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Analog joystick jogging control (#14648)

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This commit is contained in:
Jamie
2019-09-08 00:55:34 -05:00
committed by Scott Lahteine
parent 068c303742
commit dbee0e9c54
118 changed files with 1986 additions and 446 deletions
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2
Marlin/src/feature/I2CPositionEncoder.cpp
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@ -233,7 +233,7 @@ bool I2CPositionEncoder::passes_test(const bool report) {
switch (H) {
case I2CPE_MAG_SIG_GOOD:
case I2CPE_MAG_SIG_MID:
serial_ternary(H == I2CPE_MAG_SIG_GOOD, PSTR("passes test; field strength "), PSTR("good"), PSTR("fair"), PSTR(".\n"));
SERIAL_ECHO_TERNARY(H == I2CPE_MAG_SIG_GOOD, "passes test; field strength ", "good", "fair", ".\n");
break;
default:
SERIAL_ECHOLNPGM("not detected!");

2
Marlin/src/feature/I2CPositionEncoder.h
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@ -276,7 +276,7 @@ class I2CPositionEncodersMgr {
CHECK_IDX();
encoders[idx].set_ec_enabled(enabled);
SERIAL_ECHOPAIR("Error correction on ", axis_codes[axis]);
serial_ternary(encoders[idx].get_ec_enabled(), PSTR(" axis is "), PSTR("en"), PSTR("dis"), PSTR("abled.\n"));
SERIAL_ECHO_TERNARY(encoders[idx].get_ec_enabled(), " axis is ", "en", "dis", "abled.\n");
}
static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) {

2
Marlin/src/feature/bedlevel/ubl/ubl.cpp
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@ -58,7 +58,7 @@
void unified_bed_leveling::report_state() {
echo_name();
serial_ternary(planner.leveling_active, PSTR(" System v" UBL_VERSION " "), PSTR(""), PSTR("in"), PSTR("active\n"));
SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n");
serial_delay(50);
}

151
Marlin/src/feature/joystick.cpp Normal file
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@ -0,0 +1,151 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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/>.
*
*/
/**
* joystick.cpp - joystick input / jogging
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(JOYSTICK)
#include "joystick.h"
#include "../inc/MarlinConfig.h" // for pins
#include "../module/planner.h"
#include "../module/temperature.h"
Joystick joystick;
#if HAS_JOY_ADC_X
temp_info_t Joystick::x; // = { 0 }
#endif
#if HAS_JOY_ADC_Y
temp_info_t Joystick::y; // = { 0 }
#endif
#if HAS_JOY_ADC_Z
temp_info_t Joystick::z; // = { 0 }
#endif
#if ENABLED(JOYSTICK_DEBUG)
void Joystick::report() {
SERIAL_ECHOPGM("Joystick");
#if HAS_JOY_ADC_X
SERIAL_ECHOPAIR(" X", x.raw);
#endif
#if HAS_JOY_ADC_Y
SERIAL_ECHOPAIR(" Y", y.raw);
#endif
#if HAS_JOY_ADC_Z
SERIAL_ECHOPAIR(" Z", z.raw);
#endif
#if HAS_JOY_ADC_EN
SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)");
#endif
SERIAL_EOL();
}
#endif
void Joystick::calculate(float norm_jog[XYZ]) {
// Do nothing if enable pin (active-low) is not LOW
#if HAS_JOY_ADC_EN
if (READ(JOY_EN_PIN)) return;
#endif
auto _normalize_joy = [](float &adc, const int16_t raw, const int16_t (&joy_limits)[4]) {
if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone
if (raw > joy_limits[2])
adc = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
else if (raw < joy_limits[1])
adc = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
}
};
#if HAS_JOY_ADC_X
static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
_normalize_joy(norm_jog[X_AXIS], x.raw, joy_x_limits);
#endif
#if HAS_JOY_ADC_Y
static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
_normalize_joy(norm_jog[Y_AXIS], y.raw, joy_y_limits);
#endif
#if HAS_JOY_ADC_Z
static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
_normalize_joy(norm_jog[Z_AXIS], z.raw, joy_z_limits);
#endif
}
#if ENABLED(POLL_JOG)
void Joystick::inject_jog_moves() {
// Recursion barrier
static bool injecting_now; // = false;
if (injecting_now) return;
static constexpr int QUEUE_DEPTH = 5; // Insert up to this many movements
static constexpr float target_lag = 0.25f, // Aim for 1/4 second lag
seg_time = target_lag / QUEUE_DEPTH; // 0.05 seconds, short segments inserted every 1/20th of a second
static constexpr millis_t timer_limit_ms = millis_t(seg_time * 500); // 25 ms minimum delay between insertions
// The planner can merge/collapse small moves, so the movement queue is unreliable to control the lag
static millis_t next_run = 0;
if (PENDING(millis(), next_run)) return;
next_run = millis() + timer_limit_ms;
// Only inject a command if the planner has fewer than 5 moves and there are no unparsed commands
if (planner.movesplanned() >= QUEUE_DEPTH || queue.has_commands_queued())
return;
// Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
// Jog are initialized to zero and handling input can update values but doesn't have to
// You could use a two-axis joystick and a one-axis keypad and they might work together
float norm_jog[XYZ] = { 0 };
// Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
joystick.calculate(norm_jog);
// Other non-joystick poll-based jogging could be implemented here
// with "jogging" encapsulated as a more general class.
// Jogging value maps continuously (quadratic relationship) to feedrate
float move_dist[XYZ] = { 0 }, hypot2 = 0;
LOOP_XYZ(i) if (norm_jog[i]) {
move_dist[i] = seg_time * sq(norm_jog[i]) * planner.settings.max_feedrate_mm_s[i];
// Very small movements disappear when printed as decimal with 4 digits of precision
NOLESS(move_dist[i], 0.0002f);
if (norm_jog[i] < 0) move_dist[i] *= -1; // preserve sign
hypot2 += sq(move_dist[i]);
}
if (!UNEAR_ZERO(hypot2)) {
LOOP_XYZ(i) current_position[i] += move_dist[i];
const float length = sqrt(hypot2);
injecting_now = true;
planner.buffer_line(current_position, length / seg_time, active_extruder, length);
injecting_now = false;
}
}
#endif // POLL_JOG
#endif // JOYSTICK

53
Marlin/src/feature/joystick.h Normal file
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@ -0,0 +1,53 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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/>.
*
*/
#pragma once
/**
* joystick.h - joystick input / jogging
*/
#include "../core/macros.h"
#include "../module/temperature.h"
//#define JOYSTICK_DEBUG
class Joystick {
friend class Temperature;
private:
#if HAS_JOY_ADC_X
static temp_info_t x;
#endif
#if HAS_JOY_ADC_Y
static temp_info_t y;
#endif
#if HAS_JOY_ADC_Z
static temp_info_t z;
#endif
public:
#if ENABLED(JOYSTICK_DEBUG)
static void report();
#endif
static void calculate(float norm_jog[XYZ]);
static void inject_jog_moves();
};
extern Joystick joystick;