Merge pull request #6410 from teemuatlut/LVD-Delta
Delta auto-calibration updates
This commit is contained in:
Scott Lahteine
GitHub
commit
671a44b8aa
@ -693,43 +693,20 @@
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* Delta radius/rod trimmers/angle trimmers
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*/
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#if ENABLED(DELTA)
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#ifndef DELTA_CALIBRATION_RADIUS
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#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
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#endif
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#ifndef DELTA_ENDSTOP_ADJ
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#define DELTA_ENDSTOP_ADJ { 0 }
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#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_1
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#define DELTA_RADIUS_TRIM_TOWER_1 0.0
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#ifndef DELTA_TOWER_ANGLE_TRIM
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#define DELTA_TOWER_ANGLE_TRIM {0, 0, 0}
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_2
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#define DELTA_RADIUS_TRIM_TOWER_2 0.0
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#ifndef DELTA_RADIUS_TRIM_TOWER
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#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
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#endif
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#ifndef DELTA_RADIUS_TRIM_TOWER_3
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#define DELTA_RADIUS_TRIM_TOWER_3 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_1
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_2
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
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#endif
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#ifndef DELTA_TOWER_ANGLE_TRIM_1
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#define DELTA_TOWER_ANGLE_TRIM_1 0.0
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#endif
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#ifndef DELTA_TOWER_ANGLE_TRIM_2
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#define DELTA_TOWER_ANGLE_TRIM_2 0.0
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#endif
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#ifndef DELTA_TOWER_ANGLE_TRIM_3
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#define DELTA_TOWER_ANGLE_TRIM_3 0.0
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#endif
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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#ifndef H_FACTOR
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#define H_FACTOR 1.00
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#endif
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#ifndef R_FACTOR
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#define R_FACTOR -2.25
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#endif
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#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
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#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
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#endif
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#endif
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@ -302,9 +302,9 @@ float code_value_temp_diff();
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extern float endstop_adj[ABC],
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delta_radius,
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delta_diagonal_rod,
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delta_calibration_radius,
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delta_segments_per_second,
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delta_diagonal_rod_trim[ABC],
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delta_tower_angle_trim[ABC],
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delta_tower_angle_trim[2],
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delta_clip_start_height;
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void recalc_delta_settings(float radius, float diagonal_rod);
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#elif IS_SCARA
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@ -61,7 +61,7 @@
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* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G33 - Delta '4-point' auto calibration iteration
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* G33 - Delta '1-4-7-point' auto calibration : "G33 V<verbose> P<points> <A> <O> <T>" (Requires DELTA)
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* G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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@ -585,10 +585,10 @@ static uint8_t target_extruder;
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// These values are loaded or reset at boot time when setup() calls
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// settings.load(), which calls recalc_delta_settings().
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float delta_radius,
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delta_tower_angle_trim[ABC],
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delta_tower_angle_trim[2],
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delta_tower[ABC][2],
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delta_diagonal_rod,
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delta_diagonal_rod_trim[ABC],
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delta_calibration_radius,
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delta_diagonal_rod_2_tower[ABC],
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delta_segments_per_second,
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delta_clip_start_height = Z_MAX_POS;
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@ -1830,6 +1830,9 @@ static void clean_up_after_endstop_or_probe_move() {
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float z_dest = LOGICAL_Z_POSITION(z_raise);
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if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
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#if ENABLED(DELTA)
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z_dest -= home_offset[Z_AXIS];
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#endif
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if (z_dest > current_position[Z_AXIS])
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do_blocking_move_to_z(z_dest);
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@ -1837,7 +1840,8 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif //HAS_BED_PROBE
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#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
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#if 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)
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bool axis_unhomed_error(const bool x, const bool y, const bool z) {
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const bool xx = x && !axis_homed[X_AXIS],
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yy = y && !axis_homed[Y_AXIS],
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@ -1857,6 +1861,7 @@ static void clean_up_after_endstop_or_probe_move() {
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}
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return false;
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}
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#endif
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#if ENABLED(Z_PROBE_SLED)
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@ -2308,6 +2313,9 @@ static void clean_up_after_endstop_or_probe_move() {
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// move down quickly before doing the slow probe
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float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
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if (zprobe_zoffset < 0) z -= zprobe_zoffset;
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#if ENABLED(DELTA)
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z -= home_offset[Z_AXIS];
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#endif
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if (z < current_position[Z_AXIS])
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do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
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@ -5009,11 +5017,12 @@ inline void gcode_G28() {
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/**
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* G30: Do a single Z probe at the current XY
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* Usage:
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* G30 <X#> <Y#> <S#>
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* X = Probe X position (default=current probe position)
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* Y = Probe Y position (default=current probe position)
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* S = Stows the probe if 1 (default=1)
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*
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* Parameters:
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*
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* X Probe X position (default current X)
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* Y Probe Y position (default current Y)
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* S0 Leave the probe deployed
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*/
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inline void gcode_G30() {
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const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
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@ -5056,32 +5065,25 @@ inline void gcode_G28() {
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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/**
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* G33: Delta '4-point' auto calibration iteration
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* G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
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*
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* Usage: G33 <Cn> <Vn>
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* Usage:
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* G33 <Vn> <Pn> <A> <O> <T>
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*
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* C (default) = Calibrate endstops, height and delta radius
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*
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* -2, 1-4: n x n probe points, default 3 x 3
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*
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* 1: probe center
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* set height only - useful when z_offset is changed
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* 2: probe center and towers
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* solve one '4 point' calibration
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* -2: probe center and opposite the towers
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* solve one '4 point' calibration
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* 3: probe 3 center points, towers and opposite-towers
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* averages between 2 '4 point' calibrations
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* 4: probe 4 center points, towers, opposite-towers and itermediate points
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* averages between 4 '4 point' calibrations
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*
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* V Verbose level (0-3, default 1)
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*
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* 0: Dry-run mode: no calibration
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* 1: Settings
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* 2: Setting + probe results
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* 3: Expert mode: setting + iteration factors (see Configuration_adv.h)
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* This prematurely stops the iteration process when factors are found
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* Vn = verbose level (n=0-2 default 1)
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* n=0 dry-run mode: setting + probe results / no calibration
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* n=1 settings
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* n=2 setting + probe results
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* Pn = n=-7 -> +7 : n*n probe points
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* calibrates height ('1 point'), endstops, and delta radius ('4 points')
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* and tower angles with n > 2 ('7+ points')
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* n=1 probes center / sets height only
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* n=2 probes center and towers / sets height, endstops and delta radius
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* n=3 probes all points: center, towers and opposite towers / sets all
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* n>3 probes all points multiple times and averages
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* A = abort 1 point delta height calibration after 1 probe
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* O = use oposite tower points instead of tower points with 4 point calibration
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* T = do not calibrate tower angles with 7+ point calibration
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*/
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inline void gcode_G33() {
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@ -5091,49 +5093,55 @@ inline void gcode_G28() {
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set_bed_leveling_enabled(false);
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#endif
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const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
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probe_points = (WITHIN(pp, 1, 4) || pp == -2) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
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int8_t pp = (code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS),
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probe_mode = (WITHIN(pp, 1, 7) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS);
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int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
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probe_mode = (code_seen('A') && probe_mode == 1 ? -probe_mode : probe_mode);
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probe_mode = (code_seen('O') && probe_mode == 2 ? -probe_mode : probe_mode);
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probe_mode = (code_seen('T') && probe_mode > 2 ? -probe_mode : probe_mode);
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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#define _MAX_M33_V 3
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if (verbose_level == 3 && probe_points == 1) verbose_level--; // needs at least 4 points
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#else
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#define _MAX_M33_V 2
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if (verbose_level > 2)
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SERIAL_PROTOCOLLNPGM("Enable DELTA_CALIBRATE_EXPERT_MODE in Configuration_adv.h");
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#endif
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int8_t verbose_level = (code_seen('V') ? code_value_byte() : 1);
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if (!WITHIN(verbose_level, 0, _MAX_M33_V)) verbose_level = 1;
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float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
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if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
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gcode_G28();
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float e_old[XYZ],
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const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
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float test_precision,
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zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
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e_old[XYZ] = {
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endstop_adj[A_AXIS],
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endstop_adj[B_AXIS],
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endstop_adj[C_AXIS]
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},
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dr_old = delta_radius,
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zh_old = home_offset[Z_AXIS];
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COPY(e_old,endstop_adj);
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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// expert variables
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float h_f_old = 1.00, r_f_old = 0.00,
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h_diff_min = 1.00, r_diff_max = 0.10;
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#endif
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zh_old = home_offset[Z_AXIS],
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alpha_old = delta_tower_angle_trim[A_AXIS],
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beta_old = delta_tower_angle_trim[B_AXIS];
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int8_t iterations = 0,
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probe_points = abs(probe_mode);
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const bool pp_equals_1 = (probe_points == 1),
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pp_equals_2 = (probe_points == 2),
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pp_equals_3 = (probe_points == 3),
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pp_equals_4 = (probe_points == 4),
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pp_equals_5 = (probe_points == 5),
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pp_equals_6 = (probe_points == 6),
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pp_equals_7 = (probe_points == 7),
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pp_greather_2 = (probe_points > 2),
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pp_greather_3 = (probe_points > 3),
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pp_greather_4 = (probe_points > 4),
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pp_greather_5 = (probe_points > 5);
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// print settings
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SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
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SERIAL_PROTOCOLPGM("Checking... AC");
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if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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if (verbose_level == 3) SERIAL_PROTOCOLPGM(" (EXPERT)");
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#endif
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SERIAL_EOL;
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LCD_MESSAGEPGM("Checking... AC");
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SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (abs(probe_points) > 1) {
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SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
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if (!pp_equals_1) {
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SERIAL_PROTOCOLPGM(" Ex:");
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if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
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@ -5146,74 +5154,84 @@ inline void gcode_G28() {
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SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
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}
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SERIAL_EOL;
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if (probe_mode > 2) { // negative disables tower angles
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SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
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if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Ty:");
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if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
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SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
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SERIAL_PROTOCOLPGM(" Tz:+0.00");
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SERIAL_EOL;
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}
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#if ENABLED(Z_PROBE_SLED)
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DEPLOY_PROBE();
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#endif
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float test_precision;
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int8_t iterations = 0;
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do {
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do { // start iterations
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setup_for_endstop_or_probe_move();
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test_precision =
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#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
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// Expert mode : forced end at std_dev < 0.1
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(verbose_level == 3 && zero_std_dev < 0.1) ? 0.0 :
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#endif
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zero_std_dev
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;
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float z_at_pt[13] = { 0 };
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float z_at_pt[13] = { 0 },
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S1 = 0.0,
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S2 = 0.0;
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int16_t N = 0;
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test_precision = zero_std_dev;
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iterations++;
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// probe the points
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int16_t center_points = 0;
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if (probe_points != 3) {
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if (!pp_equals_3 && !pp_equals_6) { // probe the centre
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setup_for_endstop_or_probe_move();
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z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
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center_points = 1;
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clean_up_after_endstop_or_probe_move();
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}
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int16_t step_axis = 4;
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if (probe_points >= 3) {
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for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
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if (pp_greather_2) { // probe extra centre points
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for (int8_t axis = (pp_greather_4 ? 11 : 9); axis > 0; axis -= (pp_greather_4 ? 2 : 4)) {
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setup_for_endstop_or_probe_move();
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z_at_pt[0] += probe_pt(
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0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
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0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1);
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cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
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sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
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clean_up_after_endstop_or_probe_move();
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}
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center_points += 3;
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z_at_pt[0] /= center_points;
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z_at_pt[0] /= (pp_equals_5 ? 7 : probe_points);
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}
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float S1 = z_at_pt[0], S2 = sq(S1);
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int16_t N = 1, start = (probe_points == -2) ? 3 : 1;
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step_axis = (abs(probe_points) == 2) ? 4 : (probe_points == 3) ? 2 : 1;
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if (probe_points != 1) {
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for (uint8_t axis = start; axis < 13; axis += step_axis)
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z_at_pt[axis] += probe_pt(
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cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
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sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1
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);
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if (probe_points == 4) step_axis = 2;
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if (!pp_equals_1) { // probe the radius
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float start_circles = (pp_equals_7 ? -1.5 : pp_equals_6 || pp_equals_5 ? -1 : 0),
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end_circles = -start_circles;
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bool zig_zag = true;
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for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13;
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axis += (pp_equals_2 ? 4 : pp_equals_3 || pp_equals_5 ? 2 : 1)) {
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for (float circles = start_circles ; circles <= end_circles; circles++) {
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setup_for_endstop_or_probe_move();
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z_at_pt[axis] += probe_pt(
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cos(RADIANS(180 + 30 * axis)) *
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(1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius,
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sin(RADIANS(180 + 30 * axis)) *
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(1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius, true, 1);
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clean_up_after_endstop_or_probe_move();
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}
|
||||
start_circles += (pp_greather_5 ? (zig_zag ? 0.5 : -0.5) : 0);
|
||||
end_circles = -start_circles;
|
||||
zig_zag = !zig_zag;
|
||||
z_at_pt[axis] /= (pp_equals_7 ? (zig_zag ? 4.0 : 3.0) :
|
||||
pp_equals_6 ? (zig_zag ? 3.0 : 2.0) : pp_equals_5 ? 3 : 1);
|
||||
}
|
||||
}
|
||||
|
||||
for (uint8_t axis = start; axis < 13; axis += step_axis) {
|
||||
if (probe_points == 4)
|
||||
if (pp_greather_3 && !pp_equals_5) // average intermediates to tower and opposites
|
||||
for (uint8_t axis = 1; axis < 13; axis += 2)
|
||||
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
|
||||
|
||||
S1 += z_at_pt[axis];
|
||||
S2 += sq(z_at_pt[axis]);
|
||||
N++;
|
||||
}
|
||||
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane
|
||||
S1 += z_at_pt[0];
|
||||
S2 += sq(z_at_pt[0]);
|
||||
N++;
|
||||
if (!pp_equals_1) // std dev from zero plane
|
||||
for (uint8_t axis = (probe_mode == -2 ? 3 : 1); axis < 13; axis += (pp_equals_2 ? 4 : 2)) {
|
||||
S1 += z_at_pt[axis];
|
||||
S2 += sq(z_at_pt[axis]);
|
||||
N++;
|
||||
}
|
||||
zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001;
|
||||
|
||||
// Solve matrices
|
||||
|
||||
@ -5221,28 +5239,33 @@ inline void gcode_G28() {
|
||||
COPY(e_old, endstop_adj);
|
||||
dr_old = delta_radius;
|
||||
zh_old = home_offset[Z_AXIS];
|
||||
alpha_old = delta_tower_angle_trim[A_AXIS];
|
||||
beta_old = delta_tower_angle_trim[B_AXIS];
|
||||
|
||||
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
|
||||
|
||||
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
|
||||
float h_f_new = 0.0, r_f_new = 0.0 , t_f_new = 0.0,
|
||||
h_diff = 0.00, r_diff = 0.00;
|
||||
#endif
|
||||
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0,
|
||||
t_alpha = 0.0, t_beta = 0.0;
|
||||
const float r_diff = delta_radius - delta_calibration_radius,
|
||||
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
|
||||
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
|
||||
a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
|
||||
|
||||
#define ZP(N,I) ((N) * z_at_pt[I])
|
||||
#define Z1000(I) ZP(1.00, I)
|
||||
#define Z1050(I) ZP(H_FACTOR, I)
|
||||
#define Z0700(I) ZP((H_FACTOR) * 2.0 / 3.00, I)
|
||||
#define Z0350(I) ZP((H_FACTOR) / 3.00, I)
|
||||
#define Z0175(I) ZP((H_FACTOR) / 6.00, I)
|
||||
#define Z2250(I) ZP(R_FACTOR, I)
|
||||
#define Z0750(I) ZP((R_FACTOR) / 3.00, I)
|
||||
#define Z0375(I) ZP((R_FACTOR) / 6.00, I)
|
||||
#define Z1050(I) ZP(h_factor, I)
|
||||
#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
|
||||
#define Z0350(I) ZP(h_factor / 3.00, I)
|
||||
#define Z0175(I) ZP(h_factor / 6.00, I)
|
||||
#define Z2250(I) ZP(r_factor, I)
|
||||
#define Z0750(I) ZP(r_factor / 3.00, I)
|
||||
#define Z0375(I) ZP(r_factor / 6.00, I)
|
||||
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
|
||||
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
|
||||
|
||||
switch (probe_points) {
|
||||
switch (probe_mode) {
|
||||
case -1:
|
||||
test_precision = 0.00;
|
||||
case 1:
|
||||
LOOP_XYZ(i) e_delta[i] = Z1000(0);
|
||||
r_delta = 0.00;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
@ -5264,67 +5287,43 @@ inline void gcode_G28() {
|
||||
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
|
||||
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
|
||||
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
|
||||
|
||||
if (probe_mode > 0) { // negative disables tower angles
|
||||
t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
|
||||
t_beta = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
|
||||
// Calculate h & r factors
|
||||
if (verbose_level == 3) {
|
||||
LOOP_XYZ(axis) h_f_new += e_delta[axis] / 3;
|
||||
r_f_new = r_delta;
|
||||
h_diff = (1.0 / H_FACTOR) * (h_f_old - h_f_new) / h_f_old;
|
||||
if (h_diff < h_diff_min && h_diff > 0.9) h_diff_min = h_diff;
|
||||
if (r_f_old != 0)
|
||||
r_diff = ( 0.0301 * sq(R_FACTOR) * R_FACTOR
|
||||
+ 0.311 * sq(R_FACTOR)
|
||||
+ 1.1493 * R_FACTOR
|
||||
+ 1.7952
|
||||
) * (r_f_old - r_f_new) / r_f_old;
|
||||
if (r_diff > r_diff_max && r_diff < 0.4444) r_diff_max = r_diff;
|
||||
SERIAL_EOL;
|
||||
|
||||
h_f_old = h_f_new;
|
||||
r_f_old = r_f_new;
|
||||
}
|
||||
#endif // DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Adjust delta_height and endstops by the max amount
|
||||
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
|
||||
delta_radius += r_delta;
|
||||
delta_tower_angle_trim[A_AXIS] += t_alpha;
|
||||
delta_tower_angle_trim[B_AXIS] -= t_beta;
|
||||
|
||||
const float z_temp = MAX3(endstop_adj[0], endstop_adj[1], endstop_adj[2]);
|
||||
// adjust delta_height and endstops by the max amount
|
||||
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
|
||||
home_offset[Z_AXIS] -= z_temp;
|
||||
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
|
||||
|
||||
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||||
}
|
||||
else { // !iterate
|
||||
// step one back
|
||||
else { // step one back
|
||||
COPY(endstop_adj, e_old);
|
||||
delta_radius = dr_old;
|
||||
home_offset[Z_AXIS] = zh_old;
|
||||
delta_tower_angle_trim[A_AXIS] = alpha_old;
|
||||
delta_tower_angle_trim[B_AXIS] = beta_old;
|
||||
|
||||
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||||
}
|
||||
|
||||
// print report
|
||||
// print report
|
||||
|
||||
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
|
||||
if (verbose_level == 3) {
|
||||
const float r_factor = 22.902 * sq(r_diff_max) * r_diff_max
|
||||
- 44.988 * sq(r_diff_max)
|
||||
+ 31.697 * r_diff_max
|
||||
- 9.4439;
|
||||
SERIAL_PROTOCOLPAIR("h_factor:", 1.0 / h_diff_min);
|
||||
SERIAL_PROTOCOLPAIR(" r_factor:", r_factor);
|
||||
SERIAL_EOL;
|
||||
}
|
||||
#endif
|
||||
if (verbose_level == 2) {
|
||||
SERIAL_PROTOCOLPGM(". c:");
|
||||
if (verbose_level != 1) {
|
||||
SERIAL_PROTOCOLPGM(". c:");
|
||||
if (z_at_pt[0] > 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(z_at_pt[0], 2);
|
||||
if (probe_points > 1) {
|
||||
if (probe_mode == 2 || pp_greather_2) {
|
||||
SERIAL_PROTOCOLPGM(" x:");
|
||||
if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(z_at_pt[1], 2);
|
||||
@ -5335,9 +5334,12 @@ inline void gcode_G28() {
|
||||
if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(z_at_pt[9], 2);
|
||||
}
|
||||
if (probe_points > 0) SERIAL_EOL;
|
||||
if (probe_points > 2 || probe_points == -2) {
|
||||
if (probe_points > 2) SERIAL_PROTOCOLPGM(". ");
|
||||
if (probe_mode != -2) SERIAL_EOL;
|
||||
if (probe_mode == -2 || pp_greather_2) {
|
||||
if (pp_greather_2) {
|
||||
SERIAL_CHAR('.');
|
||||
SERIAL_PROTOCOL_SP(13);
|
||||
}
|
||||
SERIAL_PROTOCOLPGM(" yz:");
|
||||
if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(z_at_pt[7], 2);
|
||||
@ -5350,25 +5352,27 @@ inline void gcode_G28() {
|
||||
SERIAL_EOL;
|
||||
}
|
||||
}
|
||||
if (test_precision != 0.0) { // !forced end
|
||||
if (zero_std_dev >= test_precision) {
|
||||
if (test_precision != 0.0) { // !forced end
|
||||
if (zero_std_dev >= test_precision) { // end iterations
|
||||
SERIAL_PROTOCOLPGM("Calibration OK");
|
||||
SERIAL_PROTOCOLLNPGM(" rolling back 1");
|
||||
LCD_MESSAGEPGM("Calibration OK");
|
||||
SERIAL_PROTOCOL_SP(36);
|
||||
SERIAL_PROTOCOLPGM("rolling back.");
|
||||
SERIAL_EOL;
|
||||
LCD_MESSAGEPGM("Calibration OK");
|
||||
}
|
||||
else { // !end iterations
|
||||
else { // !end iterations
|
||||
char mess[15] = "No convergence";
|
||||
if (iterations < 31)
|
||||
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
|
||||
SERIAL_PROTOCOL(mess);
|
||||
SERIAL_PROTOCOLPGM(" std dev:");
|
||||
SERIAL_PROTOCOL_SP(36);
|
||||
SERIAL_PROTOCOLPGM("std dev:");
|
||||
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||||
SERIAL_EOL;
|
||||
lcd_setstatus(mess);
|
||||
}
|
||||
SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
|
||||
if (abs(probe_points) > 1) {
|
||||
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
|
||||
if (!pp_equals_1) {
|
||||
SERIAL_PROTOCOLPGM(" Ex:");
|
||||
if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
|
||||
@ -5381,23 +5385,38 @@ inline void gcode_G28() {
|
||||
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
|
||||
}
|
||||
SERIAL_EOL;
|
||||
if (probe_mode > 2) { // negative disables tower angles
|
||||
SERIAL_PROTOCOLPGM(".Tower angle : Tx:");
|
||||
if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
|
||||
SERIAL_PROTOCOLPGM(" Ty:");
|
||||
if (delta_tower_angle_trim[B_AXIS] >= 0) SERIAL_CHAR('+');
|
||||
SERIAL_PROTOCOL_F(delta_tower_angle_trim[B_AXIS], 2);
|
||||
SERIAL_PROTOCOLPGM(" Tz:+0.00");
|
||||
SERIAL_EOL;
|
||||
}
|
||||
if (zero_std_dev >= test_precision)
|
||||
SERIAL_PROTOCOLLNPGM("Save with M500");
|
||||
serialprintPGM(save_message);
|
||||
SERIAL_EOL;
|
||||
}
|
||||
else { // forced end
|
||||
#if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
|
||||
if (verbose_level == 3)
|
||||
SERIAL_PROTOCOLLNPGM("Copy to Configuration_adv.h");
|
||||
else
|
||||
#endif
|
||||
{
|
||||
SERIAL_PROTOCOLPGM("End DRY-RUN std dev:");
|
||||
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||||
SERIAL_EOL;
|
||||
}
|
||||
else { // forced end
|
||||
if (verbose_level == 0) {
|
||||
SERIAL_PROTOCOLPGM("End DRY-RUN");
|
||||
SERIAL_PROTOCOL_SP(39);
|
||||
SERIAL_PROTOCOLPGM("std dev:");
|
||||
SERIAL_PROTOCOL_F(zero_std_dev, 3);
|
||||
SERIAL_EOL;
|
||||
}
|
||||
else {
|
||||
SERIAL_PROTOCOLLNPGM("Calibration OK");
|
||||
LCD_MESSAGEPGM("Calibration OK");
|
||||
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
|
||||
SERIAL_EOL;
|
||||
serialprintPGM(save_message);
|
||||
SERIAL_EOL;
|
||||
}
|
||||
}
|
||||
|
||||
clean_up_after_endstop_or_probe_move();
|
||||
stepper.synchronize();
|
||||
|
||||
gcode_G28();
|
||||
@ -7620,12 +7639,13 @@ inline void gcode_M205() {
|
||||
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
|
||||
if (code_seen('R')) delta_radius = code_value_linear_units();
|
||||
if (code_seen('S')) delta_segments_per_second = code_value_float();
|
||||
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
|
||||
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
|
||||
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
|
||||
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
|
||||
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
|
||||
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
|
||||
if (code_seen('B')) delta_calibration_radius = code_value_float();
|
||||
if (code_seen('X')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
|
||||
if (code_seen('Y')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
|
||||
if (code_seen('Z')) { // rotate all 3 axis for Z = 0
|
||||
delta_tower_angle_trim[A_AXIS] -= code_value_linear_units();
|
||||
delta_tower_angle_trim[B_AXIS] -= code_value_linear_units();
|
||||
}
|
||||
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
||||
}
|
||||
/**
|
||||
@ -7653,6 +7673,10 @@ inline void gcode_M205() {
|
||||
SERIAL_ECHOLNPGM("<<< gcode_M666");
|
||||
}
|
||||
#endif
|
||||
// normalize endstops so all are <=0; set the residue to delta height
|
||||
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
|
||||
home_offset[Z_AXIS] -= z_temp;
|
||||
LOOP_XYZ(i) endstop_adj[i] -= z_temp;
|
||||
}
|
||||
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
|
||||
@ -8564,7 +8588,7 @@ inline void gcode_M503() {
|
||||
|
||||
if (!isnan(last_zoffset)) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET)
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
|
||||
const float diff = zprobe_zoffset - last_zoffset;
|
||||
#endif
|
||||
|
||||
@ -8586,6 +8610,10 @@ inline void gcode_M503() {
|
||||
#else
|
||||
UNUSED(no_babystep);
|
||||
#endif
|
||||
|
||||
#if ENABLED(DELTA) // correct the delta_height
|
||||
home_offset[Z_AXIS] -= diff;
|
||||
#endif
|
||||
}
|
||||
|
||||
last_zoffset = zprobe_zoffset;
|
||||
@ -10651,15 +10679,17 @@ void ok_to_send() {
|
||||
* settings have been changed (e.g., by M665).
|
||||
*/
|
||||
void recalc_delta_settings(float radius, float diagonal_rod) {
|
||||
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
|
||||
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_1);
|
||||
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
|
||||
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_2);
|
||||
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3); // back middle tower
|
||||
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (radius + DELTA_RADIUS_TRIM_TOWER_3);
|
||||
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
|
||||
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
|
||||
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
|
||||
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]);
|
||||
}
|
||||
|
||||
#if ENABLED(DELTA_FAST_SQRT)
|
||||
|
||||
@ -42,7 +42,7 @@
|
||||
#define EEPROM_OFFSET 100
|
||||
|
||||
/**
|
||||
* V33 EEPROM Layout:
|
||||
* V35 EEPROM Layout:
|
||||
*
|
||||
* 100 Version (char x4)
|
||||
* 104 EEPROM Checksum (uint16_t)
|
||||
@ -97,12 +97,10 @@
|
||||
* 360 M665 R delta_radius (float)
|
||||
* 364 M665 L delta_diagonal_rod (float)
|
||||
* 368 M665 S delta_segments_per_second (float)
|
||||
* 372 M665 A delta_diagonal_rod_trim[A] (float)
|
||||
* 376 M665 B delta_diagonal_rod_trim[B] (float)
|
||||
* 380 M665 C delta_diagonal_rod_trim[C] (float)
|
||||
* 384 M665 I delta_tower_angle_trim[A] (float)
|
||||
* 388 M665 J delta_tower_angle_trim[B] (float)
|
||||
* 392 M665 K delta_tower_angle_trim[C] (float)
|
||||
* 372 M665 B delta_calibration_radius (float)
|
||||
* 376 M665 X delta_tower_angle_trim[A] (float)
|
||||
* 380 M665 Y delta_tower_angle_trim[B] (float)
|
||||
* --- M665 Z delta_tower_angle_trim[C] (float) is always 0.0
|
||||
*
|
||||
* Z_DUAL_ENDSTOPS: 48 bytes
|
||||
* 348 M666 Z z_endstop_adj (float)
|
||||
@ -428,8 +426,10 @@ void MarlinSettings::postprocess() {
|
||||
EEPROM_WRITE(delta_radius); // 1 float
|
||||
EEPROM_WRITE(delta_diagonal_rod); // 1 float
|
||||
EEPROM_WRITE(delta_segments_per_second); // 1 float
|
||||
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
|
||||
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
|
||||
EEPROM_WRITE(delta_calibration_radius); // 1 float
|
||||
EEPROM_WRITE(delta_tower_angle_trim); // 2 floats
|
||||
dummy = 0.0f;
|
||||
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS)
|
||||
EEPROM_WRITE(z_endstop_adj); // 1 float
|
||||
dummy = 0.0f;
|
||||
@ -802,8 +802,10 @@ void MarlinSettings::postprocess() {
|
||||
EEPROM_READ(delta_radius); // 1 float
|
||||
EEPROM_READ(delta_diagonal_rod); // 1 float
|
||||
EEPROM_READ(delta_segments_per_second); // 1 float
|
||||
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
|
||||
EEPROM_READ(delta_tower_angle_trim); // 3 floats
|
||||
EEPROM_READ(delta_calibration_radius); // 1 float
|
||||
EEPROM_READ(delta_tower_angle_trim); // 2 floats
|
||||
dummy = 0.0f;
|
||||
for (uint8_t q=3; q--;) EEPROM_READ(dummy);
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS)
|
||||
EEPROM_READ(z_endstop_adj);
|
||||
dummy = 0.0f;
|
||||
@ -1079,14 +1081,14 @@ void MarlinSettings::reset() {
|
||||
|
||||
#if ENABLED(DELTA)
|
||||
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
|
||||
drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 },
|
||||
dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 };
|
||||
dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
|
||||
COPY(endstop_adj, adj);
|
||||
delta_radius = DELTA_RADIUS;
|
||||
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
|
||||
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
|
||||
COPY(delta_diagonal_rod_trim, drt);
|
||||
COPY(delta_tower_angle_trim, dta);
|
||||
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
|
||||
delta_tower_angle_trim[A_AXIS] = dta[A_AXIS] - dta[C_AXIS];
|
||||
delta_tower_angle_trim[B_AXIS] = dta[B_AXIS] - dta[C_AXIS];
|
||||
home_offset[Z_AXIS] = 0;
|
||||
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS)
|
||||
@ -1488,19 +1490,18 @@ void MarlinSettings::reset() {
|
||||
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS]));
|
||||
if (!forReplay) {
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> ABC<diagonal_rod_[123]_trim>");
|
||||
SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");
|
||||
}
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod));
|
||||
SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius));
|
||||
SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS]));
|
||||
SERIAL_ECHOPAIR(" S", delta_segments_per_second);
|
||||
SERIAL_ECHOPAIR(" A", LINEAR_UNIT(delta_diagonal_rod_trim[A_AXIS]));
|
||||
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_diagonal_rod_trim[B_AXIS]));
|
||||
SERIAL_ECHOPAIR(" C", LINEAR_UNIT(delta_diagonal_rod_trim[C_AXIS]));
|
||||
SERIAL_ECHOPAIR(" I", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
|
||||
SERIAL_ECHOPAIR(" J", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
|
||||
SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS]));
|
||||
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
|
||||
SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
|
||||
SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
|
||||
SERIAL_ECHOPAIR(" Z", 0.00);
|
||||
SERIAL_EOL;
|
||||
#elif ENABLED(Z_DUAL_ENDSTOPS)
|
||||
if (!forReplay) {
|
||||
CONFIG_ECHO_START;
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
@ -431,53 +431,47 @@
|
||||
// and processor overload (too many expensive sqrt calls).
|
||||
#define DELTA_SEGMENTS_PER_SECOND 160
|
||||
|
||||
// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
|
||||
|
||||
// Center-to-center distance of the holes in the diagonal push rods.
|
||||
#define DELTA_DIAGONAL_ROD 218.0 // mm
|
||||
|
||||
// Horizontal offset from middle of printer to smooth rod center.
|
||||
//#define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
|
||||
|
||||
// Horizontal offset of the universal joints on the end effector.
|
||||
//#define DELTA_EFFECTOR_OFFSET 24.0 // mm
|
||||
|
||||
// Horizontal offset of the universal joints on the carriages.
|
||||
//#define DELTA_CARRIAGE_OFFSET 22.0 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS 100.59 //mm // get this value from auto calibrate
|
||||
#define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 298.95 // get this value from auto calibrate
|
||||
// height from z=0 to home position
|
||||
#define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 90.0
|
||||
#define DELTA_PRINTABLE_RADIUS 85.0
|
||||
|
||||
// Delta calibration menu
|
||||
// uncomment to add three points calibration menu option.
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 4 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
#define DELTA_ENDSTOP_ADJ { -0.05, -0.00, -0.02 } // get these from auto calibrate
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
@ -514,7 +508,7 @@
|
||||
// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
|
||||
#define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
|
||||
#define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
|
||||
#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
|
||||
#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
|
||||
#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
|
||||
#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
|
||||
#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
|
||||
@ -696,8 +690,8 @@
|
||||
* (0,0)
|
||||
*/
|
||||
#define X_PROBE_OFFSET_FROM_EXTRUDER 0 // X offset: -left +right [of the nozzle]
|
||||
#define Y_PROBE_OFFSET_FROM_EXTRUDER 0 // Y offset: -front +behind [the nozzle]
|
||||
#define Z_PROBE_OFFSET_FROM_EXTRUDER 0.25 // Z offset: -below +above [the nozzle]
|
||||
#define Y_PROBE_OFFSET_FROM_EXTRUDER 0 // Y offset: -front +behind [the nozzle]
|
||||
#define Z_PROBE_OFFSET_FROM_EXTRUDER 0.10 // Z offset: -below +above [the nozzle]
|
||||
|
||||
// X and Y axis travel speed (mm/m) between probes
|
||||
#define XY_PROBE_SPEED 5000
|
||||
@ -706,7 +700,7 @@
|
||||
#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
|
||||
|
||||
// Speed for the "accurate" probe of each point
|
||||
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 4)
|
||||
#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST) / 6
|
||||
|
||||
// Use double touch for probing
|
||||
//#define PROBE_DOUBLE_TOUCH
|
||||
@ -775,8 +769,8 @@
|
||||
* Example: `M851 Z-5` with a CLEARANCE of 4 => 9mm from bed to nozzle.
|
||||
* But: `M851 Z+1` with a CLEARANCE of 2 => 2mm from bed to nozzle.
|
||||
*/
|
||||
#define Z_CLEARANCE_DEPLOY_PROBE 10 // Z Clearance for Deploy/Stow
|
||||
#define Z_CLEARANCE_BETWEEN_PROBES 3 // Z Clearance between probe points
|
||||
#define Z_CLEARANCE_DEPLOY_PROBE 5 // Z Clearance for Deploy/Stow
|
||||
#define Z_CLEARANCE_BETWEEN_PROBES 2 // Z Clearance between probe points
|
||||
|
||||
// For M851 give a range for adjusting the Z probe offset
|
||||
#define Z_PROBE_OFFSET_RANGE_MIN -20
|
||||
@ -808,11 +802,11 @@
|
||||
// @section machine
|
||||
|
||||
// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
|
||||
#define INVERT_X_DIR true
|
||||
#define INVERT_X_DIR true // DELTA does not invert
|
||||
#define INVERT_Y_DIR true
|
||||
#define INVERT_Z_DIR true
|
||||
|
||||
// Enable this option for Toshiba stepper drivers
|
||||
// Enable this option for Toshiba steppers drivers
|
||||
//#define CONFIG_STEPPERS_TOSHIBA
|
||||
|
||||
// @section extruder
|
||||
@ -910,7 +904,7 @@
|
||||
*/
|
||||
//#define AUTO_BED_LEVELING_3POINT
|
||||
//#define AUTO_BED_LEVELING_LINEAR
|
||||
#define AUTO_BED_LEVELING_BILINEAR
|
||||
//#define AUTO_BED_LEVELING_BILINEAR
|
||||
//#define AUTO_BED_LEVELING_UBL
|
||||
//#define MESH_BED_LEVELING
|
||||
|
||||
@ -931,8 +925,7 @@
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
|
||||
// Set the number of grid points per dimension.
|
||||
// Works best with 5 or more points in each dimension.
|
||||
#define GRID_MAX_POINTS_X 9
|
||||
#define GRID_MAX_POINTS_X 7
|
||||
#define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
|
||||
|
||||
// Set the boundaries for probing (where the probe can reach).
|
||||
@ -943,12 +936,13 @@
|
||||
#define BACK_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
|
||||
|
||||
// The Z probe minimum outer margin (to validate G29 parameters).
|
||||
#define MIN_PROBE_EDGE 10
|
||||
#define MIN_PROBE_EDGE 20
|
||||
|
||||
// Probe along the Y axis, advancing X after each column
|
||||
//#define PROBE_Y_FIRST
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
||||
|
||||
//
|
||||
// Experimental Subdivision of the grid by Catmull-Rom method.
|
||||
// Synthesizes intermediate points to produce a more detailed mesh.
|
||||
@ -1098,8 +1092,8 @@
|
||||
// @section temperature
|
||||
|
||||
// Preheat Constants
|
||||
#define PREHEAT_1_TEMP_HOTEND 185
|
||||
#define PREHEAT_1_TEMP_BED 70
|
||||
#define PREHEAT_1_TEMP_HOTEND 195
|
||||
#define PREHEAT_1_TEMP_BED 60
|
||||
#define PREHEAT_1_FAN_SPEED 0 // Value from 0 to 255
|
||||
|
||||
#define PREHEAT_2_TEMP_HOTEND 240
|
||||
@ -1345,6 +1339,7 @@
|
||||
//
|
||||
// Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
|
||||
//
|
||||
// INDIVIDUAL_AXIS_HOMING_MENU is incompatible with DELTA kinematics.
|
||||
//#define INDIVIDUAL_AXIS_HOMING_MENU
|
||||
|
||||
//
|
||||
@ -1673,8 +1668,8 @@
|
||||
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 // Index of the extruder that has the filament sensor (0,1,2,3)
|
||||
#define MEASUREMENT_DELAY_CM 14 // (cm) The distance from the filament sensor to the melting chamber
|
||||
|
||||
#define MEASURED_UPPER_LIMIT 3.30 // (mm) Upper limit used to validate sensor reading
|
||||
#define MEASURED_LOWER_LIMIT 1.90 // (mm) Lower limit used to validate sensor reading
|
||||
#define MEASURED_UPPER_LIMIT 1.95 // (mm) Upper limit used to validate sensor reading
|
||||
#define MEASURED_LOWER_LIMIT 1.20 // (mm) Lower limit used to validate sensor reading
|
||||
#define MAX_MEASUREMENT_DELAY 20 // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM.
|
||||
|
||||
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially
|
||||
|
||||
@ -419,25 +419,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -444,10 +444,10 @@
|
||||
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 280 // get this value from auto calibrate
|
||||
#define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 85.0
|
||||
@ -457,28 +457,28 @@
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
//#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
//#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
//#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
@ -419,25 +419,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -434,10 +434,10 @@
|
||||
#define DELTA_CARRIAGE_OFFSET 18.0 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate // height from z=0.00 to home position
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 250 // get this value from auto calibrate
|
||||
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 140.0
|
||||
@ -446,28 +446,28 @@
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
//#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
//#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
#define DELTA_HOME_TO_SAFE_ZONE
|
||||
//#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
@ -419,25 +419,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -434,10 +434,10 @@
|
||||
#define DELTA_CARRIAGE_OFFSET 19.5 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 250 // get this value from auto calibrate
|
||||
#define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 90.0
|
||||
@ -446,28 +446,28 @@
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
//#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
//#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
#define DELTA_HOME_TO_SAFE_ZONE
|
||||
//#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
@ -419,25 +419,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -421,10 +421,10 @@
|
||||
#define DELTA_CARRIAGE_OFFSET 30.0 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 277 // get this value from auto calibrate
|
||||
#define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 127.0
|
||||
@ -433,28 +433,28 @@
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
//#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
//#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
#define DELTA_HOME_TO_SAFE_ZONE
|
||||
//#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
/**
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
||||
*
|
||||
@ -424,26 +424,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -439,10 +439,10 @@
|
||||
#define DELTA_CARRIAGE_OFFSET 22.0 // mm
|
||||
|
||||
// Horizontal distance bridged by diagonal push rods when effector is centered.
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET) + 1)
|
||||
#define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
|
||||
|
||||
// height from z=0.00 to home position
|
||||
#define DELTA_HEIGHT 380 // get this value from auto calibrate
|
||||
#define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
|
||||
|
||||
// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
|
||||
#define DELTA_PRINTABLE_RADIUS 140.0
|
||||
@ -451,28 +451,28 @@
|
||||
// See http://minow.blogspot.com/index.html#4918805519571907051
|
||||
//#define DELTA_CALIBRATION_MENU
|
||||
|
||||
// set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
|
||||
|
||||
// G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
|
||||
//#define DELTA_AUTO_CALIBRATION
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
|
||||
#define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
|
||||
#define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
|
||||
#endif
|
||||
|
||||
// After homing move down to a height where XY movement is unconstrained
|
||||
#define DELTA_HOME_TO_SAFE_ZONE
|
||||
//#define DELTA_HOME_TO_SAFE_ZONE
|
||||
|
||||
//#define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
|
||||
#define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// Trim adjustments for individual towers
|
||||
#define DELTA_RADIUS_TRIM_TOWER_1 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_2 0.0
|
||||
#define DELTA_RADIUS_TRIM_TOWER_3 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
|
||||
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_1 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_2 0.0
|
||||
#define DELTA_TOWER_ANGLE_TRIM_3 0.0
|
||||
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
|
||||
// measured in degrees anticlockwise looking from above the printer
|
||||
#define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
|
||||
|
||||
// delta radius and diaginal rod adjustments measured in mm
|
||||
//#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
|
||||
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -419,25 +419,6 @@
|
||||
// Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
|
||||
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} // AZTEEG_X3_PRO
|
||||
|
||||
//===========================================================================
|
||||
//============================== Delta Settings =============================
|
||||
//===========================================================================
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
/**
|
||||
* Set the height short (H-10) with M665 Hx.xx.
|
||||
* Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
|
||||
* Run G33 Cx V3 (C2, C-2) with different values for C and R
|
||||
* Take the average for R_FACTOR and maximum for H_FACTOR.
|
||||
* Run the tests with default values!!!
|
||||
*/
|
||||
//#define DELTA_CALIBRATE_EXPERT_MODE
|
||||
|
||||
// Remove the comments of the folling 2 lines to overide default values
|
||||
//#define H_FACTOR 1.02 // 1.0 < H_FACTOR < 1.11, default 1.00
|
||||
//#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
|
||||
#endif
|
||||
|
||||
//===========================================================================
|
||||
//=============================Additional Features===========================
|
||||
//===========================================================================
|
||||
|
||||
@ -32,3 +32,5 @@ void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P);
|
||||
void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
|
||||
void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
|
||||
void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
|
||||
|
||||
void serial_spaces(uint8_t count) { while (count--) MYSERIAL.write(' '); }
|
||||
|
||||
@ -84,6 +84,11 @@ FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopa
|
||||
FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
|
||||
FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
|
||||
|
||||
void serial_spaces(uint8_t count);
|
||||
#define SERIAL_ECHO_SP(C) serial_spaces(C)
|
||||
#define SERIAL_ERROR_SP(C) serial_spaces(C)
|
||||
#define SERIAL_PROTOCOL_SP(C) serial_spaces(C)
|
||||
|
||||
//
|
||||
// Functions for serial printing from PROGMEM. (Saves loads of SRAM.)
|
||||
//
|
||||
|
||||
@ -1816,20 +1816,14 @@ void kill_screen(const char* lcd_msg) {
|
||||
lcd_goto_screen(_lcd_calibrate_homing);
|
||||
}
|
||||
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
#define _DELTA_TOWER_MOVE_RADIUS DELTA_CALIBRATION_RADIUS
|
||||
#else
|
||||
#define _DELTA_TOWER_MOVE_RADIUS DELTA_PRINTABLE_RADIUS
|
||||
#endif
|
||||
|
||||
// Move directly to the tower position with uninterpolated moves
|
||||
// If we used interpolated moves it would cause this to become re-entrant
|
||||
void _goto_tower_pos(const float &a) {
|
||||
current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
|
||||
line_to_current(Z_AXIS);
|
||||
|
||||
current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(_DELTA_TOWER_MOVE_RADIUS);
|
||||
current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) * (_DELTA_TOWER_MOVE_RADIUS);
|
||||
current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : cos(RADIANS(a)) * delta_calibration_radius;
|
||||
current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : sin(RADIANS(a)) * delta_calibration_radius;
|
||||
line_to_current(Z_AXIS);
|
||||
|
||||
current_position[Z_AXIS] = 4.0;
|
||||
@ -1841,17 +1835,17 @@ void kill_screen(const char* lcd_msg) {
|
||||
lcd_goto_screen(lcd_move_z);
|
||||
}
|
||||
|
||||
void _goto_tower_x() { _goto_tower_pos(RADIANS(120)); }
|
||||
void _goto_tower_y() { _goto_tower_pos(RADIANS(240)); }
|
||||
void _goto_tower_z() { _goto_tower_pos(0); }
|
||||
void _goto_tower_x() { _goto_tower_pos(210); }
|
||||
void _goto_tower_y() { _goto_tower_pos(330); }
|
||||
void _goto_tower_z() { _goto_tower_pos(90); }
|
||||
void _goto_center() { _goto_tower_pos(-1); }
|
||||
|
||||
void lcd_delta_calibrate_menu() {
|
||||
START_MENU();
|
||||
MENU_BACK(MSG_MAIN);
|
||||
#if ENABLED(DELTA_AUTO_CALIBRATION)
|
||||
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33 C"));
|
||||
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C1"));
|
||||
MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
|
||||
MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1 A"));
|
||||
#endif
|
||||
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
|
||||
if (axis_homed[Z_AXIS]) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user