Fix and improve software endstops (#13386)
This commit is contained in:
Scott Lahteine
GitHub
@ -149,13 +149,13 @@ float cartes[XYZ];
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#endif
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#if HAS_SOFTWARE_ENDSTOPS
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float soft_endstop_radius, soft_endstop_radius_2;
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float delta_max_radius, delta_max_radius_2;
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#elif IS_SCARA
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constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
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soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
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constexpr float delta_max_radius = SCARA_PRINTABLE_RADIUS,
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delta_max_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
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#else // DELTA
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constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
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soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
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constexpr float delta_max_radius = DELTA_PRINTABLE_RADIUS,
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delta_max_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
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#endif
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#endif
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@ -460,8 +460,7 @@ void clean_up_after_endstop_or_probe_move() {
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bool soft_endstops_enabled = true;
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// Software Endstops are based on the configured limits.
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float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
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axis_limits_t soft_endstop[XYZ] = { { X_MIN_BED, X_MAX_BED }, { Y_MIN_BED, Y_MAX_BED }, { Z_MIN_POS, Z_MAX_POS } };
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/**
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* Software endstops can be used to monitor the open end of
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@ -487,26 +486,27 @@ void clean_up_after_endstop_or_probe_move() {
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if (new_tool_index != 0) {
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS;
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soft_endstop_max[X_AXIS] = dual_max_x;
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soft_endstop[X_AXIS].min = X2_MIN_POS;
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soft_endstop[X_AXIS].max = dual_max_x;
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}
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else if (dxc_is_duplicating()) {
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// In Duplication Mode, T0 can move as far left as X1_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = X1_MIN_POS;
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soft_endstop_max[X_AXIS] = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
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soft_endstop[X_AXIS].min = X1_MIN_POS;
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soft_endstop[X_AXIS].max = MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset);
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}
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else {
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// In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS
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soft_endstop_min[X_AXIS] = X1_MIN_POS;
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soft_endstop_max[X_AXIS] = X1_MAX_POS;
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soft_endstop[X_AXIS].min = X1_MIN_POS;
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soft_endstop[X_AXIS].max = X1_MAX_POS;
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}
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}
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#elif ENABLED(DELTA)
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soft_endstop_min[axis] = base_min_pos(axis);
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soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height
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soft_endstop[axis].min = base_min_pos(axis);
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soft_endstop[axis].max = (axis == Z_AXIS ? delta_height
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#if HAS_BED_PROBE
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- zprobe_zoffset
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#endif
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@ -516,11 +516,11 @@ void clean_up_after_endstop_or_probe_move() {
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case X_AXIS:
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case Y_AXIS:
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// Get a minimum radius for clamping
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soft_endstop_radius = MIN(ABS(MAX(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
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soft_endstop_radius_2 = sq(soft_endstop_radius);
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delta_max_radius = MIN(ABS(MAX(soft_endstop[X_AXIS].min, soft_endstop[Y_AXIS].min)), soft_endstop[X_AXIS].max, soft_endstop[Y_AXIS].max);
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delta_max_radius_2 = sq(delta_max_radius);
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break;
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case Z_AXIS:
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delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
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delta_clip_start_height = soft_endstop[axis].max - delta_safe_distance_from_top();
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default: break;
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}
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@ -531,85 +531,82 @@ void clean_up_after_endstop_or_probe_move() {
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// retain the same physical limit when other tools are selected.
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if (old_tool_index != new_tool_index) {
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const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
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soft_endstop_min[axis] += offs;
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soft_endstop_max[axis] += offs;
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soft_endstop[axis].min += offs;
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soft_endstop[axis].max += offs;
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}
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else {
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const float offs = hotend_offset[axis][active_extruder];
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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soft_endstop[axis].min = base_min_pos(axis) + offs;
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soft_endstop[axis].max = base_max_pos(axis) + offs;
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}
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#else
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soft_endstop_min[axis] = base_min_pos(axis);
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soft_endstop_max[axis] = base_max_pos(axis);
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soft_endstop[axis].min = base_min_pos(axis);
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soft_endstop[axis].max = base_max_pos(axis);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("For ", axis_codes[axis]);
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SERIAL_ECHOPAIR(" axis:\n soft_endstop_min = ", soft_endstop_min[axis]);
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SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING))
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SERIAL_ECHOLNPAIR("Axis ", axis_codes[axis], " min:", soft_endstop[axis].min, " max:", soft_endstop[axis].max);
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#endif
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}
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* For DELTA/SCARA the XY constraint is based on the smallest
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* radius within the set software endstops.
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*/
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void apply_motion_limits(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
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// The effector center position will be the target minus the hotend offset.
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const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
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#else
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// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
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constexpr float offx = 0, offy = 0;
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#endif
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const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
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if (dist_2 > delta_max_radius_2) {
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const float ratio = (delta_max_radius) / SQRT(dist_2); // 200 / 300 = 0.66
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target[X_AXIS] *= ratio;
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target[Y_AXIS] *= ratio;
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}
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#else
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop[X_AXIS].min);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop[X_AXIS].max);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop[Y_AXIS].min);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop[Y_AXIS].max);
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#endif
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop[Z_AXIS].min);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop[Z_AXIS].max);
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#endif
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}
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#endif // HAS_SOFTWARE_ENDSTOPS
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/**
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* Constrain the given coordinates to the software endstops.
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*
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* For DELTA/SCARA the XY constraint is based on the smallest
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* radius within the set software endstops.
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*/
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void clamp_to_software_endstops(float target[XYZ]) {
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if (!soft_endstops_enabled) return;
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#if IS_KINEMATIC
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#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
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// The effector center position will be the target minus the hotend offset.
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const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
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#else
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// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
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constexpr float offx = 0, offy = 0;
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#endif
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const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
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if (dist_2 > soft_endstop_radius_2) {
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const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
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target[X_AXIS] *= ratio;
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target[Y_AXIS] *= ratio;
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}
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#else
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
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NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
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NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
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NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
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NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
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#endif
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
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NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
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#endif
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#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
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NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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}
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#if !UBL_SEGMENTED
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#if IS_KINEMATIC
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@ -995,7 +992,7 @@ void clamp_to_software_endstops(float target[XYZ]) {
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* before calling or cold/lengthy extrusion may get missed.
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*/
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void prepare_move_to_destination() {
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clamp_to_software_endstops(destination);
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apply_motion_limits(destination);
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#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
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