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G35: Bed tramming assistant (#16897)

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This commit is contained in:
Rui Caridade
2020-06-21 10:27:51 +01:00
committed by GitHub
parent 900d4cf8e7
commit ac50a355a3
5 changed files with 229 additions and 2 deletions
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192
Marlin/src/gcode/bedlevel/G35.cpp Executable file
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@ -0,0 +1,192 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(ASSISTED_TRAMMING)
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../module/probe.h"
#include "../../feature/bedlevel/bedlevel.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
constexpr xy_pos_t screws_tilt_adjust_pos[] = TRAMMING_POINT_XY;
static PGMSTR(point_name_1, TRAMMING_POINT_NAME_1);
static PGMSTR(point_name_2, TRAMMING_POINT_NAME_2);
static PGMSTR(point_name_3, TRAMMING_POINT_NAME_3);
#ifdef TRAMMING_POINT_NAME_4
static PGMSTR(point_name_4, TRAMMING_POINT_NAME_4);
#ifdef TRAMMING_POINT_NAME_5
static PGMSTR(point_name_5, TRAMMING_POINT_NAME_5);
#endif
#endif
static PGM_P const tramming_point_name[] PROGMEM = {
point_name_1, point_name_2, point_name_3
#ifdef TRAMMING_POINT_NAME_4
, point_name_4
#ifdef TRAMMING_POINT_NAME_5
, point_name_5
#endif
#endif
};
#define G35_PROBE_COUNT COUNT(screws_tilt_adjust_pos)
#if !WITHIN(TRAMMING_SCREW_THREAD, 30, 51) || TRAMMING_SCREW_THREAD % 10 > 1
#error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51."
#endif
static_assert(G35_PROBE_COUNT > 2, "TRAMMING_POINT_XY requires at least 3 XY positions.");
/**
* G35: Read bed corners to help adjust bed screws
*
* S<screw_thread>
*
* Screw thread: 30 - Clockwise M3
* 31 - Counter-Clockwise M3
* 40 - Clockwise M4
* 41 - Counter-Clockwise M4
* 50 - Clockwise M5
* 51 - Counter-Clockwise M5
**/
void GcodeSuite::G35() {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM(">>> G35");
log_machine_info();
}
float z_measured[G35_PROBE_COUNT] = { 0 };
const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51.");
goto EXIT_G35;
}
// Wait for planner moves to finish!
planner.synchronize();
// Disable the leveling matrix before auto-aligning
#if HAS_LEVELING
TERN_(RESTORE_LEVELING_AFTER_G35, const bool leveling_was_active = planner.leveling_active);
set_bed_leveling_enabled(false);
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
workspace_plane = PLANE_XY;
#endif
// Always home with tool 0 active
#if HAS_MULTI_HOTEND
const uint8_t old_tool_index = active_extruder;
tool_change(0, true);
#endif
#if HAS_DUPLICATION_MODE
extruder_duplication_enabled = false;
#endif
// Home all before this procedure
home_all_axes();
bool err_break = false;
// Probe all positions
LOOP_L_N(i, G35_PROBE_COUNT) {
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G35 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
current_position.z = (Z_CLEARANCE_BETWEEN_PROBES) + (7 * ENABLED(BLTOUCH_HS_MODE));
const float z_probed_height = probe.probe_at_point(screws_tilt_adjust_pos[i], PROBE_PT_RAISE, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPAIR("G35 failed at point ", int(i), " (", tramming_point_name[i], ")"
" X", screws_tilt_adjust_pos[i].x,
" Y", screws_tilt_adjust_pos[i].y);
err_break = true;
break;
}
if (DEBUGGING(LEVELING))
DEBUG_ECHOLNPAIR("Probing point ", int(i), " (", tramming_point_name[i], ")"
" X", screws_tilt_adjust_pos[i].x,
" Y", screws_tilt_adjust_pos[i].y,
" Z", z_probed_height);
z_measured[i] = z_probed_height;
}
if (!err_break) {
const float threads_factor[] = { 0.5, 0.7, 0.8 };
// Calculate adjusts
LOOP_S_L_N(i, 1, G35_PROBE_COUNT) {
const float diff = z_measured[0] - z_measured[i],
adjust = abs(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
const int full_turns = trunc(adjust);
const float decimal_part = adjust - float(full_turns);
const int minutes = trunc(decimal_part * 60.0f);
SERIAL_ECHOPAIR("Turn ", tramming_point_name[i],
" ", (screw_thread & 1) == (adjust > 0) ? "Counter-Clockwise" : "Clockwise",
"by ", abs(full_turns), " turns");
if (minutes) SERIAL_ECHOPAIR(" and ", abs(minutes), " minutes");
SERIAL_EOL();
}
}
else
SERIAL_ECHOLNPGM("G35 aborted.");
// Restore the active tool after homing
#if HAS_MULTI_HOTEND
tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER
#endif
#if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
set_bed_leveling_enabled(leveling_was_active);
#endif
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
probe.stow();
// After this operation the Z position needs correction
set_axis_not_trusted(Z_AXIS);
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28Z"));
EXIT_G35:
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G35");
}
#endif // ASSISTED_TRAMMING

4
Marlin/src/gcode/gcode.cpp
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@ -321,6 +321,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
#endif
#if ENABLED(ASSISTED_TRAMMING)
case 35: G35(); break; // G35: Read four bed corners to help adjust bed screws
#endif
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2, G38.3: Probe towards target
if (WITHIN(parser.subcode, 2,

3
Marlin/src/gcode/gcode.h
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@ -65,6 +65,7 @@
* G32 - Undock sled (Z_PROBE_SLED only)
* G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
* G34 - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
* G35 - Read bed corners to help adjust bed screws: T<screw_thread> (Requires ASSISTED_TRAMMING)
* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
* G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
* G60 - Save current position. (Requires SAVED_POSITIONS)
@ -454,6 +455,8 @@ private:
static void M422();
#endif
TERN_(ASSISTED_TRAMMING, static void G35());
TERN_(G38_PROBE_TARGET, static void G38(const int8_t subcode));
TERN_(HAS_MESH, static void G42());