bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

✨ Polargraph / Makelangelo kinematics (#22790)

Browse Source
This commit is contained in:
Dan Royer
2021-09-20 13:42:33 -07:00
committed by Scott Lahteine
parent 71b8a22d96
commit b3fd03198a
24 changed files with 304 additions and 104 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
Marlin/src/gcode/calibrate/M665.cpp
View File

@ -132,7 +132,7 @@
}
void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_SCARA_S TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
SERIAL_ECHOLNPGM_P(
PSTR(" M665 S"), segments_per_second
#if HAS_SCARA_OFFSET
@ -143,6 +143,29 @@
);
}
#elif ENABLED(POLARGRAPH)
#include "../../module/polargraph.h"
/**
* M665: Set POLARGRAPH settings
*
* Parameters:
*
* S[segments-per-second] - Segments-per-second
*/
void GcodeSuite::M665() {
if (parser.seenval('S'))
segments_per_second = parser.value_float();
else
M665_report();
}
void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
report_heading_etc(forReplay, PSTR(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
SERIAL_ECHOLNPGM(" M665 S", segments_per_second);
}
#endif
#endif // IS_KINEMATIC

36
Marlin/src/gcode/control/M280.cpp
View File

@ -26,22 +26,44 @@
#include "../gcode.h"
#include "../../module/servo.h"
#include "../../module/planner.h"
/**
* M280: Get or set servo position. P<index> [S<angle>]
* M280: Get or set servo position.
* P<index> - Servo index
* S<angle> - Angle to set, omit to read current angle, or use -1 to detach
*
* With POLARGRAPH:
* T<ms> - Duration of servo move
*/
void GcodeSuite::M280() {
if (!parser.seen('P')) return;
if (!parser.seenval('P')) return;
TERN_(POLARGRAPH, planner.synchronize());
const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
if (parser.seen('S')) {
const int a = parser.value_int();
if (a == -1)
DETACH_SERVO(servo_index);
if (parser.seenval('S')) {
const int anew = parser.value_int();
if (anew >= 0) {
#if ENABLED(POLARGRAPH)
if (parser.seen('T')) { // (ms) Total duration of servo move
const int16_t t = constrain(parser.value_int(), 0, 10000);
const int aold = servo[servo_index].read();
millis_t now = millis();
const millis_t start = now, end = start + t;
while (PENDING(now, end)) {
safe_delay(50);
now = _MIN(millis(), end);
MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
}
}
#endif // POLARGRAPH
MOVE_SERVO(servo_index, anew);
}
else
MOVE_SERVO(servo_index, a);
DETACH_SERVO(servo_index);
}
else
SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());

2
Marlin/src/gcode/control/M282.cpp
View File

@ -32,7 +32,7 @@
*/
void GcodeSuite::M282() {
if (!parser.seen('P')) return;
if (!parser.seenval('P')) return;
const int servo_index = parser.value_int();
if (WITHIN(servo_index, 0, NUM_SERVOS - 1))

4
Marlin/src/gcode/gcode.cpp
View File

@ -885,8 +885,8 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
case 605: M605(); break; // M605: Set Dual X Carriage movement mode
#endif
#if ENABLED(DELTA)
case 665: M665(); break; // M665: Set delta configurations
#if IS_KINEMATIC
case 665: M665(); break; // M665: Set Delta/SCARA parameters
#endif
#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS

1
Marlin/src/gcode/gcode.h
View File

@ -244,6 +244,7 @@
* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
* Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)