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UBL_DELTA (#6695)

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UBL on Delta's....     Should be close!    Should not affect any Cartesian printer.
This commit is contained in:
oldmcg
2017-05-11 22:33:47 -05:00
committed by Roxy-3D
parent 445003dbb8
commit 91841d75c9
10 changed files with 591 additions and 209 deletions
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114
Marlin/G26_Mesh_Validation_Tool.cpp
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@ -122,7 +122,7 @@
// External references
extern float feedrate;
extern float feedrate_mm_s; // must set before calling prepare_move_to_destination
extern Planner planner;
#if ENABLED(ULTRA_LCD)
extern char lcd_status_message[];
@ -130,6 +130,7 @@
extern float destination[XYZE];
void set_destination_to_current();
void set_current_to_destination();
void prepare_move_to_destination();
float code_value_float();
float code_value_linear_units();
float code_value_axis_units(const AxisEnum axis);
@ -137,9 +138,6 @@
bool code_has_value();
void lcd_init();
void lcd_setstatuspgm(const char* const message, const uint8_t level);
bool prepare_move_to_destination_cartesian();
void line_to_destination();
void line_to_destination(float);
void sync_plan_position_e();
void chirp_at_user();
@ -182,6 +180,13 @@
static int16_t g26_repeats;
void G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
prepare_move_to_destination(); // will ultimately call ubl_line_to_destination_cartesian or ubl_prepare_linear_move_to for UBL_DELTA
feedrate_mm_s = save_feedrate; // restore global feed rate
}
/**
* G26: Mesh Validation Pattern generation.
*
@ -271,21 +276,10 @@
const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// Let's do a couple of quick sanity checks. We can pull this code out later if we never see it catch a problem
#ifdef DELTA
if (HYPOT2(circle_x, circle_y) > sq(DELTA_PRINTABLE_RADIUS)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to print outside of DELTA_PRINTABLE_RADIUS.");
goto LEAVE;
}
#endif
// If this mesh location is outside the printable_radius, skip it.
// TODO: Change this to use `position_is_reachable`
if (!WITHIN(circle_x, X_MIN_POS, X_MAX_POS) || !WITHIN(circle_y, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to print off the bed.");
goto LEAVE;
}
if ( ! position_is_reachable_raw_xy( circle_x, circle_y ))
continue;
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
yi = location.y_index;
@ -333,9 +327,11 @@
y = circle_y + sin_table[tmp_div_30],
xe = circle_x + cos_table[tmp_div_30 + 1],
ye = circle_y + sin_table[tmp_div_30 + 1];
#ifdef DELTA
if (HYPOT2(x, y) > sq(DELTA_PRINTABLE_RADIUS)) // Check to make sure this part of
continue; // the 'circle' is on the bed. If
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (( ! position_is_reachable_raw_xy( x , y )) ||
( ! position_is_reachable_raw_xy( xe, ye )))
continue;
#else // not, we need to skip
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
@ -463,18 +459,22 @@
sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
if (ubl.g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
if (( position_is_reachable_raw_xy( sx, sy )) &&
( position_is_reachable_raw_xy( ex, ey ))) {
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again
if (ubl.g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
}
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
}
}
@ -494,17 +494,21 @@
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (ubl.g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
debug_current_and_destination(PSTR("Connecting vertical line."));
if (( position_is_reachable_raw_xy( sx, sy )) &&
( position_is_reachable_raw_xy( ex, ey ))) {
if (ubl.g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL;
debug_current_and_destination(PSTR("Connecting vertical line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
}
}
}
@ -532,7 +536,7 @@
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
ubl_line_to_destination(feed_value, 0);
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_to_current();
@ -552,7 +556,7 @@
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() doing last move"));
ubl_line_to_destination(feed_value, 0);
G26_line_to_destination(feed_value);
//if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() after last move"));
@ -755,20 +759,16 @@
y_pos = current_position[Y_AXIS];
if (code_seen('X')) {
x_pos = code_value_axis_units(X_AXIS);
if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("?Specified X coordinate not plausible.");
return UBL_ERR;
}
x_pos = code_value_float();
}
else
if (code_seen('Y')) {
y_pos = code_value_axis_units(Y_AXIS);
if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
SERIAL_PROTOCOLLNPGM("?Specified Y coordinate not plausible.");
return UBL_ERR;
}
y_pos = code_value_float();
}
if ( ! position_is_reachable_xy( x_pos, y_pos )) {
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
return UBL_ERR;
}
/**
@ -864,7 +864,7 @@
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
#endif
ubl_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0);
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
@ -893,7 +893,7 @@
#endif
set_destination_to_current();
destination[E_AXIS] += prime_length;
ubl_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0, 0);
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize();
set_destination_to_current();
retract_filament(destination);