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MarkForged kinematics (#19235)

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This commit is contained in:
Victor Sokolov
2020-09-04 05:12:53 +04:00
committed by GitHub
parent 55dcff746b
commit e97e6865c3
9 changed files with 100 additions and 34 deletions
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7
Marlin/src/inc/Conditionals_post.h
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@ -149,11 +149,16 @@
#define CORE_AXIS_2 C_AXIS
#endif
#define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
#elif ENABLED(MARKFORGED_XY)
// Markforged kinematics
#define CORE_AXIS_1 A_AXIS
#define CORE_AXIS_2 B_AXIS
#define NORMAL_AXIS Z_AXIS
#endif
// Calibration codes only for non-core axes
#if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
#if IS_CORE
#if EITHER(IS_CORE, MARKFORGED_XY)
#define X_AXIS_INDEX 0
#define Y_AXIS_INDEX 1
#define Z_AXIS_INDEX 2

17
Marlin/src/inc/SanityCheck.h
View File

@ -764,6 +764,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if ENABLED(BABYSTEPPING)
#if ENABLED(SCARA)
#error "BABYSTEPPING is not implemented for SCARA yet."
#elif BOTH(MARKFORGED_XY, BABYSTEP_XY)
#error "BABYSTEPPING only implemented for Z axis on MarkForged."
#elif BOTH(DELTA, BABYSTEP_XY)
#error "BABYSTEPPING only implemented for Z axis on deltabots."
#elif BOTH(BABYSTEP_ZPROBE_OFFSET, MESH_BED_LEVELING)
@ -1155,8 +1157,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
+ ENABLED(COREYZ) \
+ ENABLED(COREYX) \
+ ENABLED(COREZX) \
+ ENABLED(COREZY)
#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, or COREZY."
+ ENABLED(COREZY) \
+ ENABLED(MARKFORGED_XY)
#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
#endif
/**
@ -1576,8 +1579,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
#if ENABLED(DUAL_X_CARRIAGE)
#if EXTRUDERS < 2
#error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
#elif CORE_IS_XY || CORE_IS_XZ
#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
#elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_XY."
#elif !GOOD_AXIS_PINS(X2)
#error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
#elif !HAS_X_MAX
@ -2533,6 +2536,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
#error "CoreXZ requires both X and Z to use sensorless homing if either one does."
#elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS && !HOMING_Z_WITH_PROBE
#error "CoreYZ requires both Y and Z to use sensorless homing if either one does."
#elif ENABLED(MARKFORGED_XY) && X_SENSORLESS != Y_SENSORLESS
#error "MARKFORGED_XY requires both X and Y to use sensorless homing if either one does."
#endif
// Other TMC feature requirements
@ -2848,6 +2853,10 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
#elif !defined(BACKLASH_CORRECTION)
#error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
#elif ENABLED(MARKFORGED_XY)
constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
"BACKLASH_COMPENSATION can only apply to " STRINGIFY(NORMAL_AXIS) " on a MarkForged system.");
#elif IS_CORE
constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],