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Implements a nozzle parking command (G27)

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This commit is contained in:
João Brázio
2016-07-14 16:29:04 +01:00
parent 7202383695
commit c711701626
4 changed files with 172 additions and 78 deletions
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189
Marlin/nozzle.h
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@ -30,8 +30,6 @@
* @brief Nozzle class
*
* @todo: Do not ignore the end.z value and allow XYZ movements
* @todo: Currently this feature needs HAS_BED_PROBE to be active
* due to the do_blocking_move_to*() functions.
*/
class Nozzle {
private:
@ -43,34 +41,40 @@ class Nozzle {
* @param end point_t defining the ending point
* @param strokes number of strokes to execute
*/
static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes)
__attribute__ ((optimize ("Os"))) {
static void stroke(
__attribute__((unused)) point_t const &start,
__attribute__((unused)) point_t const &end,
__attribute__((unused)) uint8_t const &strokes
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
#if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif
#if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_PARK
// Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
do_blocking_move_to_z(start.z);
// Start the stroke pattern
for (uint8_t i = 0; i < (strokes >>1); i++) {
do_blocking_move_to_xy(end.x, end.y);
// Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
}
do_blocking_move_to_z(start.z);
#if ENABLED(NOZZLE_CLEAN_PARK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif
// Start the stroke pattern
for (uint8_t i = 0; i < (strokes >>1); i++) {
do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(start.x, start.y);
}
#if ENABLED(NOZZLE_CLEAN_PARK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif // NOZZLE_CLEAN_PARK
#endif // NOZZLE_CLEAN_FEATURE
}
/**
@ -82,47 +86,53 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
static void zigzag(point_t const &start,
point_t const &end, uint8_t const &strokes, uint8_t const &objects)
__attribute__ ((optimize ("Os"))) {
float A = fabs(end.y - start.y); // [twice the] Amplitude
float P = fabs(end.x - start.x) / (objects << 1); // Period
static void zigzag(
__attribute__((unused)) point_t const &start,
__attribute__((unused)) point_t const &end,
__attribute__((unused)) uint8_t const &strokes,
__attribute__((unused)) uint8_t const &objects
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
float A = fabs(end.y - start.y); // [twice the] Amplitude
float P = fabs(end.x - start.x) / (objects << 1); // Period
// Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return;
// Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return;
#if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif
#if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords
point_t const initial = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
#endif // NOZZLE_CLEAN_PARK
for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
do_blocking_move_to_xy(x, y);
if (i == 0) do_blocking_move_to_z(start.z);
do_blocking_move_to_xy(x, y);
if (i == 0) do_blocking_move_to_z(start.z);
}
for (int i = (objects << 1); i > -1; i--) {
float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
do_blocking_move_to_xy(x, y);
}
}
for (int i = (objects << 1); i > -1; i--) {
float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
#if ENABLED(NOZZLE_CLEAN_PARK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif // NOZZLE_CLEAN_PARK
do_blocking_move_to_xy(x, y);
}
}
#if ENABLED(NOZZLE_CLEAN_PARK)
// Move the nozzle to the initial point
do_blocking_move_to_z(initial.z);
do_blocking_move_to_xy(initial.x, initial.y);
#endif
#endif // NOZZLE_CLEAN_FEATURE
}
public:
@ -133,21 +143,52 @@ class Nozzle {
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
static void clean(uint8_t const &pattern,
uint8_t const &strokes, uint8_t const &objects = 0)
__attribute__ ((optimize ("Os"))) {
switch (pattern) {
case 1:
Nozzle::zigzag(
NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes, objects);
break;
static void clean(
__attribute__((unused)) uint8_t const &pattern,
__attribute__((unused)) uint8_t const &strokes,
__attribute__((unused)) uint8_t const &objects = 0
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_CLEAN_FEATURE)
switch (pattern) {
case 1:
Nozzle::zigzag(
NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes, objects);
break;
default:
Nozzle::stroke(
NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes);
}
default:
Nozzle::stroke(
NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes);
}
#endif // NOZZLE_CLEAN_FEATURE
}
static void park(
__attribute__((unused)) uint8_t const &z_action
) __attribute__((optimize ("Os"))) {
#if ENABLED(NOZZLE_PARK_FEATURE)
float const z = current_position[Z_AXIS];
point_t const park = NOZZLE_PARK_POINT;
switch(z_action) {
case 1: // force Z-park height
do_blocking_move_to_z(park.z);
break;
case 2: // Raise by Z-park height
do_blocking_move_to_z(
(z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
break;
default: // Raise to Z-park height if lower
if (current_position[Z_AXIS] < park.z)
do_blocking_move_to_z(park.z);
}
do_blocking_move_to_xy(park.x, park.y);
#endif // NOZZLE_PARK_FEATURE
}
};