Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0)
and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings.
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AnHardt
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46117593b9
commit
11c075c6b2
1 changed files with 52 additions and 45 deletions
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@ -1613,9 +1613,20 @@ inline float set_homing_bump_feedrate(AxisEnum axis) {
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inline void line_to_current_position() {
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
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}
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inline void line_to_z(float zPosition) {
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
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}
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inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
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float old_feedrate_mm_m = feedrate_mm_m;
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current_position[axis] = where;
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feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
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stepper.synchronize(); // The lost one
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feedrate_mm_m = old_feedrate_mm_m;
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}
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//
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// line_to_destination
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// Move the planner, not necessarily synced with current_position
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@ -1708,11 +1719,6 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0)
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feedrate_mm_m = old_feedrate_mm_m;
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}
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inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
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current_position[axis] = where;
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
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}
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inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
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}
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@ -2425,19 +2431,17 @@ static void homeaxis(AxisEnum axis) {
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#endif
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// Move towards the endstop until an endstop is triggered
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do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
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line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
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// Set the axis position as setup for the move
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current_position[axis] = 0;
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sync_plan_position();
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// Move away from the endstop by the axis HOME_BUMP_MM
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do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
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// Slow down the feedrate for the next move
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line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
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// Move slowly towards the endstop until triggered
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do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
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line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
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@ -2458,7 +2462,7 @@ static void homeaxis(AxisEnum axis) {
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sync_plan_position();
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// Move to the adjusted endstop height
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do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]);
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line_to_axis_pos(axis, adj);
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if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
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stepper.set_homing_flag(false);
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@ -2475,7 +2479,7 @@ static void homeaxis(AxisEnum axis) {
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DEBUG_POS("", current_position);
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}
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#endif
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do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
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line_to_axis_pos(axis, endstop_adj[axis]);
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}
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#endif
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@ -2825,30 +2829,6 @@ inline void gcode_G4() {
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}
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#endif
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#if ENABLED(QUICK_HOME)
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static void quick_home_xy() {
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#if ENABLED(DUAL_X_CARRIAGE)
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int x_axis_home_dir = x_home_dir(active_extruder);
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extruder_duplication_enabled = false;
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#else
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int x_axis_home_dir = home_dir(X_AXIS);
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#endif
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float mlx = max_length(X_AXIS),
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mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = 0;
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}
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#endif // QUICK_HOME
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#if ENABLED(NOZZLE_PARK_FEATURE)
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#include "nozzle.h"
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@ -2863,6 +2843,34 @@ inline void gcode_G4() {
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}
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#endif // NOZZLE_PARK_FEATURE
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#if ENABLED(QUICK_HOME)
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static void quick_home_xy() {
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// Pretend the current position is 0,0
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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sync_plan_position();
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#if ENABLED(DUAL_X_CARRIAGE)
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int x_axis_home_dir = x_home_dir(active_extruder);
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extruder_duplication_enabled = false;
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#else
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int x_axis_home_dir = home_dir(X_AXIS);
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#endif
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float mlx = max_length(X_AXIS),
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mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly,
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fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
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do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
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}
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#endif // QUICK_HOME
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/**
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* G28: Home all axes according to settings
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*
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@ -2931,20 +2939,19 @@ inline void gcode_G28() {
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*/
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// Pretend the current position is 0,0,0
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
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// This is like quick_home_xy() but for 3 towers.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
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sync_plan_position();
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// Move all carriages up together until the first endstop is hit.
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for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
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feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
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line_to_destination();
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line_to_current_position();
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
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// Destination reached
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
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// take care of back off and rehome now we are all at the top
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// take care of back off and rehome. Now one carriage is at the top.
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HOMEAXIS(X);
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HOMEAXIS(Y);
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HOMEAXIS(Z);
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@ -5325,7 +5332,7 @@ inline void gcode_M200() {
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if (volumetric_enabled) {
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filament_size[target_extruder] = code_value_linear_units();
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// make sure all extruders have some sane value for the filament size
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for (int i = 0; i < COUNT(filament_size); i++)
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for (uint8_t i = 0; i < COUNT(filament_size); i++)
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if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
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}
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}
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@ -8695,6 +8702,6 @@ float calculate_volumetric_multiplier(float diameter) {
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}
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void calculate_volumetric_multipliers() {
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for (int i = 0; i < COUNT(filament_size); i++)
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for (uint8_t i = 0; i < COUNT(filament_size); i++)
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volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
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}
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