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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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45
Marlin/planner.cpp
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@ -63,6 +63,7 @@
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#include "ubl.h"
#include "Marlin.h"
@ -533,6 +534,17 @@ void Planner::check_axes_activity() {
*/
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA) // probably should also be enabled for UBL without UBL_DELTA
if (!ubl.state.active) return;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
// if z_fade_height enabled (nonzero) and raw_z above it, no leveling required
if ((planner.z_fade_height) && (planner.z_fade_height <= RAW_Z_POSITION(lz))) return;
lz += ubl.state.z_offset + ( ubl.get_z_correction(lx,ly) * ubl.fade_scaling_factor_for_z(lz));
#else // no fade
lz += ubl.state.z_offset + ubl.get_z_correction(lx,ly);
#endif // FADE
#endif // UBL
#if HAS_ABL
if (!abl_enabled) return;
#endif
@ -586,6 +598,39 @@ void Planner::check_axes_activity() {
void Planner::unapply_leveling(float logical[XYZ]) {
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_DELTA)
if ( ubl.state.active ) {
float z_leveled = RAW_Z_POSITION(logical[Z_AXIS]);
float z_ublmesh = ubl.get_z_correction(logical[X_AXIS],logical[Y_AXIS]);
float z_unlevel = z_leveled - ubl.state.z_offset - z_ublmesh;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
// for L=leveled, U=unleveled, M=mesh, O=offset, H=fade_height,
// Given L==U+O+M(1-U/H) (faded mesh correction formula for U<H)
// then U==L-O-M(1-U/H)
// so U==L-O-M+MU/H
// so U-MU/H==L-O-M
// so U(1-M/H)==L-O-M
// so U==(L-O-M)/(1-M/H) for U<H
if ( planner.z_fade_height ) {
float z_unfaded = z_unlevel / ( 1.0 - ( z_ublmesh * planner.inverse_z_fade_height ));
if ( z_unfaded < planner.z_fade_height ) // don't know until after compute
z_unlevel = z_unfaded;
}
#endif // ENABLE_LEVELING_FADE_HEIGHT
logical[Z_AXIS] = z_unlevel;
}
return; // don't fall thru to HAS_ABL or other ENABLE_LEVELING_FADE_HEIGHT logic
#endif
#if HAS_ABL
if (!abl_enabled) return;
#endif