✨ Polargraph / Makelangelo kinematics (#22790)
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@ -761,6 +761,13 @@
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// Enable for a belt style printer with endless "Z" motion
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// Enable for a belt style printer with endless "Z" motion
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//#define BELTPRINTER
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//#define BELTPRINTER
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// Enable for Polargraph Kinematics
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//#define POLARGRAPH
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#if ENABLED(POLARGRAPH)
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#define POLARGRAPH_MAX_BELT_LEN 1035.0
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#define POLAR_SEGMENTS_PER_SECOND 5
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#endif
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//===========================================================================
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//===========================================================================
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//============================== Endstop Settings ===========================
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//============================== Endstop Settings ===========================
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//===========================================================================
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//===========================================================================
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@ -168,6 +168,8 @@
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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#include "module/delta.h"
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#include "module/delta.h"
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#elif ENABLED(POLARGRAPH)
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#include "module/polargraph.h"
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#elif IS_SCARA
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#elif IS_SCARA
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#include "module/scara.h"
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#include "module/scara.h"
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#endif
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#endif
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@ -264,9 +264,10 @@
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// Settings Report Strings
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// Settings Report Strings
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#define STR_Z_AUTO_ALIGN "Z Auto-Align"
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#define STR_Z_AUTO_ALIGN "Z Auto-Align"
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#define STR_BACKLASH_COMPENSATION "Backlash compensation"
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#define STR_BACKLASH_COMPENSATION "Backlash compensation"
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#define STR_DELTA_SETTINGS "Delta settings (L<diagonal-rod> R<radius> H<height> S<segments-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
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#define STR_S_SEG_PER_SEC "S<seg-per-sec>"
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#define STR_SCARA_SETTINGS "SCARA settings"
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#define STR_DELTA_SETTINGS "Delta (L<diagonal-rod> R<radius> H<height> S<seg-per-sec> XYZ<tower-angle-trim> ABC<rod-trim>)"
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#define STR_SCARA_S "S<seg-per-sec>"
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#define STR_SCARA_SETTINGS "SCARA"
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#define STR_POLARGRAPH_SETTINGS "Polargraph"
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#define STR_SCARA_P_T_Z "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
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#define STR_SCARA_P_T_Z "P<theta-psi-offset> T<theta-offset> Z<home-offset>"
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#define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment"
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#define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment"
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#define STR_SKEW_FACTOR "Skew Factor"
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#define STR_SKEW_FACTOR "Skew Factor"
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@ -324,6 +324,8 @@
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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#define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
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#elif ENABLED(DELTA)
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#elif ENABLED(DELTA)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#elif ENABLED(POLARGRAPH)
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#define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
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#else // CARTESIAN
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#else // CARTESIAN
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#ifdef LEVELED_SEGMENT_LENGTH
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#ifdef LEVELED_SEGMENT_LENGTH
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#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
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#define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
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@ -132,7 +132,7 @@
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}
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}
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void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
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void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_SCARA_S TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
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report_heading_etc(forReplay, PSTR(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")"));
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SERIAL_ECHOLNPGM_P(
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SERIAL_ECHOLNPGM_P(
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PSTR(" M665 S"), segments_per_second
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PSTR(" M665 S"), segments_per_second
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#if HAS_SCARA_OFFSET
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#if HAS_SCARA_OFFSET
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@ -143,6 +143,29 @@
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);
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);
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}
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}
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#elif ENABLED(POLARGRAPH)
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#include "../../module/polargraph.h"
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/**
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* M665: Set POLARGRAPH settings
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*
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* Parameters:
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*
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* S[segments-per-second] - Segments-per-second
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*/
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void GcodeSuite::M665() {
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if (parser.seenval('S'))
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segments_per_second = parser.value_float();
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else
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M665_report();
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}
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void GcodeSuite::M665_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, PSTR(STR_POLARGRAPH_SETTINGS " (" STR_S_SEG_PER_SEC ")"));
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SERIAL_ECHOLNPGM(" M665 S", segments_per_second);
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}
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#endif
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#endif
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#endif // IS_KINEMATIC
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#endif // IS_KINEMATIC
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@ -26,22 +26,44 @@
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#include "../gcode.h"
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#include "../gcode.h"
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#include "../../module/servo.h"
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#include "../../module/servo.h"
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#include "../../module/planner.h"
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/**
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/**
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* M280: Get or set servo position. P<index> [S<angle>]
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* M280: Get or set servo position.
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* P<index> - Servo index
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* S<angle> - Angle to set, omit to read current angle, or use -1 to detach
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*
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* With POLARGRAPH:
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* T<ms> - Duration of servo move
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*/
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*/
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void GcodeSuite::M280() {
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void GcodeSuite::M280() {
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if (!parser.seen('P')) return;
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if (!parser.seenval('P')) return;
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TERN_(POLARGRAPH, planner.synchronize());
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const int servo_index = parser.value_int();
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const int servo_index = parser.value_int();
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
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if (parser.seen('S')) {
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if (parser.seenval('S')) {
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const int a = parser.value_int();
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const int anew = parser.value_int();
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if (a == -1)
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if (anew >= 0) {
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DETACH_SERVO(servo_index);
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#if ENABLED(POLARGRAPH)
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if (parser.seen('T')) { // (ms) Total duration of servo move
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const int16_t t = constrain(parser.value_int(), 0, 10000);
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const int aold = servo[servo_index].read();
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millis_t now = millis();
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const millis_t start = now, end = start + t;
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while (PENDING(now, end)) {
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safe_delay(50);
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now = _MIN(millis(), end);
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MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
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}
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}
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#endif // POLARGRAPH
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MOVE_SERVO(servo_index, anew);
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}
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else
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else
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MOVE_SERVO(servo_index, a);
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DETACH_SERVO(servo_index);
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}
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}
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else
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else
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SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());
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SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());
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@ -32,7 +32,7 @@
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*/
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*/
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void GcodeSuite::M282() {
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void GcodeSuite::M282() {
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if (!parser.seen('P')) return;
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if (!parser.seenval('P')) return;
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const int servo_index = parser.value_int();
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const int servo_index = parser.value_int();
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
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if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
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@ -885,8 +885,8 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
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case 605: M605(); break; // M605: Set Dual X Carriage movement mode
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case 605: M605(); break; // M605: Set Dual X Carriage movement mode
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#endif
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#endif
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#if ENABLED(DELTA)
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#if IS_KINEMATIC
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case 665: M665(); break; // M665: Set delta configurations
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case 665: M665(); break; // M665: Set Delta/SCARA parameters
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#endif
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#endif
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#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
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#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
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@ -244,6 +244,7 @@
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* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
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* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
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* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* 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)
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* 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)
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* Set SCARA configurations: "M665 S<segments-per-second> P<theta-psi-offset> T<theta-offset> Z<z-offset> (Requires MORGAN_SCARA or MP_SCARA)
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* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
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* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
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* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
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* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
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* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
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* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
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@ -1075,7 +1075,7 @@
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#if ANY(MORGAN_SCARA, MP_SCARA, AXEL_TPARA)
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#if ANY(MORGAN_SCARA, MP_SCARA, AXEL_TPARA)
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#define IS_SCARA 1
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#define IS_SCARA 1
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#define IS_KINEMATIC 1
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#define IS_KINEMATIC 1
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#elif ENABLED(DELTA)
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#elif EITHER(DELTA, POLARGRAPH)
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#define IS_KINEMATIC 1
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#define IS_KINEMATIC 1
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#else
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#else
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#define IS_CARTESIAN 1
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#define IS_CARTESIAN 1
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/**
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/**
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* Servo deactivation depends on servo endstops, switching nozzle, or switching extruder
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* Servo deactivation depends on servo endstops, switching nozzle, or switching extruder
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*/
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*/
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#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && !HAS_Z_SERVO_PROBE && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
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#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && NONE(HAS_Z_SERVO_PROBE, POLARGRAPH) && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR)
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#error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead or switching extruder is required for DEACTIVATE_SERVOS_AFTER_MOVE."
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#error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead, switching extruder, or POLARGRAPH is required for DEACTIVATE_SERVOS_AFTER_MOVE."
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#endif
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#endif
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/**
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/**
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@ -466,9 +466,11 @@ void menu_backlash();
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#ifdef MAX_JERK_EDIT_VALUES
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#ifdef MAX_JERK_EDIT_VALUES
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MAX_JERK_EDIT_VALUES
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MAX_JERK_EDIT_VALUES
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#elif ENABLED(LIMITED_JERK_EDITING)
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#elif ENABLED(LIMITED_JERK_EDITING)
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{ (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2, (DEFAULT_EJERK) * 2 }
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{ LOGICAL_AXIS_LIST((DEFAULT_EJERK) * 2,
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(DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, (DEFAULT_ZJERK) * 2,
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(DEFAULT_IJERK) * 2, (DEFAULT_JJERK) * 2, (DEFAULT_KJERK) * 2) }
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#else
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#else
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{ 990, 990, 990, 990 }
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{ LOGICAL_AXIS_LIST(990, 990, 990, 990, 990, 990, 990) }
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#endif
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#endif
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;
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;
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#define EDIT_JERK(N) EDIT_ITEM_FAST(float3, MSG_V##N##_JERK, &planner.max_jerk[_AXIS(N)], 1, max_jerk_edit[_AXIS(N)])
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#define EDIT_JERK(N) EDIT_ITEM_FAST(float3, MSG_V##N##_JERK, &planner.max_jerk[_AXIS(N)], 1, max_jerk_edit[_AXIS(N)])
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@ -489,7 +489,7 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
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const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
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const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
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#endif
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#endif
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#if EITHER(DELTA, IS_SCARA)
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#if IS_KINEMATIC
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if (!position_is_reachable(x, y)) return;
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if (!position_is_reachable(x, y)) return;
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destination = current_position; // sync destination at the start
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destination = current_position; // sync destination at the start
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#endif
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#endif
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop);
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#elif ENABLED(POLARGRAPH)
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const float x1 = rx - (X_MIN_POS), x2 = (X_MAX_POS) - rx, y = ry - (Y_MAX_POS),
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a = HYPOT(x1, y), b = HYPOT(x2, y);
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return a < (POLARGRAPH_MAX_BELT_LEN) + 1
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&& b < (POLARGRAPH_MAX_BELT_LEN) + 1
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&& (a + b) > _MIN(X_BED_SIZE, Y_BED_SIZE);
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#elif ENABLED(AXEL_TPARA)
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#elif ENABLED(AXEL_TPARA)
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const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
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const float R2 = HYPOT2(rx - TPARA_OFFSET_X, ry - TPARA_OFFSET_Y);
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@ -3021,7 +3021,7 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons
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#else
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#else
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const feedRate_t feedrate = fr_mm_s;
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const feedRate_t feedrate = fr_mm_s;
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#endif
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#endif
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delta.e = machine.e;
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TERN_(HAS_EXTRUDERS, delta.e = machine.e);
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if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
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if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
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position_cart = cart;
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position_cart = cart;
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return true;
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return true;
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@ -3126,7 +3126,7 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
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#if IS_KINEMATIC
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#if IS_KINEMATIC
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position_cart = xyze;
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position_cart = xyze;
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inverse_kinematics(machine);
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inverse_kinematics(machine);
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delta.e = machine.e;
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TERN_(HAS_EXTRUDERS, delta.e = machine.e);
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set_machine_position_mm(delta);
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set_machine_position_mm(delta);
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#else
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#else
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set_machine_position_mm(machine);
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set_machine_position_mm(machine);
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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#include "delta.h"
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#include "delta.h"
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#elif ENABLED(POLARGRAPH)
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#include "polargraph.h"
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#endif
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#endif
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#if ABL_PLANAR
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#if ABL_PLANAR
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47
Marlin/src/module/polargraph.cpp
Normal file
47
Marlin/src/module/polargraph.cpp
Normal file
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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||||||
|
* 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 <https://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* polargraph.cpp
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../inc/MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(POLARGRAPH)
|
||||||
|
|
||||||
|
#include "polargraph.h"
|
||||||
|
#include "motion.h"
|
||||||
|
|
||||||
|
// For homing:
|
||||||
|
#include "planner.h"
|
||||||
|
#include "endstops.h"
|
||||||
|
#include "../lcd/marlinui.h"
|
||||||
|
#include "../MarlinCore.h"
|
||||||
|
|
||||||
|
float segments_per_second; // Initialized by settings.load()
|
||||||
|
|
||||||
|
void inverse_kinematics(const xyz_pos_t &raw) {
|
||||||
|
const float x1 = raw.x - (X_MIN_POS), x2 = (X_MAX_POS) - raw.x, y = raw.y - (Y_MAX_POS);
|
||||||
|
delta.set(HYPOT(x1, y), HYPOT(x2, y), raw.z);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // POLARGRAPH
|
33
Marlin/src/module/polargraph.h
Normal file
33
Marlin/src/module/polargraph.h
Normal file
@ -0,0 +1,33 @@
|
|||||||
|
/**
|
||||||
|
* 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 <https://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
/**
|
||||||
|
* polargraph.h - Polargraph-specific functions
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../core/types.h"
|
||||||
|
#include "../core/macros.h"
|
||||||
|
|
||||||
|
extern float segments_per_second;
|
||||||
|
|
||||||
|
void inverse_kinematics(const xyz_pos_t &raw);
|
@ -36,7 +36,7 @@
|
|||||||
*/
|
*/
|
||||||
|
|
||||||
// Change EEPROM version if the structure changes
|
// Change EEPROM version if the structure changes
|
||||||
#define EEPROM_VERSION "V84"
|
#define EEPROM_VERSION "V85"
|
||||||
#define EEPROM_OFFSET 100
|
#define EEPROM_OFFSET 100
|
||||||
|
|
||||||
// Check the integrity of data offsets.
|
// Check the integrity of data offsets.
|
||||||
@ -279,17 +279,24 @@ typedef struct SettingsDataStruct {
|
|||||||
bool bltouch_last_written_mode;
|
bool bltouch_last_written_mode;
|
||||||
|
|
||||||
//
|
//
|
||||||
// DELTA / [XYZ]_DUAL_ENDSTOPS
|
// Kinematic Settings
|
||||||
//
|
//
|
||||||
|
#if IS_KINEMATIC
|
||||||
|
float segments_per_second; // M665 S
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
float delta_height; // M666 H
|
float delta_height; // M666 H
|
||||||
abc_float_t delta_endstop_adj; // M666 X Y Z
|
abc_float_t delta_endstop_adj; // M666 X Y Z
|
||||||
float delta_radius, // M665 R
|
float delta_radius, // M665 R
|
||||||
delta_diagonal_rod, // M665 L
|
delta_diagonal_rod; // M665 L
|
||||||
segments_per_second; // M665 S
|
|
||||||
abc_float_t delta_tower_angle_trim, // M665 X Y Z
|
abc_float_t delta_tower_angle_trim, // M665 X Y Z
|
||||||
delta_diagonal_rod_trim; // M665 A B C
|
delta_diagonal_rod_trim; // M665 A B C
|
||||||
#elif HAS_EXTRA_ENDSTOPS
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
//
|
||||||
|
// Extra Endstops offsets
|
||||||
|
//
|
||||||
|
#if HAS_EXTRA_ENDSTOPS
|
||||||
float x2_endstop_adj, // M666 X
|
float x2_endstop_adj, // M666 X
|
||||||
y2_endstop_adj, // M666 Y
|
y2_endstop_adj, // M666 Y
|
||||||
z2_endstop_adj, // M666 (S2) Z
|
z2_endstop_adj, // M666 (S2) Z
|
||||||
@ -857,23 +864,28 @@ void MarlinSettings::postprocess() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
// DELTA Geometry or Dual Endstops offsets
|
// Kinematic Settings
|
||||||
//
|
//
|
||||||
|
#if IS_KINEMATIC
|
||||||
{
|
{
|
||||||
|
EEPROM_WRITE(segments_per_second);
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
|
|
||||||
_FIELD_TEST(delta_height);
|
_FIELD_TEST(delta_height);
|
||||||
|
|
||||||
EEPROM_WRITE(delta_height); // 1 float
|
EEPROM_WRITE(delta_height); // 1 float
|
||||||
EEPROM_WRITE(delta_endstop_adj); // 3 floats
|
EEPROM_WRITE(delta_endstop_adj); // 3 floats
|
||||||
EEPROM_WRITE(delta_radius); // 1 float
|
EEPROM_WRITE(delta_radius); // 1 float
|
||||||
EEPROM_WRITE(delta_diagonal_rod); // 1 float
|
EEPROM_WRITE(delta_diagonal_rod); // 1 float
|
||||||
EEPROM_WRITE(segments_per_second); // 1 float
|
|
||||||
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
|
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
|
||||||
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
|
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#elif HAS_EXTRA_ENDSTOPS
|
//
|
||||||
|
// Extra Endstops offsets
|
||||||
|
//
|
||||||
|
#if HAS_EXTRA_ENDSTOPS
|
||||||
|
{
|
||||||
_FIELD_TEST(x2_endstop_adj);
|
_FIELD_TEST(x2_endstop_adj);
|
||||||
|
|
||||||
// Write dual endstops in X, Y, Z order. Unused = 0.0
|
// Write dual endstops in X, Y, Z order. Unused = 0.0
|
||||||
@ -893,9 +905,8 @@ void MarlinSettings::postprocess() {
|
|||||||
#else
|
#else
|
||||||
EEPROM_WRITE(dummyf);
|
EEPROM_WRITE(dummyf);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#endif
|
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
||||||
EEPROM_WRITE(z_stepper_align.xy);
|
EEPROM_WRITE(z_stepper_align.xy);
|
||||||
@ -1724,23 +1735,28 @@ void MarlinSettings::postprocess() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
// DELTA Geometry or Dual Endstops offsets
|
// Kinematic Segments-per-second
|
||||||
//
|
//
|
||||||
|
#if IS_KINEMATIC
|
||||||
{
|
{
|
||||||
|
EEPROM_READ(segments_per_second);
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
|
|
||||||
_FIELD_TEST(delta_height);
|
_FIELD_TEST(delta_height);
|
||||||
|
|
||||||
EEPROM_READ(delta_height); // 1 float
|
EEPROM_READ(delta_height); // 1 float
|
||||||
EEPROM_READ(delta_endstop_adj); // 3 floats
|
EEPROM_READ(delta_endstop_adj); // 3 floats
|
||||||
EEPROM_READ(delta_radius); // 1 float
|
EEPROM_READ(delta_radius); // 1 float
|
||||||
EEPROM_READ(delta_diagonal_rod); // 1 float
|
EEPROM_READ(delta_diagonal_rod); // 1 float
|
||||||
EEPROM_READ(segments_per_second); // 1 float
|
|
||||||
EEPROM_READ(delta_tower_angle_trim); // 3 floats
|
EEPROM_READ(delta_tower_angle_trim); // 3 floats
|
||||||
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
|
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#elif HAS_EXTRA_ENDSTOPS
|
//
|
||||||
|
// Extra Endstops offsets
|
||||||
|
//
|
||||||
|
#if HAS_EXTRA_ENDSTOPS
|
||||||
|
{
|
||||||
_FIELD_TEST(x2_endstop_adj);
|
_FIELD_TEST(x2_endstop_adj);
|
||||||
|
|
||||||
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
|
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
|
||||||
@ -1757,9 +1773,8 @@ void MarlinSettings::postprocess() {
|
|||||||
#else
|
#else
|
||||||
EEPROM_READ(dummyf);
|
EEPROM_READ(dummyf);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#endif
|
|
||||||
}
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
|
||||||
EEPROM_READ(z_stepper_align.xy);
|
EEPROM_READ(z_stepper_align.xy);
|
||||||
@ -2721,19 +2736,29 @@ void MarlinSettings::reset() {
|
|||||||
//#endif
|
//#endif
|
||||||
|
|
||||||
//
|
//
|
||||||
// Endstop Adjustments
|
// Kinematic settings
|
||||||
//
|
//
|
||||||
|
|
||||||
|
#if IS_KINEMATIC
|
||||||
|
segments_per_second = (
|
||||||
|
TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
|
||||||
|
TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
|
||||||
|
TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
|
||||||
|
);
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
|
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
|
||||||
delta_height = DELTA_HEIGHT;
|
delta_height = DELTA_HEIGHT;
|
||||||
delta_endstop_adj = adj;
|
delta_endstop_adj = adj;
|
||||||
delta_radius = DELTA_RADIUS;
|
delta_radius = DELTA_RADIUS;
|
||||||
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
|
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
|
||||||
segments_per_second = DELTA_SEGMENTS_PER_SECOND;
|
|
||||||
delta_tower_angle_trim = dta;
|
delta_tower_angle_trim = dta;
|
||||||
delta_diagonal_rod_trim = ddr;
|
delta_diagonal_rod_trim = ddr;
|
||||||
#endif
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
//
|
||||||
|
// Endstop Adjustments
|
||||||
|
//
|
||||||
|
|
||||||
#if ENABLED(X_DUAL_ENDSTOPS)
|
#if ENABLED(X_DUAL_ENDSTOPS)
|
||||||
#ifndef X2_ENDSTOP_ADJUSTMENT
|
#ifndef X2_ENDSTOP_ADJUSTMENT
|
||||||
@ -3137,7 +3162,7 @@ void MarlinSettings::reset() {
|
|||||||
TERN_(EDITABLE_SERVO_ANGLES, gcode.M281_report(forReplay));
|
TERN_(EDITABLE_SERVO_ANGLES, gcode.M281_report(forReplay));
|
||||||
|
|
||||||
//
|
//
|
||||||
// Delta / SCARA Kinematics
|
// Kinematic Settings
|
||||||
//
|
//
|
||||||
TERN_(IS_KINEMATIC, gcode.M665_report(forReplay));
|
TERN_(IS_KINEMATIC, gcode.M665_report(forReplay));
|
||||||
|
|
||||||
|
@ -47,12 +47,27 @@
|
|||||||
//
|
//
|
||||||
// Limit Switches
|
// Limit Switches
|
||||||
//
|
//
|
||||||
#define X_MIN_PIN 37
|
#ifndef X_MIN_PIN
|
||||||
#define X_MAX_PIN 36
|
#define X_MIN_PIN 37
|
||||||
#define Y_MIN_PIN 35
|
#endif
|
||||||
#define Y_MAX_PIN 34
|
#ifndef X_MIN_PIN
|
||||||
#define Z_MIN_PIN 33
|
#define X_MIN_PIN 37
|
||||||
#define Z_MAX_PIN 32
|
#endif
|
||||||
|
#ifndef X_MAX_PIN
|
||||||
|
#define X_MAX_PIN 36
|
||||||
|
#endif
|
||||||
|
#ifndef Y_MIN_PIN
|
||||||
|
#define Y_MIN_PIN 35
|
||||||
|
#endif
|
||||||
|
#ifndef Y_MAX_PIN
|
||||||
|
#define Y_MAX_PIN 34
|
||||||
|
#endif
|
||||||
|
#ifndef Z_MIN_PIN
|
||||||
|
#define Z_MIN_PIN 33
|
||||||
|
#endif
|
||||||
|
#ifndef Z_MAX_PIN
|
||||||
|
#define Z_MAX_PIN 32
|
||||||
|
#endif
|
||||||
|
|
||||||
//
|
//
|
||||||
// Z Probe (when not Z_MIN_PIN)
|
// Z Probe (when not Z_MIN_PIN)
|
||||||
|
@ -46,6 +46,7 @@ exec_test $1 $2 "RAMPS | DELTA | RRD LCD | DELTA_AUTO_CALIBRATION | DELTA_CALIBR
|
|||||||
|
|
||||||
#
|
#
|
||||||
# Delta Config (generic) + ABL bilinear + BLTOUCH
|
# Delta Config (generic) + ABL bilinear + BLTOUCH
|
||||||
|
#
|
||||||
use_example_configs delta/generic
|
use_example_configs delta/generic
|
||||||
opt_set LCD_LANGUAGE cz \
|
opt_set LCD_LANGUAGE cz \
|
||||||
Z_MIN_PROBE_ENDSTOP_INVERTING false \
|
Z_MIN_PROBE_ENDSTOP_INVERTING false \
|
||||||
|
@ -182,7 +182,7 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 0 LCD_LANGUAGE en TEMP_SENSOR_C
|
|||||||
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
|
opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
|
||||||
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER MEATPACK_ON_SERIAL_PORT_1
|
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER MEATPACK_ON_SERIAL_PORT_1
|
||||||
|
|
||||||
exec_test $1 $2 "REPRAP MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 12864 LCD | meatpack | SERIAL_PORT_2 " "$3"
|
exec_test $1 $2 "MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 12864 LCD | meatpack | SERIAL_PORT_2 " "$3"
|
||||||
|
|
||||||
#
|
#
|
||||||
# Test Laser features with 44780 LCD
|
# Test Laser features with 44780 LCD
|
||||||
@ -197,7 +197,7 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 0 LCD_LANGUAGE en TEMP_SENSOR_C
|
|||||||
opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
|
opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
|
||||||
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER I2C_AMMETER
|
LASER_FEATURE AIR_EVACUATION AIR_EVACUATION_PIN AIR_ASSIST AIR_ASSIST_PIN LASER_COOLANT_FLOW_METER I2C_AMMETER
|
||||||
|
|
||||||
exec_test $1 $2 "REPRAP MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 44780 LCD " "$3"
|
exec_test $1 $2 "MEGA2560 RAMPS | Laser Feature | Air Evacuation | Air Assist | Cooler | Flowmeter | 44780 LCD " "$3"
|
||||||
|
|
||||||
#
|
#
|
||||||
# Test redundant temperature sensors + MAX TC
|
# Test redundant temperature sensors + MAX TC
|
||||||
@ -210,6 +210,12 @@ opt_set MOTHERBOARD BOARD_RAMPS_14_EFB EXTRUDERS 1 \
|
|||||||
|
|
||||||
exec_test $1 $2 "MEGA2560 RAMPS | Redundant temperature sensor | 2x MAX6675" "$3"
|
exec_test $1 $2 "MEGA2560 RAMPS | Redundant temperature sensor | 2x MAX6675" "$3"
|
||||||
|
|
||||||
|
#
|
||||||
|
# Polargraph Config
|
||||||
|
#
|
||||||
|
use_example_configs Polargraph
|
||||||
|
exec_test $1 $2 "RUMBA | POLARGRAPH | RRD LCD" "$3"
|
||||||
|
|
||||||
#
|
#
|
||||||
# Language files test with REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
|
# Language files test with REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
|
||||||
#
|
#
|
||||||
|
@ -219,6 +219,7 @@ NEED_LSF = src_filter=+<src/libs/least_squares_fit
|
|||||||
NOZZLE_PARK_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/pause/G27.cpp>
|
NOZZLE_PARK_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/pause/G27.cpp>
|
||||||
NOZZLE_CLEAN_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/clean>
|
NOZZLE_CLEAN_FEATURE = src_filter=+<src/libs/nozzle.cpp> +<src/gcode/feature/clean>
|
||||||
DELTA = src_filter=+<src/module/delta.cpp> +<src/gcode/calibrate/M666.cpp>
|
DELTA = src_filter=+<src/module/delta.cpp> +<src/gcode/calibrate/M666.cpp>
|
||||||
|
POLARGRAPH = src_filter=+<src/module/polargraph.cpp>
|
||||||
BEZIER_CURVE_SUPPORT = src_filter=+<src/module/planner_bezier.cpp> +<src/gcode/motion/G5.cpp>
|
BEZIER_CURVE_SUPPORT = src_filter=+<src/module/planner_bezier.cpp> +<src/gcode/motion/G5.cpp>
|
||||||
PRINTCOUNTER = src_filter=+<src/module/printcounter.cpp>
|
PRINTCOUNTER = src_filter=+<src/module/printcounter.cpp>
|
||||||
HAS_BED_PROBE = src_filter=+<src/module/probe.cpp> +<src/gcode/probe/G30.cpp> +<src/gcode/probe/M401_M402.cpp> +<src/gcode/probe/M851.cpp>
|
HAS_BED_PROBE = src_filter=+<src/module/probe.cpp> +<src/gcode/probe/G30.cpp> +<src/gcode/probe/M401_M402.cpp> +<src/gcode/probe/M851.cpp>
|
||||||
|
@ -158,6 +158,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
|
|||||||
-<src/gcode/calibrate/M48.cpp>
|
-<src/gcode/calibrate/M48.cpp>
|
||||||
-<src/gcode/calibrate/M100.cpp>
|
-<src/gcode/calibrate/M100.cpp>
|
||||||
-<src/gcode/calibrate/M425.cpp>
|
-<src/gcode/calibrate/M425.cpp>
|
||||||
|
-<src/gcode/calibrate/M665.cpp>
|
||||||
-<src/gcode/calibrate/M666.cpp>
|
-<src/gcode/calibrate/M666.cpp>
|
||||||
-<src/gcode/calibrate/M852.cpp>
|
-<src/gcode/calibrate/M852.cpp>
|
||||||
-<src/gcode/control/M10-M11.cpp>
|
-<src/gcode/control/M10-M11.cpp>
|
||||||
@ -239,9 +240,10 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
|
|||||||
-<src/libs/nozzle.cpp> -<src/gcode/feature/clean>
|
-<src/libs/nozzle.cpp> -<src/gcode/feature/clean>
|
||||||
-<src/module/delta.cpp>
|
-<src/module/delta.cpp>
|
||||||
-<src/module/planner_bezier.cpp>
|
-<src/module/planner_bezier.cpp>
|
||||||
|
-<src/module/polargraph.cpp>
|
||||||
-<src/module/printcounter.cpp>
|
-<src/module/printcounter.cpp>
|
||||||
-<src/module/probe.cpp>
|
-<src/module/probe.cpp>
|
||||||
-<src/module/scara.cpp> -<src/gcode/calibrate/M665.cpp>
|
-<src/module/scara.cpp>
|
||||||
-<src/module/servo.cpp> -<src/gcode/control/M280.cpp> -<src/gcode/config/M281.cpp> -<src/gcode/control/M282.cpp>
|
-<src/module/servo.cpp> -<src/gcode/control/M280.cpp> -<src/gcode/config/M281.cpp> -<src/gcode/control/M282.cpp>
|
||||||
-<src/module/stepper/TMC26X.cpp>
|
-<src/module/stepper/TMC26X.cpp>
|
||||||
|
|
||||||
|
Loading…
Reference in New Issue
Block a user