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Implement delta auto-calibration and delta_height

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This commit is contained in:
LVD-AC
2017-03-31 21:58:40 +02:00
committed by Scott Lahteine
parent 03bda24d19
commit 8821963873
5 changed files with 438 additions and 20 deletions
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18
Marlin/ultralcd.cpp
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@ -817,7 +817,7 @@ void kill_screen(const char* lcd_msg) {
*
*/
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
/**
* Set the home offset based on the current_position
*/
@ -1672,7 +1672,7 @@ void kill_screen(const char* lcd_msg) {
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS)
#if DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)
//
// Set Home Offsets
//
@ -1770,14 +1770,20 @@ 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 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS);
current_position[Y_AXIS] = a < 0 ? Y_HOME_POS : cos(a) * (DELTA_PRINTABLE_RADIUS);
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);
line_to_current(Z_AXIS);
current_position[Z_AXIS] = 4.0;
@ -1797,6 +1803,10 @@ void kill_screen(const char* lcd_msg) {
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"));
#endif
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
if (axis_homed[Z_AXIS]) {
MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x);