] = { 0.0 };
// The active extruder (tool). Set with T<extruder> command.
uint8_t active_extruder = 0;
// Extruder offsets
#if HOTENDS > 1
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
#endif
// The feedrate for the current move, often used as the default if
// no other feedrate is specified. Overridden for special moves.
// Set by the last G0 through G5 command's "F" parameter.
// Functions that override this for custom moves *must always* restore it!
float feedrate_mm_s = MMM_TO_MMS(1500.0);
int16_t feedrate_percentage = 100;
// Homing feedrate is const progmem - compare to constexpr in the header
const float homing_feedrate_mm_s[4] PROGMEM = {
#if ENABLED(DELTA)
MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
#else
MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
#endif
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
};
// Cartesian conversion result goes here:
float cartes[XYZ];
// Until kinematics.cpp is created, create this here
#if IS_KINEMATIC
float delta[ABC];
#endif
/**
* The workspace can be offset by some commands, or
* these offsets may be omitted to save on computation.
*/
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[XYZ] = { 0 };
#endif
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
// The above two are combined to save on computes
float workspace_offset[XYZ] = { 0 };
#endif
#endif
#if OLDSCHOOL_ABL
float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
#endif
/**
* Output the current position to serial
*/
void report_current_position() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
stepper.report_positions();
#if IS_SCARA
scara_report_positions();
#endif
}
/**
* sync_plan_position
*
@ -96,6 +181,56 @@ void sync_plan_position() {
void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain the "ideal" coordinates
* suitable for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
#elif IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*/
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
COPY(current_position, cartes);
else
current_position[axis] = cartes[axis];
}
/**
* Move the planner to the current position from wherever it last moved
* (or from wherever it has been told it is located).
@ -149,6 +284,167 @@ void line_to_destination(const float fr_mm_s) {
#endif // IS_KINEMATIC
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
#endif
#if ENABLED(DELTA)
if (!position_is_reachable_xy(lx, ly)) return;
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
set_destination_to_current(); // sync destination at the start
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
#endif
// when in the danger zone
if (current_position[Z_AXIS] > delta_clip_start_height) {
if (lz > delta_clip_start_height) { // staying in the danger zone
destination[X_AXIS] = lx; // move directly (uninterpolated)
destination[Y_AXIS] = ly;
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
#endif
return;
}
else {
destination[Z_AXIS] = delta_clip_start_height;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
#endif
}
}
if (lz > current_position[Z_AXIS]) { // raising?
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
#endif
}
destination[X_AXIS] = lx;
destination[Y_AXIS] = ly;
prepare_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
#endif
if (lz < current_position[Z_AXIS]) { // lowering?
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(); // set_current_to_destination
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
#endif
}
#elif IS_SCARA
if (!position_is_reachable_xy(lx, ly)) return;
set_destination_to_current();
// If Z needs to raise, do it before moving XY
if (destination[Z_AXIS] < lz) {
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
}
destination[X_AXIS] = lx;
destination[Y_AXIS] = ly;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY
if (destination[Z_AXIS] > lz) {
destination[Z_AXIS] = lz;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
}
#else
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = lz;
line_to_current_position();
}
feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
current_position[X_AXIS] = lx;
current_position[Y_AXIS] = ly;
line_to_current_position();
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > lz) {
feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
current_position[Z_AXIS] = lz;
line_to_current_position();
}
#endif
stepper.synchronize();
feedrate_mm_s = old_feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
}
void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
}
void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
}
void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
}
//
// Prepare to do endstop or probe moves
// with custom feedrates.
//
// - Save current feedrates
// - Reset the rate multiplier
// - Reset the command timeout
// - Enable the endstops (for endstop moves)
//
void bracket_probe_move(const bool before) {
static float saved_feedrate_mm_s;
static int16_t saved_feedrate_percentage;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
#endif
if (before) {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
gcode.refresh_cmd_timeout();
}
else {
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
gcode.refresh_cmd_timeout();
}
}
void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
// Software Endstops are based on the configured limits.
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
@ -189,73 +485,24 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if IS_KINEMATIC && !UBL_DELTA
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(DELTA)
#define ADJUST_DELTA(V) \
if (planner.abl_enabled) { \
const float zadj = bilinear_z_offset(V); \
delta[A_AXIS] += zadj; \
delta[B_AXIS] += zadj; \
delta[C_AXIS] += zadj; \
}
#else
#define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
#endif
#else
#define ADJUST_DELTA(V) NOOP
#endif
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
@ -572,3 +819,453 @@ void prepare_move_to_destination() {
set_current_to_destination();
}
#if NEED_UNHOMED_ERR
bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
#if ENABLED(HOME_AFTER_DEACTIVATE)
const bool xx = x && !axis_known_position[X_AXIS],
yy = y && !axis_known_position[Y_AXIS],
zz = z && !axis_known_position[Z_AXIS];
#else
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
#endif
if (xx || yy || zz) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM(MSG_HOME " ");
if (xx) SERIAL_ECHOPGM(MSG_X);
if (yy) SERIAL_ECHOPGM(MSG_Y);
if (zz) SERIAL_ECHOPGM(MSG_Z);
SERIAL_ECHOLNPGM(" " MSG_FIRST);
#if ENABLED(ULTRA_LCD)
lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
#endif
return true;
}
return false;
}
#endif
/**
* The homing feedrate may vary
*/
inline float get_homing_bump_feedrate(const AxisEnum axis) {
static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
if (hbd < 1) {
hbd = 10;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
}
return homing_feedrate(axis) / hbd;
}
/**
* Home an individual linear axis
*/
static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
if (deploy_bltouch) set_bltouch_deployed(true);
#endif
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(true);
#endif
// Tell the planner we're at Z=0
current_position[axis] = 0;
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#else
sync_plan_position();
current_position[axis] = distance;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#endif
stepper.synchronize();
#if QUIET_PROBING
if (axis == Z_AXIS) probing_pause(false);
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
if (deploy_bltouch) set_bltouch_deployed(false);
#endif
endstops.hit_on_purpose();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
}
/**
* Set an axis' current position to its home position (after homing).
*
* For Core and Cartesian robots this applies one-to-one when an
* individual axis has been homed.
*
* DELTA should wait until all homing is done before setting the XYZ
* current_position to home, because homing is a single operation.
* In the case where the axis positions are already known and previously
* homed, DELTA could home to X or Y individually by moving either one
* to the center. However, homing Z always homes XY and Z.
*
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
* Callers must sync the planner position after calling this!
*/
void set_axis_is_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
axis_known_position[axis] = axis_homed[axis] = true;
#if HAS_POSITION_SHIFT
position_shift[axis] = 0;
update_software_endstops(axis);
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
return;
}
#endif
#if ENABLED(MORGAN_SCARA)
scara_set_axis_is_at_home(axis);
#else
current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
#endif
/**
* Z Probe Z Homing? Account for the probe's Z offset.
*/
#if HAS_BED_PROBE && Z_HOME_DIR < 0
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
current_position[Z_AXIS] -= zprobe_zoffset;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
}
#endif
#elif ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
#endif
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.homed(axis);
#endif
}
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
* to the individual ABC steppers on DELTA and SCARA.
*
* At the end of the procedure the axis is marked as
* homed and the current position of that axis is updated.
* Kinematic robots should wait till all axes are homed
* before updating the current position.
*/
void homeaxis(const AxisEnum axis) {
#if IS_SCARA
// Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; }
#else
#define CAN_HOME(A) \
(axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
const int axis_home_dir =
#if ENABLED(DUAL_X_CARRIAGE)
(axis == X_AXIS) ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && DEPLOY_PROBE()) return;
#endif
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
#endif
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// When homing Z with probe respect probe clearance
const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE
(axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
#endif
home_bump_mm(axis)
);
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
do_homing_move(axis, -bump);
// Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
}
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
float adj = FABS(z_endstop_adj);
bool lockZ1;
if (axis_home_dir > 0) {
adj = -adj;
lockZ1 = (z_endstop_adj > 0);
}
else
lockZ1 = (z_endstop_adj < 0);
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
// Move to the adjusted endstop height
do_homing_move(axis, adj);
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
} // Z_AXIS
#endif
#if IS_SCARA
set_axis_is_at_home(axis);
SYNC_PLAN_POSITION_KINEMATIC();
#elif ENABLED(DELTA)
// Delta has already moved all three towers up in G28
// so here it re-homes each tower in turn.
// Delta homing treats the axes as normal linear axes.
// retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif
do_homing_move(axis, delta_endstop_adj[axis] - 0.1);
}
#else
// For cartesian/core machines,
// set the axis to its home position
set_axis_is_at_home(axis);
sync_plan_position();
destination[axis] = current_position[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
#endif
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
#if ENABLED(X_IS_TMC2130)
if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
#endif
#if ENABLED(Y_IS_TMC2130)
if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
#endif
#endif
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
} // homeaxis()
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
const float offs = 0.0
#if HAS_HOME_OFFSET
+ home_offset[axis]
#endif
#if HAS_POSITION_SHIFT
+ position_shift[axis]
#endif
;
#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
workspace_offset[axis] = offs;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
// In Dual X mode hotend_offset[X] is T1's home position
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
// In Duplication Mode, T0 can move as far left as X_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
}
else {
// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
}
#elif ENABLED(DELTA)
soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
soft_endstop_max[axis] = base_max_pos(axis) + offs;
#else
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
#if HAS_HOME_OFFSET
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
#endif
#if HAS_POSITION_SHIFT
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
#endif
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
}
#endif
#if ENABLED(DELTA)
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
#if HAS_M206_COMMAND
/**
* Change the home offset for an axis, update the current
* position and the software endstops to retain the same
* relative distance to the new home.
*
* Since this changes the current_position, code should
* call sync_plan_position soon after this.
*/
void set_home_offset(const AxisEnum axis, const float v) {
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
#endif // HAS_M206_COMMAND

98
Marlin/src/module/motion.h
View File

@ -32,20 +32,53 @@
#include "../inc/MarlinConfig.h"
//#include "../HAL/HAL.h"
// #if ENABLED(DELTA)
// #include "../module/delta.h"
// #endif
#if IS_SCARA
#include "../module/scara.h"
#endif
extern bool relative_mode;
extern float current_position[XYZE], destination[XYZE];
extern float current_position[XYZE], // High-level current tool position
destination[XYZE]; // Destination for a move
// Scratch space for a cartesian result
extern float cartes[XYZ];
// Until kinematics.cpp is created, declare this here
#if IS_KINEMATIC
extern float delta[ABC];
#endif
#if OLDSCHOOL_ABL
extern float xy_probe_feedrate_mm_s;
#define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
#elif defined(XY_PROBE_SPEED)
#define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
#else
#define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
#endif
/**
* Feed rates are often configured with mm/m
* but the planner and stepper like mm/s units.
*/
extern const float homing_feedrate_mm_s[4];
FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
extern float feedrate_mm_s;
/**
* Feedrate scaling and conversion
*/
extern int16_t feedrate_percentage;
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
extern uint8_t active_extruder;
#if HOTENDS > 1
extern float hotend_offset[XYZ][HOTENDS];
#endif
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
@ -71,9 +104,14 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#define clamp_to_software_endstops(x) NOOP
#endif
void report_current_position();
inline void set_current_to_destination() { COPY(current_position, destination); }
inline void set_destination_to_current() { COPY(destination, current_position); }
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);
/**
* sync_plan_position
*
@ -110,7 +148,35 @@ inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
void prepare_move_to_destination();
void clamp_to_software_endstops(float target[XYZ]);
/**
* Blocking movement and shorthand functions
*/
void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
void setup_for_endstop_or_probe_move();
void clean_up_after_endstop_or_probe_move();
void bracket_probe_move(const bool before);
void setup_for_endstop_or_probe_move();
void clean_up_after_endstop_or_probe_move();
//
// Homing
//
#define NEED_UNHOMED_ERR (HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION))
#if NEED_UNHOMED_ERR
bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
#endif
void set_axis_is_at_home(const AxisEnum axis);
void homeaxis(const AxisEnum axis);
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
//
// Macros
@ -162,10 +228,6 @@ void clamp_to_software_endstops(float target[XYZ]);
#if IS_KINEMATIC // (DELTA or SCARA)
#if IS_SCARA
extern const float L1, L2;
#endif
inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
#if ENABLED(DELTA)
return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
@ -214,10 +276,16 @@ FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
}
/**
* Dual X Carriage / Dual Nozzle
*/
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
extern bool extruder_duplication_enabled; // Used in Dual X mode 2
#endif
/**
* Dual X Carriage
*/
#if ENABLED(DUAL_X_CARRIAGE)
extern DualXMode dual_x_carriage_mode;
@ -234,4 +302,12 @@ FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
#endif // DUAL_X_CARRIAGE
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
void update_software_endstops(const AxisEnum axis);
#endif
#if HAS_M206_COMMAND
void set_home_offset(const AxisEnum axis, const float v);
#endif
#endif // MOTION_H

18
Marlin/src/module/planner.cpp
View File

@ -64,13 +64,12 @@
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
#include "../feature/ubl/ubl.h"
#include "../gcode/parser.h"
#include "../Marlin.h"
#if ENABLED(MESH_BED_LEVELING)
#include "../feature/mbl/mesh_bed_leveling.h"
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
Planner planner;
@ -107,12 +106,11 @@ float Planner::min_feedrate_mm_s,
Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
Planner::min_travel_feedrate_mm_s;
#if HAS_ABL
#if OLDSCHOOL_ABL
bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
#endif
#if ABL_PLANAR
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#if ABL_PLANAR
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
@ -546,7 +544,7 @@ void Planner::check_axes_activity() {
#endif // FADE
#endif // UBL
#if HAS_ABL
#if OLDSCHOOL_ABL
if (!abl_enabled) return;
#endif
@ -634,7 +632,7 @@ void Planner::check_axes_activity() {
#endif
#if HAS_ABL
#if OLDSCHOOL_ABL
if (!abl_enabled) return;
#endif

8
Marlin/src/module/planner.h
View File

@ -34,6 +34,12 @@
#include "../Marlin.h"
#include "motion.h"
#if ENABLED(DELTA)
#include "delta.h"
#endif
#if HAS_ABL
#include "../libs/vector_3.h"
#endif
@ -159,7 +165,7 @@ class Planner {
max_jerk[XYZE], // The largest speed change requiring no acceleration
min_travel_feedrate_mm_s;
#if HAS_ABL
#if OLDSCHOOL_ABL
static bool abl_enabled; // Flag that bed leveling is enabled
#if ABL_PLANAR
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level

709
Marlin/src/module/probe.cpp Normal file
View File

@ -0,0 +1,709 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* probe.cpp
*/
#include "../inc/MarlinConfig.h"
#if HAS_BED_PROBE
#include "probe.h"
#include "motion.h"
#include "temperature.h"
#include "endstops.h"
#include "../gcode/gcode.h"
#include "../lcd/ultralcd.h"
#include "../Marlin.h"
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if ENABLED(DELTA)
#include "../module/delta.h"
#endif
float zprobe_zoffset; // Initialized by settings.load()
#if HAS_Z_SERVO_ENDSTOP
const int z_servo_angle[2] = Z_SERVO_ANGLES;
#endif
/**
* Raise Z to a minimum height to make room for a probe to move
*/
inline void do_probe_raise(const float z_raise) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
float z_dest = z_raise;
if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
if (z_dest > current_position[Z_AXIS])
do_blocking_move_to_z(z_dest);
}
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
/**
* Method to dock/undock a sled designed by Charles Bell.
*
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
*/
static void dock_sled(bool stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("dock_sled(", stow);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
#if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
WRITE(SOL1_PIN, !stow); // switch solenoid
#endif
}
#elif ENABLED(Z_PROBE_ALLEN_KEY)
FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
}
void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
#endif
const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
#endif
const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
#endif
const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
#endif
const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
#endif
const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif
}
void run_stow_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
#define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
#define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
#define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
#endif
const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
#define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
#define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
#define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
#endif
const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
#define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
#define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
#define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
#endif
const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
#define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
#define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
#define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
#endif
const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
#endif
#if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
#define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
#define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
#define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
#endif
#ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
#endif
const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif
}
#endif
#if ENABLED(PROBING_FANS_OFF)
void fans_pause(const bool p) {
if (p != fans_paused) {
fans_paused = p;
if (p)
for (uint8_t x = 0; x < FAN_COUNT; x++) {
paused_fanSpeeds[x] = fanSpeeds[x];
fanSpeeds[x] = 0;
}
else
for (uint8_t x = 0; x < FAN_COUNT; x++)
fanSpeeds[x] = paused_fanSpeeds[x];
}
}
#endif // PROBING_FANS_OFF
#if QUIET_PROBING
void probing_pause(const bool p) {
#if ENABLED(PROBING_HEATERS_OFF)
thermalManager.pause(p);
#endif
#if ENABLED(PROBING_FANS_OFF)
fans_pause(p);
#endif
if (p) safe_delay(
#if DELAY_BEFORE_PROBING > 25
DELAY_BEFORE_PROBING
#else
25
#endif
);
}
#endif // QUIET_PROBING
#if ENABLED(BLTOUCH)
void bltouch_command(const int angle) {
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
safe_delay(BLTOUCH_DELAY);
}
bool set_bltouch_deployed(const bool deploy) {
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
stop(); // punt!
return true;
}
}
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
return false;
}
#endif // BLTOUCH
// returns false for ok and true for failure
bool set_probe_deployed(const bool deploy) {
// Can be extended to servo probes, if needed.
#if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("set_probe_deployed", current_position);
SERIAL_ECHOLNPAIR("deploy: ", deploy);
}
#endif
if (endstops.z_probe_enabled == deploy) return false;
// Make room for probe
do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
#if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
#if ENABLED(Z_PROBE_SLED)
#define _AUE_ARGS true, false, false
#else
#define _AUE_ARGS
#endif
if (axis_unhomed_error(_AUE_ARGS)) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
stop();
return true;
}
#endif
const float oldXpos = current_position[X_AXIS],
oldYpos = current_position[Y_AXIS];
#ifdef _TRIGGERED_WHEN_STOWED_TEST
// If endstop is already false, the Z probe is deployed
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
// Would a goto be less ugly?
//while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
// for a triggered when stowed manual probe.
if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
// otherwise an Allen-Key probe can't be stowed.
#endif
#if ENABLED(SOLENOID_PROBE)
#if HAS_SOLENOID_1
WRITE(SOL1_PIN, deploy);
#endif
#elif ENABLED(Z_PROBE_SLED)
dock_sled(!deploy);
#elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
#elif ENABLED(Z_PROBE_ALLEN_KEY)
deploy ? run_deploy_moves_script() : run_stow_moves_script();
#endif
#ifdef _TRIGGERED_WHEN_STOWED_TEST
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
if (IsRunning()) {
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM("Z-Probe failed");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
stop();
return true;
} // _TRIGGERED_WHEN_STOWED_TEST == deploy
#endif
do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
endstops.enable_z_probe(deploy);
return false;
}
/**
* @brief Used by run_z_probe to do a single Z probe move.
*
* @param z Z destination
* @param fr_mm_s Feedrate in mm/s
* @return true to indicate an error
*/
static bool do_probe_move(const float z, const float fr_mm_m) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
#endif
// Deploy BLTouch at the start of any probe
#if ENABLED(BLTOUCH)
if (set_bltouch_deployed(true)) return true;
#endif
#if QUIET_PROBING
probing_pause(true);
#endif
// Move down until probe triggered
do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
// Check to see if the probe was triggered
const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
Z_MIN
#else
Z_MIN_PROBE
#endif
);
#if QUIET_PROBING
probing_pause(false);
#endif
// Retract BLTouch immediately after a probe if it was triggered
#if ENABLED(BLTOUCH)
if (probe_triggered && set_bltouch_deployed(false)) return true;
#endif
// Clear endstop flags
endstops.hit_on_purpose();
// Get Z where the steppers were interrupted
set_current_from_steppers_for_axis(Z_AXIS);
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
return !probe_triggered;
}
/**
* @details Used by probe_pt to do a single Z probe.
* Leaves current_position[Z_AXIS] at the height where the probe triggered.
*
* @param short_move Flag for a shorter probe move towards the bed
* @return The raw Z position where the probe was triggered
*/
static float run_z_probe(const bool short_move=true) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
#endif
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
gcode.refresh_cmd_timeout();
#if ENABLED(PROBE_DOUBLE_TOUCH)
// Do a first probe at the fast speed
if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
#if ENABLED(DEBUG_LEVELING_FEATURE)
float first_probe_z = current_position[Z_AXIS];
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
#endif
// move up to make clearance for the probe
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
#else
// If the nozzle is above the travel height then
// move down quickly before doing the slow probe
float z = Z_CLEARANCE_DEPLOY_PROBE;
if (zprobe_zoffset < 0) z -= zprobe_zoffset;
if (z < current_position[Z_AXIS]) {
// If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
// move down slowly to find bed
if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
#endif
// Debug: compare probe heights
#if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
}
#endif
return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
#if ENABLED(DELTA)
+ home_offset[Z_AXIS] // Account for delta height adjustment
#endif
;
}
/**
* - Move to the given XY
* - Deploy the probe, if not already deployed
* - Probe the bed, get the Z position
* - Depending on the 'stow' flag
* - Stow the probe, or
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", lx);
SERIAL_ECHOPAIR(", ", ly);
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position);
}
#endif
const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
if (printable
? !position_is_reachable_xy(nx, ny)
: !position_is_reachable_by_probe_xy(lx, ly)
) return NAN;
const float old_feedrate_mm_s = feedrate_mm_s;
#if ENABLED(DELTA)
if (current_position[Z_AXIS] > delta_clip_start_height)
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_SOFTWARE_ENDSTOPS
// Store the status of the soft endstops and disable if we're probing a non-printable location
static bool enable_soft_endstops = soft_endstops_enabled;
if (!printable) soft_endstops_enabled = false;
#endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(nx, ny);
float measured_z = NAN;
if (!DEPLOY_PROBE()) {
measured_z = run_z_probe(printable);
if (!stow)
do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else
if (STOW_PROBE()) measured_z = NAN;
}
#if HAS_SOFTWARE_ENDSTOPS
// Restore the soft endstop status
soft_endstops_enabled = enable_soft_endstops;
#endif
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOL_F(lx, 3);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(ly, 3);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL_F(measured_z, 3);
SERIAL_EOL();
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
#endif
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
SERIAL_ERROR_START();
SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
}
return measured_z;
}
void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
static float last_zoffset = NAN;
if (!isnan(last_zoffset)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
const float diff = zprobe_zoffset - last_zoffset;
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Correct bilinear grid for new probe offset
if (diff) {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
z_values[x][y] -= diff;
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
#endif
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
if (!no_babystep && leveling_is_active())
thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
#else
UNUSED(no_babystep);
#endif
#if ENABLED(DELTA) // correct the delta_height
home_offset[Z_AXIS] -= diff;
#endif
}
last_zoffset = zprobe_zoffset;
}
#if HAS_Z_SERVO_ENDSTOP
void servo_probe_init() {
/**
* Set position of Z Servo Endstop
*
* The servo might be deployed and positioned too low to stow
* when starting up the machine or rebooting the board.
* There's no way to know where the nozzle is positioned until
* homing has been done - no homing with z-probe without init!
*
*/
STOW_Z_SERVO();
}
#endif // HAS_Z_SERVO_ENDSTOP
#endif // HAS_BED_PROBE

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* probe.h - Move, deploy, enable, etc.
*/
#ifndef PROBE_H
#define PROBE_H
#include "../inc/MarlinConfig.h"
bool set_probe_deployed(const bool deploy);
float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool printable=true);
#if HAS_BED_PROBE
extern float zprobe_zoffset;
void refresh_zprobe_zoffset(const bool no_babystep=false);
#define DEPLOY_PROBE() set_probe_deployed(true)
#define STOW_PROBE() set_probe_deployed(false)
#else
#define DEPLOY_PROBE()
#define STOW_PROBE()
#endif
#if HAS_Z_SERVO_ENDSTOP
extern const int z_servo_angle[2];
void servo_probe_init();
#endif
#if QUIET_PROBING
void probing_pause(const bool p);
#endif
#if ENABLED(PROBING_FANS_OFF)
void fans_pause(const bool p);
#endif
#if ENABLED(BLTOUCH)
void bltouch_command(int angle);
bool set_bltouch_deployed(const bool deploy);
FORCE_INLINE void bltouch_init() {
// Make sure any BLTouch error condition is cleared
bltouch_command(BLTOUCH_RESET);
set_bltouch_deployed(true);
set_bltouch_deployed(false);
}
#endif
#endif // PROBE_H

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* scara.cpp
*/
#include "../inc/MarlinConfig.h"
#if IS_SCARA
#include "scara.h"
#include "motion.h"
#include "stepper.h"
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
void scara_set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS)
current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS);
else {
/**
* SCARA homes XY at the same time
*/
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
/**
* Get Home position SCARA arm angles using inverse kinematics,
* and calculate homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
}
}
/**
* Morgan SCARA Forward Kinematics. Results in cartes[].
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void forward_kinematics_SCARA(const float &a, const float &b) {
const float a_sin = sin(RADIANS(a)) * L1,
a_cos = cos(RADIANS(a)) * L1,
b_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
/*
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
SERIAL_ECHOPAIR(" b=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
//*/
}
/**
* Morgan SCARA Inverse Kinematics. Results in delta[].
*
* See http://forums.reprap.org/read.php?185,283327
*
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void inverse_kinematics(const float logical[XYZ]) {
static float C2, S2, SK1, SK2, THETA, PSI;
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
S2 = SQRT(1 - sq(C2));
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
// Rotated Arm2 gives the distance from Arm1 to Arm2
SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
// Angle of Arm2
PSI = ATAN2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = logical[Z_AXIS];
/*
DEBUG_POS("SCARA IK", logical);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
//*/
}
void scara_report_positions() {
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
SERIAL_EOL();
}
#endif // IS_SCARA

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* scara.h - SCARA-specific functions
*/
#ifndef __SCARA_H__
#define __SCARA_H__
#include "../core/macros.h"
extern float delta_segments_per_second;
// Float constants for SCARA calculations
float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
L2_2 = sq(float(L2));
void scara_set_axis_is_at_home(const AxisEnum axis);
void inverse_kinematics(const float logical[XYZ]);
void forward_kinematics_SCARA(const float &a, const float &b);
void scara_report_positions();
#endif // __SCARA_H__

1
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@ -52,6 +52,7 @@
#include "endstops.h"
#include "planner.h"
#include "motion.h"
#include "../Marlin.h"
#include "../module/temperature.h"