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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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106
Marlin/ubl_G29.cpp
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@ -436,8 +436,13 @@
* It may make sense to have Delta printers default to the center of the bed.
* Until that is decided, this can be forced with the X and Y parameters.
*/
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? UBL_MESH_MAX_X : UBL_MESH_MIN_X;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? UBL_MESH_MAX_Y : UBL_MESH_MIN_Y;
#if IS_KINEMATIC
x_pos = X_HOME_POS;
y_pos = Y_HOME_POS;
#else // cartesian
x_pos = X_PROBE_OFFSET_FROM_EXTRUDER > 0 ? X_MAX_POS : X_MIN_POS;
y_pos = Y_PROBE_OFFSET_FROM_EXTRUDER < 0 ? Y_MAX_POS : Y_MIN_POS;
#endif
}
if (code_seen('C')) {
@ -457,6 +462,11 @@
}
if (code_seen('H') && code_has_value()) height = code_value_float();
if ( !position_is_reachable_xy( x_pos, y_pos )) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
manually_probe_remaining_mesh(x_pos, y_pos, height, card_thickness, code_seen('O') || code_seen('M'));
SERIAL_PROTOCOLLNPGM("G29 P2 finished.");
@ -470,17 +480,25 @@
* - Allow 'G29 P3' to choose a 'reasonable' constant.
*/
if (c_flag) {
while (repetition_cnt--) {
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) break; // No more invalid Mesh Points to populate
ubl.z_values[location.x_index][location.y_index] = ubl_constant;
}
break;
}
else
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
} break;
if ( repetition_cnt >= ( GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y )) {
for ( uint8_t x = 0; x < GRID_MAX_POINTS_X; x++ ) {
for ( uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++ ) {
ubl.z_values[x][y] = ubl_constant;
}
}
} else {
while (repetition_cnt--) { // this only populates reachable mesh points near
const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, x_pos, y_pos, USE_NOZZLE_AS_REFERENCE, NULL, false);
if (location.x_index < 0) break; // No more reachable invalid Mesh Points to populate
ubl.z_values[location.x_index][location.y_index] = ubl_constant;
}
}
} else {
smart_fill_mesh(); // Do a 'Smart' fill using nearby known values
}
break;
}
case 4:
//
@ -502,6 +520,12 @@
z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level),
z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
if ( isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
goto LEAVE;
}
// We need to adjust z1, z2, z3 by the Mesh Height at these points. Just because they are non-zero doesn't mean
// the Mesh is tilted! (We need to compensate each probe point by what the Mesh says that location's height is)
@ -710,6 +734,8 @@
ubl.save_ubl_active_state_and_disable(); // we don't do bed level correction because we want the raw data when we probe
DEPLOY_PROBE();
uint16_t max_iterations = ( GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y );
do {
if (ubl_lcd_clicked()) {
SERIAL_PROTOCOLLNPGM("\nMesh only partially populated.\n");
@ -723,27 +749,19 @@
}
location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL, do_furthest);
if (location.x_index >= 0 && location.y_index >= 0) {
if (location.x_index >= 0) { // mesh point found and is reachable by probe
const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level);
ubl.z_values[location.x_index][location.y_index] = measured_z;
}
if (do_ubl_mesh_map) ubl.display_map(map_type);
} while (location.x_index >= 0 && location.y_index >= 0);
LEAVE:
} while ((location.x_index >= 0) && (--max_iterations));
STOW_PROBE();
ubl.restore_ubl_active_state_and_leave();
@ -939,17 +957,13 @@
const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to probe off the bed.");
ubl.has_control_of_lcd_panel = false;
goto LEAVE;
}
const float xProbe = LOGICAL_X_POSITION(rawx),
yProbe = LOGICAL_Y_POSITION(rawy);
if ( ! position_is_reachable_raw_xy( rawx, rawy )) { // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
break;
}
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
LCD_MESSAGEPGM("Moving to next");
@ -1361,13 +1375,17 @@
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
// If using the probe as the reference there are some unreachable locations.
// Also for round beds, there are grid points outside the bed that nozzle can't reach.
// Prune them from the list and ignore them till the next Phase (manual nozzle probing).
if (probe_as_reference == USE_PROBE_AS_REFERENCE &&
(!WITHIN(rawx, MIN_PROBE_X, MAX_PROBE_X) || !WITHIN(rawy, MIN_PROBE_Y, MAX_PROBE_Y))
) continue;
bool reachable = probe_as_reference ?
position_is_reachable_by_probe_raw_xy( rawx, rawy ) :
position_is_reachable_raw_xy( rawx, rawy );
// Unreachable. Check if it's the closest location to the nozzle.
if ( ! reachable )
continue;
// Reachable. Check if it's the closest location to the nozzle.
// Add in a weighting factor that considers the current location of the nozzle.
const float mx = LOGICAL_X_POSITION(rawx), // Check if we can probe this mesh location
@ -1415,7 +1433,13 @@
uint16_t not_done[16];
int32_t round_off;
if ( ! position_is_reachable_xy( lx, ly )) {
SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
return;
}
ubl.save_ubl_active_state_and_disable();
memset(not_done, 0xFF, sizeof(not_done));
LCD_MESSAGEPGM("Fine Tuning Mesh");
@ -1425,7 +1449,7 @@
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done, false);
if (location.x_index < 0 && location.y_index < 0) continue; // abort if we can't find any more points.
if (location.x_index < 0 ) break; // stop when we can't find any more reachable points.
bit_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so we will find a
// different location the next time through the loop
@ -1433,12 +1457,8 @@
const float rawx = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
rawy = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
// TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
if (!WITHIN(rawx, UBL_MESH_MIN_X, UBL_MESH_MAX_X) || !WITHIN(rawy, UBL_MESH_MIN_Y, UBL_MESH_MAX_Y)) { // In theory, we don't need this check.
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Attempt to edit off the bed."); // This really can't happen, but do the check for now
ubl.has_control_of_lcd_panel = false;
goto FINE_TUNE_EXIT;
if ( ! position_is_reachable_raw_xy( rawx, rawy )) { // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
break;
}
float new_z = ubl.z_values[location.x_index][location.y_index];
@ -1494,7 +1514,7 @@
lcd_implementation_clear();
} while (location.x_index >= 0 && location.y_index >= 0 && (--repetition_cnt>0));
} while (( location.x_index >= 0 ) && (--repetition_cnt>0));
FINE_TUNE_EXIT: